Free 1dof V Damp Vibrat Red

1
Mechanical Vibrations
Dr. Jorge A. Olrtegui Yume, Ph.D.
FREE, VISCOULSY DAMPED, 1 DOF
VIBRATIONS
Mechatronics Engineering School
National University of Trujillo
Lecture No. 4
Free, Visc. Damped 1DOF Vibrations
Dr. Jorge A. Olortegui Yume, Ph.D.
2
FREE, VISC. DAMPED 1 DOF VIBRATIONS
Initially disturbed then allowed to vibrate freely
Viscous damping element (e.g., dashpot); thus, energy dissipation
The mass-spring-dashpot system
a) SEP & (+)x
SEP
x
b) FBD @ arbitrary position
c) Dynamics
c: Damping constant (N.s/m or kg/s)
-
= x c F
d
F
d
: Damping force (N)
|
.
|
\
|
=
- -
x m F
- - -
- -
=
=
x m x c kx
x m F F
d s
F
d
opposed to
Force
0 = + +
- - -
kx x c x m
EOM
d) Solve EOM Special case : Underdamped response

( ) ( ) | e
e
+ =

t Xe t x
d
t
n
sin

n
: Natural Freq. (rad/s)
X: Amplitude (m)
|: Phase (rad)
-
x

d
: Damped Freq. (rad/s)
-
x
: Damping ratio (no units)
3
OBSERVATIONS
ii) Critical value of damping constant (c
cr
)
c value making the radical zero is critical for nature of r and system response
=
|
.
|
\
|
=
|
.
|
\
|
m
k
m
c
m
k
m
c
cr cr
2 2
2
0
2
( )
|
.
|
\
|
=
m
k
m c
cr
2
2
2
km c
cr
2 =
n cr
m c e 2 =
or
( )
=
=
|
.
|
\
|
=
<
|
.
|
\
|
|
.
|
\
|

=
|
.
|
\
|
>
|
.
|
\
|
|
.
|
\
|

=
0
0
2
2 2 2
2 2
2 2 2
2
2 2
2
2 2
2 , 1
c
m
c
if i
m
k
i
m
k
m
c
if
m
c
m
k
i
m
c
m
k
m
c
if
m
c
m
k
m
c
if
m
k
m
c
m
c
r
n
e
= REAL r r r r
2 1 2 1
& ;
= REAL r r r r
2 1 2 1
& ,
= COMPLEX r r r r
2 1 2 1
& ,
Overdamped
Critically damped
Underdamped
System is:
= IMAGINARY r r r r
2 1 2 1
& , Undamped
(Free, Undamp, 1DOF)
Analysis of roots and vibratory responses
m
k
m
c
m
c
r
|
.
|
\
|
=
2
2 , 1
2 2
Recall 1 = i
4
OBSERVATIONS
iii) The damping ratio ()
is
dimensionless
(no units)
= =
< <
=
>
=
0 .. .. .......... ..........
1 0 .. ......... 1
1 .. ...... .......... .......... ..........
1 .. ....... .......... 1
2
2
2 , 1
e
e e
e
e e
if i
m
k
i
if i
if
if
r
n
n n
n
n n
= REAL r r r r
2 1 2 1
& ;
= REAL r r r r
2 1 2 1
& ,
= COMPLEX r r r r
2 1 2 1
& ,
Overdamped
Critically damped
Underdamped
System is:
= IMAGINARY r r r r
2 1 2 1
& , Undamped
(Free, Undamp, 1DOF)
( ) 1
2 2
2 2
2
2
2 , 1
= =
|
.
|
\
|
= e e e e e
n n n n n
m
k
m
c
m
c
r
cr
c
c
=
n cr
m
c
km
c
c
c
e
2
2
= = =
n
m
c
e =
2
Analysis of roots and vibratory response using the damping ratio
1 0 < s For
2 2 2
2 , 1
1 1 1 1 e e e e e e = = =
n n n n n n
i r
5
Analysis of responses according to
a) Undamped response (=0)
( ) ( ) = =
2
2
2 , 1
0 1 0 1
n n n n
i i r e e e e
n
i r e =
2 , 1
Imaginary roots
( )
t r t r
e N e N t x
2 1
2 1
+
+ =
( )
t i t i
n n
e N e N t x
e e +
+ =
2 1
( ) ( ) ( ) | | ( ) ( ) | | t i t N t i t N t x
n n n n
e e e e sin cos sin cos
2 1
+ + =
( ) ( ) ( ) ( ) ( ) t N N i t N N t x
n n
e e sin cos
2 1 2 1
+ + =
( ) ( ) ( ) t B t A t x
n n
e e sin cos + =
( ) ( ) ( )
(
(
|
|
.
|
\
|
+
+
|
|
.
|
\
|
+
+ =
2 2 2 2
2 2
cos sin
B A
A
t
B A
B
t B A t x
n n
e e
( ) ( ) | e + = t X t x
n
sin
with
2 1
N N A + =
( )
2 1
N N i B =
with
2 2
B A X + =
( )
B
A
1
tan
= |
n
n
i r
i r
e
e
=
+ =
2
1
Oscillation present Imaginary part
No decay No energy losses
n
t
e
|
|
=
X
) 0 ( x
t
6
Analysis of responses according to
a) Undamped response (=0)
( ) ( ) | e + = t X t x
n
sin
7
b) Underdamped response (0<<1)
= =
2 2
2 , 1
1 1 e e e e
n n n n
i r
Complex and different roots
( )
t r t r
e N e N t x
2 1
2 1
+
+ =
( )
t i t i
n n n n
e N e N t x
|
.
|
\
|
|
.
|
\
|
+
+ =
2 2
1
2
1
1
e e e e
( ) ( ) ( ) | | ( ) ( ) | | | | t i t N t i t N e t x
d d d d
t
n
e e e e
e
sin cos sin cos
2 1
+ + =

