1 Vibration Fundamentals

Noise and Vibration Control
UG Course Noise and Vibration Control

Course Objectives: To provide the student with a basic understanding of fundamental concepts in noise and vibration control engineering. This would enable the student to analyze sound fields and to determine the effects of different noise sources in machinery and engineered products with respect to human behavior and safety. To be able to utilize these concepts in order to design machines or products that are quiet and functional To be able to identify and correct potentially hazardous sound levels in the workplace or in any other noisy environment. Credits: 4 Weekly Engagement: 3-1-2/2 Course Teacher: VHS
Indian Institute of Technology Roorkee
References:

Mats Abom et al, Sound and Vibration, KTH, Stockholm, 2006. S S Rao, Mechanical Vibration, (4th Edition) Pearson Education, Delhi, 2004. J S Rao and K Gupta, Theory and Practice of Mechanical Vibration, (2nd Edition) New Age International Publishers, New Delhi, 1999. de Silva, Vibration: Fundamentals and Practice, (2nd Edition) CRC Taylor & Francis, FL USA, 2007. Fahy, F.J. and Walker, J.G., Fundamentals of Noise and Vibration, E & FN, Spon, 1998
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Contents:
Review of Vibration Fundamentals from a Practical
Perspective. Structural Damping Expanded Understanding of Vibration Isolation. Sounds in Ducts. Industrial Noise and Vibration Control. Fluid Machine Noise and Vibration Control. Noise and Vibration in Pipes and Ducts. Vehicle Noise and Vibration Control. Active Noise and Vibration Control. Case Study. Indian Institute of Technology Roorkee
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1. Review of Vibration fundamentals from a practical perspective
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Need for study
All mechanical systems composed of mass, stiffness and damping elements exhibit vibratory response when subject to timevarying disturbances. The prediction and control of these disturbances is fundamental to the design and operation of mechanical equipment.

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Terminology
Mechanical system. A mechanical system is composed of distributed elements which exhibit characteristics of mass, elasticity and damping. Degrees of freedom. The number of degrees of freedom of a system is equal to the number of independent coordinate positions required to completely describe the motion of the system. System response. All mechanical systems exhibit some form of vibratory response when excited by either internal or external forces. This motion may be irregular or may repeat itself at regular intervals, in which case it is called periodic motion. Period. The period T is the time taken for one complete cycle of motion. Indian Institute of Technology Roorkee
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Terminology
Harmonic motion is the simplest form of periodic motion whereby the actual or observed motion can be represented by oscillatory functions such as the sine and the cosine functions. Motion that can be described by a continuous sine or cosine function is called steady state. Frequency is the number of cycles per second (also called hertz) of the motion and is the reciprocal of the period. Therefore frequency is specified by

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Examples of SDOF

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Examples of SDOF
Translatory
Rotatory
Flexural
swinging

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Review of Vibration fundamentals
Single degree of freedom The common techniques for the analysis are 1. The energy method, 2. Newton's law of motion, 3. The frequency response method 4. The superposition theorem

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Single Degree of Freedom Systems

Figure 2 shows a mechanical single degree-of-freedom (sdof) system consisting of a rigid mass m, a spring with spring rate k, and a viscous damper with a damping coefficient dv. The spring and the viscous damper are located between the mass and the foundation, and are considered to be massless. That implies that the forces on the opposing endpoints of each are equal and oppositely directed, for both elements.
F (t)
x (t)
m
dv
Figure 2 Single Degree-of-Freedom System.
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Newtons Second Law gives the equation of motion of the system
d 2 x (t ) dt
2
= F x ( x ( t ),
dx ( t ) , t) dt
(7)
Fx contains the spring force, the damper force, and external exciting force
Fx = x(t ) d v
dx(t ) + F (t ) dt
(8)
where m is mass of the body, is the spring constant, dv is the viscous damping coefficient, F(t) is the external excitation, x is the displacement of the mass, dx / dt its velocity, d 2x / dt2 its acceleration. These two equations lead to a second order linear differential equation with constant coefficients d 2 x(t ) dx(t ) 2 + 2 + 0 x(t ) = g (t ) (9) 2 dt
dt
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in which the following simplifications have been incorporated:
0 = m
= d v 2m
g (t ) = F (t ) m
(10)
where 0 is the eigenfrequency of the system, and is the damping constant. The solution to the differential equation consists of both a homogeneous part xp(t) that corresponds to the homogeneous differential equation, i.e., with the right hand side equal to zero, and a particular solution xp(t) that corresponds to the non-homogeneous differential equation, i.e., with the right hand side non-zero.
x(t ) = x h (t ) + x p (t )
(11)
Because the system is linear, its particular solution, when the exciting force is described by the rotating vector Eq.(12), represents an oscillation at the excitation frequency, but with a different phase and amplitude. A reasonable assumption for xp is given by Eq.(13),
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e i t g (t ) = g
p e i e it = x p e it x p (t ) = x
2 p e it + i 2 x p e it + 0 e i t 2x x p e i t = g
The phase and magnitude of the complex amplitude
(12) (13)
That assumed form, substituted into Eq.(9), provides the following result:
(14)
p is given by x
(15)
p = x
g
2 ( 0
) + i 2
2
p = x p e i x
(16)
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p = x
g
2 ( 0
) + (2 )
2 2
(17)
= arctan
2 0
+ n ,
n = 0, 1, 2,
(18)
From Eqs.(10) and (15), it is apparent that for 0, the stiffness determines the displacement. Thus, the low frequency response is stiffness-controlled. On the other hand, for 0, the mass m determines the displacement response; the high frequency response, therefore, is mass-controlled. Finally, for 0, the value of the viscous damping coefficient d is decisive for the displacement; the response at frequencies around the natural frequency is therefore said to be damping-controlled.
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p varies with circular frequency . The magnitude of the amplitude x

