Mechanical Vibrations: Peter Avitabile Mechanical Engineering Department University of Massachusetts Lowell

Mechanical Vibrations
Chapter 3
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
22.457 Mechanical Vibrations - Chapter 3
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
SDOF Definitions
Assumptions
lumped mass
x(t)
stiffness proportional
to displacement
damping proportional to
velocity
linear time invariant
2nd order differential
equations
Dr. Peter Avitabile

Forced Harmonic Vibration

Consider the SDOF system with
a sinusoidally varying forcing
function applied to the mass as
shown
F=F0sint
From the Newtons Second Law,
f = ma
m&x& + cx& + kx = F0 sin t
Dr. Peter Avitabile

(3.1.1)

The solution consists of the complementary
solution (homogeneous solution) and the particular
solution. The complementary part of the solution
has already been discussed in Chapter 2.
The particular solution in the one of interest here.
Since the oscillation of the response is at the
same frequency as the excitation, the particular
solution will be of the form
x = X sin (t )
(3.1.2)
Dr. Peter Avitabile


Substituting this into the differential equation,
the solution is of the form
F0
c (3.1.4)
1
(3.1.3)
X=
=
tan
2
2
2 2
k m
k m + (c)
Note that this is also seen graphically as
(recall that the velocity and acceleration are 90 and 180 degrees ahead of the displacement)
Dr. Peter Avitabile


This is expressed in nondimensional form as
F0
c
1
k
k
(3.1.5) = tan
X=
1 m2 k
2
2
2
1 m + c
k
k
( )
(3.1.6)
and can be further reduced recalling the following

expressions for a SDOF
n = k
c c = 2mn
c
=
cc
Dr. Peter Avitabile


The nondimensional expression is
Xk
1
=
2
F0
2
2
1 + 2
n n
= tan

2
n

1
n
Dr. Peter Avitabile

(3.1.7)
(3.1.8)

This yields the popular plot of forced response
Dr. Peter Avitabile


The complex force vector also yields useful
information for interpretation of the results
Dr. Peter Avitabile


The differential equation describing the system
&x& + 2n x& + 2n x =
F0
sin t
m
(3.1.10)
and the complete solution of this problem is given

as
F
sin(t )
x(t) = 0
k
2
2 2
(3.1.11)
1 + 2
n n
+ X1e t sin 1 2 n t + 1
n
10
Dr. Peter Avitabile

Complex Frequency Response Function

The Complex FRF - real and imaginary parts
h ( j) =

1
n
2
(3.1.17)
2 2
2

1 + 2
n n

2
n
2 2
2

1 + 2
n n
11
Dr. Peter Avitabile

Forced Response - Rotating Unbalance

The effects of unbalance is a common problem in
vibrating systems.
Consider a one
dimensional system
with an unbalance
represented by an
eccentric mass, m,
with offset, e,
rotating at some
speed, , as shown
12
Dr. Peter Avitabile


Let x be the displacement of the non-rotating
mass (M-m) about the equilibrium point, then the
displacement of the eccentric mass is
x + e sin t
and the equation of motion becomes
d2
(M m)&x& + m 2 (x + e sin t ) = kx cx&
dt
13
Dr. Peter Avitabile


This can easily be cast as
M&x& + cx& + kx = me2 sin t
(3.2.1)
which is essentially identical to (3.1.1) with the

substitution of F0=me2
The steady-state solution just developed is
applicable for this solution
X=
me2
(k M )
2 2
(3.2.2)
+ (c)2
14
c
= tan 1
2
k M
Dr. Peter Avitabile

(3.2.3)

&x& + 2n x& + 2n x =
F0
sin t
m
(3.1.10)

as
F
sin(t )
x(t) = 0
k
2
2 2
(3.1.11)
1 + 2
n n
+ X1e t sin 1 2 n t + 1
n
15
Dr. Peter Avitabile


Manipulating into nondimensional form

n
MX
=
2
m e
2 2
1 + 2
n n
= tan 1
16

2
n

1
n
Dr. Peter Avitabile

(3.2.4)
(3.2.5)

This yields the popular plot of forced response
17
Dr. Peter Avitabile


&x& + 2n x& + 2n x =
F0
sin t
m
(3.1.10)

as
F
sin(t )
x(t) = 0
k
2
2 2
(3.1.11)
1 + 2
n n
+ X1e t sin 1 2 n t + 1
n
18
Dr. Peter Avitabile


The complete solution of this problem is given as
sin(t )
x ( t ) = me2
(k M )
2 2
+ (c)2
+ X1e t sin 1 2 n t + 1
n
19
(3.2.6)
Dr. Peter Avitabile

Forced Response - Support Motion

Many times a system is excited at the location of
support commonly called base excitation
20
Dr. Peter Avitabile


With the motion of the base denoted as y and
the motion of the mass relative to the intertial
reference frame as x, the differential equation
of motion becomes
m&x& = k ( x y) c( x& y& )
(3.5.1)
z=xy
(3.5.2)
Substitute
into the equations to give

m&z& + cz& + kz = m&y& = m2 Y sin t
21
Dr. Peter Avitabile

(3.5.3)

This is identical in form to equation 3.2.1 where z
replaces x and m2Y replaces me2
Thus the solution can be written by inspection as
Z=
m2 Y
(k m )
2 2
(3.5.4)
+ (c)2
c
= tan
2
k m
1
22
(3.5.5)
Dr. Peter Avitabile