( ) ( ) ( ) ( ) ( ) | | t N N i t N N e t x
d d
t
n
e e
e
sin cos
2 1 2 1
+ + =

( ) ( ) ( ) | | t B t A e t x
d d
t
n
e e
e
sin cos + =

( ) ( ) ( )
(
(
|
|
.
|
\
|
+
+
|
|
.
|
\
|
+
+ =

2 2 2 2
2 2
cos sin
B A
A
t
B A
B
t B A e t x
d d
t
n
e e
e
( ) ( ) | e
e
+ =

t Xe t x
d
t
n
sin
with
2 1
N N A + = ( )
2 1
N N i B =
with
2 2
B A X + =
( )
B
A
1
tan
= |
2
2 , 1
1 e e =
n n
i r
Real part
Imaginary part
2
1 e +
n
i
2
1 e
n
i
2
1 e e =
n d
Damped frequency,
d
(rad/s)
Oscillation present Imaginary part
Decay Energy losses Damping
n d
e e <
X
Envelope
Envelope
8
b) Underdamped response (1<<0)
( ) ( ) | e
e
+ =

t Xe t x
d
t
n
sin
9
c) Critically damped response (=1)
( ) ( ) = =
2
2
2 , 1
1 1 1 1
n n n n
i r e e e e
Real and repeated roots
n
r e =
2 , 1 n
r r e = =
2 1
( )
t r t r
e N e N t x
2 1
2 1
+
+ =
( )
t t
n n
e N e N t x
e e
+ =
2 1
( )
t
n
Ne t x
e
= with
2 1
N N N + =
Soln. has 1 constant (N) and 2 ICs to satisfy
( )
o
o
v x
x x
=
=
-
0
) 0 (
Need another independent soln. By educated trial&error:
( )
t
n
te N t x
e
=
2
( )
t r t r
te N e N t x
2 1
2 1
+
+ =
The general soln. is then:
( ) ( ) t N N e t x
t
n
2 1
+ =
e
2 constant s(N
1
,N
2
) and 2 ICs to satisfy.
NO oscillation NO Imaginary part
Decay Energy losses Damping
FASTEST DECAY
10
c) Critically damped response (=1)
( ) ( ) t N N e t x
t
n
2 1
+ =
e
11
d) Overdamped response (>1)
= 1
2
2 , 1
e e
n n
r
Real and different roots
1
1
2
2
2
1
=
+ =
e e
e e
n n
n n
r
r
( )
t r t r
e N e N t x
2 1
2 1
+
+ =
( )
t t
n n n n
e N e N t x
|
.
|
\
|
|
.
|
\
|
+
+ =
1
2
1
1
2 2
e e e e
t
n n
e N
|
.
|
\
|
+ 1
1
2
e e
t
n n
e N
|
.
|
\
|
1
2
2
e e
Envelope
1
2
e
n
1
2
+ e
n
12
d) Overdamped response (>1)
( )
t t
n n n n
e N e N t x
|
.
|
\
|
|
.
|
\
|
+
+ =
1
2
1
1
2 2
e e e e
13
EOMs for the underdamped case
0 = + +
- - -
kx x c x m 0
2
2 0
2
=
|
|
.
|
\
|
+
|
.
|
\
|
+ = + +
- - - - - -
x
m
k
x
m
c
x x
m
k
x
m
c
x
n
m
c
e =
2
n
m
k
e =
0 2
2
= + +
- - -
x x x
n n
e e
Standard form of EOM
Solution to EOM
( ) ( ) | e
e
+ =

t Xe t x
d
t
n
sin
( )
o
x x = 0
( )
o
v x =
-
0
( )
n o o
d o
x v
x
e
e
|
+
= tan
( ) ( )
2
2 2
d
n o o d o
x v x
X
e
e e + +
= with
for
2
1 e e =
n d
EOM

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