A normalized response, called the amplification factor , can be defined as
p ( ) x p ( = 0) x
1
(19)
(1 ( 0 ) 2 ) 2 + 4( 0 ) 2 ( 0 ) 2
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Two degree-of-freedom systems

The simple single degree-of-freedom system can be coupled to another of its kind, producing a mechanical system described by two coupled differential equations; to each mass, there is a corresponding equation of motion. To specify the state of the system at any instant, we need to know time t dependence of both coordinates, x1 and x2, from which follows the designation two degree-of-freedom system.
1
F 1(t) m1 d v1 d v2 x 1(t) x 2(t)
F 2(t) m2
d v3
Figure 3 Two degree--of-freedom system.
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Newtons second law for each mass gives
m1
d 2 x1 (t) dt
2
dx (t) dx (t) = F1x x1 (t), x2 (t), 1 , 2 , t dt dt
20
m2
d 2 x2 (t) dt
2
dx (t) dx (t) = F2x x1(t), x2 (t), 1 , 2 , t dt dt
21
dx dx 1(t) 1(t) dx 2(t) F d2 +F 1x = 1x1(t) 2(x1(t) x2(t)) d1 1(t) dt dt dt

22
dx (t) dx (t) dx (t) F2x = 2 (x1(t) x2 (t)) 3 x2 (t) + d 2 1 2 d 3 2 + F2 (t) dt dt dt 23
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Equations (20) - (23) give
m1
d 2 x1 (t ) dt 2
+ d 1
dx1 (t ) dx1 (t ) dx 2 (t ) + d 2 dt dt + dt
+1x1(t) + 2 (x1(t) x2 (t)) = F1(t)

d 2 x 2 (t ) dx 1 ( t ) dx 2 ( t ) m2 d 2 dt dt dt 2 dx 2 ( t ) + d 3 dt
24
2 (x1(t) x2 (t))+3x2 (t) = F2 (t)
25
Matrix and vector notation can be incorporated into Eqs. (24) and (25), which is useful for generalizing to an arbitrary number of degrees-offreedom.
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Equations (24) and (25) are therefore expressed as
r r r dx [M] 2 + [D] + [K ] x =F dt dt
where
r d 2x
26
m1 [M ] = 0
0 m2
d 2 d 2 + d 3 2 2 +3
27 28
[D] =
d 1 + d 2 d 2
[K ] =
1 + 2 2
29 30
x (t ) r x (t ) = 1 x 2 (t )
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r F (t ) F (t ) = 1 31 ( ) F t 2 Once again, let the excitation forces and the particular solutions be expressed by rotating vectors eit F1 (t ) = F 32 1
e it F2 (t ) = F 2
33 34 35
1peit x1p(t) =x
2p e it x 2p (t ) = x
Putting (32,33,34,35) into (26) gives
p +i[D] x p +[K] x p = F 2[M] x
{ }
{ }
{ }{}
36
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Solving to the homogeneous equations with the force vector set equal to zero leads to the systems eigenfrequencies. Setting, moreover, the damping matrix equal to zero, in order to obtain the undamped eigenfrequencies, the latter are found to be real. Damping, on the other hand, brings about complex-valued eigenfrequencies; the complex values contain information on both the undamped eigenfrequencies and the system damping. The eigenfrequencies 1 and 2 are given by the homogeneous equation
} + [K ] {x } = {0} 2 [M ] {x
37
The condition for the existence of solutions to Eq. (37) is that the system determinant is identically zero, i.e.,
det( 2 [M ] + [K ] ) = 0
38
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For a two degree-of-freedom system, Eq. (38) has two solutions corresponding to two eigenfrequencies. A system with n degrees-offreedom has n eigenfrequencies. The eigenfrequencies of the two degreeof-freedom system are
1,2 =
1 + 2 2 +3
2m1 + 2m2
(1 +2 )2 (2 +3 )2
2 4m1
2 4m2
2 2 1 2 13 23
2m1m2
39
From linear algebra, it is known that there is an eigenvector corresponding to each eigenvalue (eigenfrequency). These eigenvectors are mutually independent (orthogonal), and contain information on how the system oscillates in the vicinity of their respective eigenfrequencies. The mode shapes, x1 and x2, are obtained by substituting the eigenfrequencies, i.e., the solutions of Eq. (38), into Eq. (37), yielding
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2 1}+ [K] {x 1} = {0} [M]{x 1