The steady state amplitude and phase from this
equation can be written as
X
=
Y
k 2 + (c)2
(k m )
2 2
(3.5.8)
+ (c)2
mc
tan =
2
2
k k m (c)
23
Dr. Peter Avitabile

(3.5.9)
24
Dr. Peter Avitabile

Vibration Isolation
Dynamical response can be minimized through the
use of a proper isolation design.
An isolation system attempts either to protect
delicate equipment from vibration transmitted to it
from its supporting structure or to prevent
vibratory forces generated by machines from
being transmitted to its surroundings.
The basic problem is the same for these two
objectives - reducing transmitted force.
25
Dr. Peter Avitabile

Vibration Isolation - Force Transmitted

Notice that motion transmitted from the
supporting structure to the mass m is less than
one when the frequency ratio is greater that
square root 2.
This implies that the
natural frequency of the
supported system must be
very small compared to the
disturbing frequency.
A soft spring can be used
to satisfy this requirement.
26
Dr. Peter Avitabile


Another problem is to reduce the force transmitted
by the machine to the supporting structure which
essentially has the same requirement.
The force to be isolated is transitted through the
spring and damper as shown
27
Dr. Peter Avitabile


The force to be isolated is transitted through the
spring and damper is
FT =
(kX ) + (cX )
2
2
= kX 1 +
2
(3.6.1)
With the disturbing force equal to F0sinwt this

equation becomes
X=
F0
2 2
2

1 + 2
n n
28
Dr. Peter Avitabile

(3.6.1a)

The transmissibility TR, defined as the ratio of
the transmitted force to the disturbing force, is

1 + 2
n
FT
=
TR =
2
2
F0
2
1 + 2
n n
and when damping is small becomes

FT
1
TR =
=
F0 2
1
n
29
Dr. Peter Avitabile

(3.6.2)
(3.6.3)
Sharpness of Resonance
The peak amplitude of response occurs at
resonance. In order to find the sharpness of
resonance, the two side bands at the half power
points are required.
At the half power points,
2
1 1
1
=

2
2 2
2
2
1 + 2
n n
30
(3.10.1)
Dr. Peter Avitabile

Solving yields
2

= 1 2 2 2 1 2
n
(3.10.2)
and if the damping is assumed to be small

2

= 1 2
n
(3.10.3)
Letting the two frequencies corresponding to the

roots of 3.10.3 gives
2 1
22 12
2
4 =
2
n
n
31
Dr. Peter Avitabile

The Q factor is defined as
n
1
=
Q=
2 1 2
32
(3.10.4)
Dr. Peter Avitabile

MATLAB Examples - VTB2_3

VIBRATION TOOLBOX EXAMPLE 2_3
function VTB2_3(z,rmin,rmax,opt)
% VTB2_3 Steady state magnitude and phase of a
% single degree of freedom damped system.
>> vtb2_3([0.02:.02:.1],0.5,1.5,1)
>> vtb2_3([0.02:.02:.1],0.5,1.5,3)
Normalized Amplitude
10
10
10
10
Normalized Amplitude vers us Frequency Ratio
=
=
=
=
=
0.02
0.04
0.06
0.08
0.1
-1
0.5
0.6
0.7
0.8
0.9
1
1.1
Frequency Ratio
1.2
1.3
1.4
1.5
P has e vers us Frequency Ratio

180
P has e lag ()
157.5
135
112.5
90
=
=
=
=
=
67.5
45
22.5
0
0.5
0.6
0.7
0.8
33
0.9
1
1.1
Frequency Ratio
1.2
1.3
1.4
0.02
0.04
0.06
0.08
0.1
1.5
Dr. Peter Avitabile

MATLAB Examples - VTB1_4

VIBRATION TOOLBOX EXAMPLE 1_4
>> clear
>> x0=0; v0=0; m=1; d=.1; k=2; dt=.01;
>> t=0:dt:n*dt; u=[sin(t)];
>> [x,xd]=VTB1_4(n,dt,x0,v0,m,d,k,u);
>>
>> plot(t,u); % Plots force versus time.
>> plot(t,x); % Plots displacement versus time.
n=10000;
1.5
0.5
-0.5
-1
-1.5
10
20
30
34
40
50
60
70
80
90
100
Dr. Peter Avitabile


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Mechanical Vibrations

Dr. Peter Avitabile

linear time invariant

2nd order differential

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Harmonic Vibration

m&x& + cx& + kx = F0 sin t

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Harmonic Vibration

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Harmonic Vibration

Note that this is also seen graphically as

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Harmonic Vibration

and can be further reduced recalling the following

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Harmonic Vibration

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Harmonic Vibration

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Harmonic Vibration

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Harmonic Vibration

and the complete solution of this problem is given

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Complex Frequency Response Function

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Response - Rotating Unbalance

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Response - Rotating Unbalance

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Response - Rotating Unbalance

M&x& + cx& + kx = me2 sin t

which is essentially identical to (3.1.1) with the

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Response - Rotating Unbalance

and the complete solution of this problem is given

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Response - Rotating Unbalance

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Response - Rotating Unbalance

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Response - Rotating Unbalance

and the complete solution of this problem is given

22.457 Mechanical Vibrations - Chapter 3

Dr. Peter Avitabile

Forced Response - Rotating Unbalance