2 2 }+ [K] {x 2 } = {0} [M] {x 2
40
41
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System with an arbitrary number of degrees-of-freedom

The results from the two degree-of-freedom system can be generalized to a system with an arbitrary number of masses cascaded, i.e., coupled in series, as in Figure 5-5.
F1 (t) F 2 (t )
F n (t)
2
m1
n+ 1
m2 d v2
mn
d v1
x 1 (t)
x 2 (t)
d vn+ 1 x n (t)
Figure 5 System with n cascaded masses
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The equations of motion become
m1
d 2 x1 ( t ) dt 2
+ d 1
dx 1 ( t ) dx 1 ( t ) dx 2 ( t ) + d 2 + dt dt dt
+ 1 x1 (t ) + 2 ( x1 (t ) x 2 (t ) ) = F1 (t )
42
m2
d 2 x 2 (t ) dt 2
dx2 (t ) dx3 (t ) dx1 (t ) dx2 (t ) d 2 + d dt 3 dt dt dt
2 ( x1 (t ) x2 (t )) + 3 ( x2 (t ) x3 (t )) = F2 (t ),
mn1 d 2 xn1(t) dt2 dxn1(t) dxn (t) dxn2 (t) dxn1(t) + dn1 d n dt dt dt dt
43
n1(xn2 (t) xn1(t)) + n (xn1(t) xn (t)) = Fn1(t), 44
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mn
x n (t )
2
dt
+ d n +1
dx n ( t ) dx n ( t ) dx n 1 ( t ) + d n + dt dt dt
+ n+1 x n (t ) + n ( x n (t ) x n 1 (t ) ) = Fn (t ). 45
The mass matrix, damping matrix, and stiffness matrix, respectively, become
m1 0 [M ] = M 0 0 m2 0 L L 0 O 0 0 M 0 mn
46
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d 1 + d 2 d 2 0 [D] =
1 + 2 2 0 [K ] =
d 2
d 2 + d 3 d 3 d 3 0
dn1 dn1 + dn 0 dn
0 n 1 0
dn dn + dn+1
n n + n +1
47
0 3 0
2 +3 3

48
n 1 + n n
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where non-zero elements not shown in the equations are marked with a , and zero-valued elements are marked with a . One can even allow masses to be coupled in parallel, as in Figure 6.
2
F 2( t)
4
m2
F 1( t)
dv2
F 4( t)
x 2(t)
6
m4 dv6 x 4( t)
m1 dv1
F 3( t)
dv4
m3
x 1(t)
dv3
dv5
x 3( t)
Figure 6 System with parallel coupling
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The equations of motion become

dx 1 ( t ) d 2 x1 (t ) dx 1 ( t ) dx 2 ( t ) + d 1 + d 2 m1 + dt dt dt dt 2
dx 1 ( t ) dx 3 ( t ) + d 3 dt dt + 1 x1 ( t ) + 2 (x1 ( t ) x 2 ( t ) ) +
+ 3 ( x1 (t ) x 3 (t ) ) = F1 (t ),
49
m2
d 2 x 2 (t ) dt 2
dx 2 (t ) dx 4 (t ) dx1 (t ) dx 2 (t ) + d 2 d 4 dt dt dt dt
2 ( x1 (t ) x 2 (t )) + 4 ( x 2 (t ) x 4 (t )) = F2 (t ),
50
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m3
d 2 x 3 (t ) dt 2
dx 3 ( t ) dx 4 ( t ) dx 1 ( t ) dx 3 ( t ) + d 3 d 5 dt dt dt dt
3 ( x1 (t ) x 3 (t )) + 5 ( x 3 (t ) x 4 (t )) = F3 (t ),
51
dx 4 ( t ) dx 2 ( t ) d 2 x 4 (t ) dx 4 ( t ) + d 6 + d 4 m4 dt dt dt dt 2
dx 4 (t ) dx 3 (t ) + d 5 dt dt + 6 x 5 (t ) + 4 ( x 4 (t ) x 2 ( t ) ) +
+ 5 ( x 4 (t ) x 3 (t ) ) = F4 (t ).
52
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The mass matrix, damping matrix and stiffness matrix, respectively, become
m1 0 [M ] = 0 0 0 m2 0 0 0 0 m3 0 m4 0 0 0
53
0 d 2 d 3 d1 + d 2 + d 3 0 + d d d d 2 2 4 4 [D] = 0 d 3 d 5 d 3 + d 5 d 4 d 5 0 d 4 + d 5 + d 6
54
1 + 2 + 3 2 [K ] = 3 0
3 0
2 + 4
0 4
3 +5 5
4 5 4 +5 + 6 0
55
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The general principle for generating these matrices, for systems in which the directions of forces and velocities are defined as in figures 5 and 6, can be summarized in the following way: (i) the mass matrix is diagonal. (ii) a diagonal element in the stiffness or damping matrix is the sum of the spring rates or damping coefficients, respectively, of all springs / dampers connected to the mass indicated by the row number of the element. (iii) an off-diagonal element at a specific row and column position in the stiffness or damping matrix has the opposite (negative) of the value of the spring rate or damping coefficient, respectively, for the connection between the mass indicated by the row number and that indicated by the column number.
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Free motion of SDOF systems
Based upon the observation that mechanical systems respond harmonically in freemotion, the solution of equation can be assumed to be of the form given b equation Therefore we assume that the actual motion can be described as where Ar and A are real amplitudes of motion. Substitution of equation differentiating with respect to time and eliminating common terms, provides a relation for the frequency ton at which the system will naturally vibrate.
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Free motion of SDOF systems
This motion can also be written as
the phase angle is specified from equation
amplitude of motion that results from equation
35/58
Damped motion of SDOF systems
All vibrations in realistic systems occur with some form of damping mechanism, where the energy of vibration is dissipated during a cycle of motion. The simplest form of damping is when the resisting force associated with the damping is proportional to, and acts in an opposite direction to, the velocity of the element. Thus the damping force is specified by where C is the damping coefficient. SDOF system with this form of damping which is called viscous damping.
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Damped motion of SDOF systems

response will oscillate at a damped natural frequency
The actual displacement is then given by
where the phase angle is now given by
and the real amplitude by
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Inclusion of damping into the relationship for the forced response modifies the resulting amplitude to
38/58
Noise and Vibration Control The corresponding phase response is plotted in Fig. For very light damping the phase of the displacement response relative to the excitation force of the system flips through nearly a 180 phase change as the excitation frequency is increased through the resonance frequency.
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Multi-degree-of-freedom (MDOF) systems

When N independent coordinates are required to completely specify the system response, the system is said to have N degrees of freedom. Such a system is also said to have multi-degrees of freedom (MDOF). When a mechanical system has many degrees of freedom it is more convenient to use a matrix representation to describe and analyses the motion. In this section we formulate the equations of motion in matrix form.
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Adding Mass, Stiffness and Damping

An increase in the systems stiffness reduces the displacement amplitude proportionately. An increase in k of course implies an increased value of but this makes the approximation even more valid. At such a low frequency, any increase in the damping will have a negligible effect.
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Adding Mass Stiffness and Damping

Increase in the system mass (inertia) reduces the displacement amplitude proportionately. It may again be noted that an increase in m makes the approximation even more valid. An increment in the Damping will have a negligible effect in the displacement amplitude in this range of frequency as well. This high-frequency range is termed as the inertia-controlled region.
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Adding Mass Stiffness and Damping
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Energy storage elements

Inertia (m) Consider an inertia element of lumped mass excited by force as shown in Figure. The resulting velocity is v.
Newton's second law gives
Kinetic energy stored is
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Spring (K)
Consider a massless spring element of lumped stiffness k ,
as shown in Figure One end of the spring is fixed and the other end is free. A force f is applied at the free end
By hookes law
Elastic potential energy
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Gravitational potential energy

The work done in raising an object against the gravitational energy of the object. Consider a lumped mass as shown from some reference level.
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The Energy Method

A vibrating system is said to be conservative if, damper and
external excitations are absent from the system interval's when a conservative s systems set into oscillatory motion, the mechanical energy is partly kinetic and partly potential. the kinetic energy is stored in mass due to its velocity
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The Energy Method
kinetic energy in Newtonian notations is
48/58
The Energy Method
As is clear from the figure, the total deflection produced in
the unstrained spring , work done is
the total work done in deforming the spring from
potential energy of the system is
49/58
The Energy Method

the total energy in the conservative system
Differentiating with respect to time
Homogeneous second-order ordinary differential equation
of motion
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Noise and Vibration Control Method Based on Newton's Second Law of Motion
The rate of change of momentum is proportional to the
impressed force and takes place in the direction in which the force acts
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Rayleigh's Method
Since the sum of kinetic and potential energies always constant it follows from the energy method that the potential energy is maximum when the kinetic energy is zero and conversely when the kinetic energy is maximum, the potential energy must be zero.
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Checklist of vibration control means
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Checklist of vibration control means
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LAGRANGE'S EQUATIONS
No vibrations discussion is complete without a discussion of Lagrange's equations. All of you have already taken a dynamics class or two, which in the vast majority of cases has involved Newtonian mechanics.
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LAGRANGE'S EQUATIONS is giving by
56/58
where KE and PE are the system kinetic and potential energies, respectively, and L is called the Lagrangian
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Thank you

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Noise and Vibration Control

UG Course Noise and Vibration Control

Indian Institute of Technology Roorkee

Noise and Vibration Control

Noise and Vibration Control

Noise and Vibration Control

1. Review of Vibration fundamentals from a practical perspective

Indian Institute of Technology Roorkee

Noise and Vibration Control

Need for study

Indian Institute of Technology Roorkee

Noise and Vibration Control

Noise and Vibration Control

Indian Institute of Technology Roorkee

Noise and Vibration Control

Indian Institute of Technology Roorkee

Noise and Vibration Control

Indian Institute of Technology Roorkee

Noise and Vibration Control

Review of Vibration fundamentals

Indian Institute of Technology Roorkee

Noise and Vibration Control

Single Degree of Freedom Systems

Figure 2 Single Degree-of-Freedom System.

Indian Institute of Technology Roorkee

Noise and Vibration Control

Newtons Second Law gives the equation of motion of the system

Indian Institute of Technology Roorkee

Noise and Vibration Control

in which the following simplifications have been incorporated:

Indian Institute of Technology Roorkee

Noise and Vibration Control

Noise and Vibration Control

Indian Institute of Technology Roorkee

Noise and Vibration Control

p varies with circular frequency . The magnitude of the amplitude x

Indian Institute of Technology Roorkee

Noise and Vibration Control

Two degree-of-freedom systems

Figure 3 Two degree--of-freedom system.

Indian Institute of Technology Roorkee

Noise and Vibration Control

Newtons second law for each mass gives

dx (t) dx (t) = F1x x1 (t), x2 (t), 1 , 2 , t dt dt

dx (t) dx (t) = F2x x1(t), x2 (t), 1 , 2 , t dt dt

dx dx 1(t) 1(t) dx 2(t) F d2 +F 1x = 1x1(t) 2(x1(t) x2(t)) d1 1(t) dt dt dt

Indian Institute of Technology Roorkee

Noise and Vibration Control

Equations (20) - (23) give

+1x1(t) + 2 (x1(t) x2 (t)) = F1(t)

2 (x1(t) x2 (t))+3x2 (t) = F2 (t)

Indian Institute of Technology Roorkee

Noise and Vibration Control

Equations (24) and (25) are therefore expressed as

Indian Institute of Technology Roorkee

Noise and Vibration Control

p +i[D] x p +[K] x p = F 2[M] x

Indian Institute of Technology Roorkee

Noise and Vibration Control

Indian Institute of Technology Roorkee

Noise and Vibration Control

Indian Institute of Technology Roorkee

Noise and Vibration Control

2 1}+ [K] {x 1} = {0} [M]{x 1