Aplicatia 2

Pentru sistemele cu doua grade de libertate din tabelul 4, sa se determine in
ipoteza micilor oscilatii:
1.)
2.)
3.)
4.)
5.)
6.)
7.)
8.)
9.)

expresiile E si V ;
ecuatiile diferentiale ale vibratiilor libere ;
pulsatiile proprii;
modurile proprii de vibratie; verificarea conditiilor de
ortogonalitate;
ecuatiile diferentiale ale vibratiilor fortate pentru ω =2* p 2 ( p 2
= p max );
amplitudinea vibratiilor fortate pentru ω =2* p 2 ;
coordonatele princiapale ;
ecuatiile diferentiale ale vibratiilor fortate in coordonatele
princiapale pentru cazul ω = p1 ;
legile de miscare generale in cazul vibratiilor fortate cu ω = p1 in
coordonate generalizate;

Numeric:
m1 = 40
m 2 = 60

[Kg]
[Kg]
m3 = 30
[Kg]
m 4 = 40
[Kg]
4
k1 = 1*10
[N*m/rad]
4
k 2 =3*10
[N*m/rad]
F1 = F0 sin ω t
F0 = 120
[N]
M 2 = M 0 sin ω t
M 0 = 100
[N*m]

10

) expresiile E si V .1. 1 2 •2 1 2 2 • •2 1 2 • E = a11 q 1 + a12 q 1 q 2 + a 22 q 2 2 1 2 V= c11 q 1 + c12 q 1 q 2 + c 22 q 2 q1 = ϕ 1 q 2 = ϕ4 A= a11 a 21 ⇒ a12 a 22 1 2 • 2 • • 1 2 • 2 E = a11 ϕ1 + a12 ϕ1 ϕ 4 + a 22 ϕ 4 2 V= 1 1 c11 ϕ1 + c12 ϕ1 ϕ4 + c 22 ϕ42 2 2 C= c11 c 21 c12 c 22 11 .

5 m1 +0.1605 a 11 = 6.5 4 R = 6.405 m3 R 2 ) 0 2 m 0 0.5 m1 +0.5 mϕ 4 R 4 2 a 22 a 11 = R 2 (0.5 m 4 R 2 =1.5 m1 +0.3 au aceeasi deplasare unghiulara ϕ 1 .21 * m2 R E2 = * * ϕ12 2 2 2 • 1 0.1605 [kg*m 2 ] a 22 =0.1605 0 V= V1 + V2 + V3 + V4 + Vk 1 + Vk 2 1 k1ϕ12 2 1 1 1 1 V k 2 = k 2 (ϕ4 − ϕ1 ) 2 = k 2 (ϕ42 − 2 * ϕ1ϕ4 + ϕ12 ) = k 2ϕ12 + k 2ϕ42 − k 2ϕ1ϕ4 2 2 2 2 Vk 1 = 12 0 1.405 m3 Rϕ2 2)* 1 2 a 11 + • 1 2 2 *0.81 * m3 R E3 = * * ϕ12 2 2 2 • 1 m4 R * * ϕ42 2 2 2 2 2 2 • • • 1 m4 R • 2 1 m1 R 1 1.9 * R ) 2 m3 R32 = 2 2 1 j 4ω42 2 2 4 m R m4 R = 4 2 2 2 ⇒ 2 • 1 m1 R E1 = * * ϕ12 2 2 ⇒ ⇒ E4 = 2 • 1 1.8 [kg*m 2 ] .21 * m2 R 1 0.605 m 2 R 2 +0.1 * R ) 2 j2 = = 2 2 E3= j3 = E4 = j4 = 1 j 3ω32 2 m3 (0.605 m 2 R 2 +0. deci in calculul energiilor • ω3 = ϕ E 1 . E 3 avem : ω 1 = ω2 = 1 E= E 1 +E 2 +E 3 +E 4 E1= j1 = E2 = 1 j1ω12 2 m R2 m1 R12 = 1 2 2 ⇒ 1 j 2ω22 2 m2 R22 m 2 (1.Discurile 1.8 [kg*m 2 ] a 12 = a 21 =0 A = R 2 (0. E 2 .405 m3 R 2 )= 6.8 a 22 =1.2.81 * m3 R 2 2 2 * ϕ1 + * * ϕ1 + * * ϕ1 + 2 * 2 *ϕ 4 E= * 2 2 2 2 2 2 E= • 1 (0.605 m 2 R 2 +0.

3 *10 4 = 0 [N*m] 2 2 ( a11 a 22 . •• •• a1 q11+ a1 q22 + c1 q1 + c1 q2 = 0 •• •• a2 q1 + a2 q22 + c2 q1 + c2 q2 = 0 A •• =q +C=q == 0 •• ϕ 1 + 4 * 10 6.) ecuatiile diferentiale ale vibratiilor libere .1605 1.8 0 0 6.k 2 k2 .0889 1.V= 1 1 1 1 1 k1ϕ12 + k 2ϕ12 + k 2ϕ42 − k 2ϕ1ϕ4 = ( k1 + k 2 )* ϕ12 .1605 D A =11.d 12 d 21 ) = 0 D = d 11 d 21 COF A A −1 = = = A −1 * C d 12 d 22 1.556 13 0 .k 2ϕ1ϕ4 + k 2ϕ42 2 2 2 2 2 c 11 c 12 c 22 = k1 + k 2 = 4 * 10 4 c 11 = 4 * 10 4 [N*m/rad] = c 21 = (.0889 =A adj 0 = 0.2 a12 c12 + a 22 c11 )p 2 + ( c11 c 22 .8 0 6.a12 )p 4 + ( a11 c 22 .k 2 ) = -3 *10 4 c 12 = -3 *10 4 [N*m/rad] = k 2 =3 *10 4 c 22 = 3 *10 4 [N*m/rad] c 11 C = k1 + k 2 .8 •• ϕ4 4 4 ϕ ϕ 1 .c12 )=0 4 2 p .k2 = 4 * 10 4 -3 *10 4 -3 *10 4 3 *10 4 c 12 c 22 [N*m/rad] 2.162 0 0.1605 1 11 .( d 11 + d 22 )p + ( d 11 d 22 .3 *10 4 = 0[N*m] 4 ϕ -3 *10 4 ϕ 1 +ϕ 1 .

179 [rad/m] 4.648 * 10 4 = = 0.) modurile proprii de vibratie. p 1 =49.V.598 1 v 1 = µ1 = -II- M.P.827 p 2 =148.27 * 10 8 = 0 [ s −4 ] Ecuatia pulsatiilor proprii. verificarea conditiilor de ortogonalitate.070 * 10 4 = 2 2 t1 =0.088 [rad/s] µ2(1) = µ1 = p12 − d11 0.27 *10 8 2.179 = 14 .162 0 0 0.P.811 * 10 8 ) = 0 p 4 .193 * 10 4 ⇒ p 2 =148.) -primul mod propriu de vibratie. 2 = 2.081 * 10 8 . [rad/s] 1 = 0.566 * -3 *10 4 4 * 10 4 3 *10 4 -3 *10 4 = 0.668* 10 4 -0.V.827 d 12 − 0.316 * 10 4 p 2 + 0.364 * 10 8 − 4 * 0.2. p2 =t t 2 .316 * 10 4 ± 2.316 * 10 4 p 2 + (1.246 * 10 4 − 0.316 * 10 4 ± 5.246 * 10 4 − 0.27 *10 8 = 0 t 1.668 * 10 4 p 4 .0.598 [rad/s] t 2 =2.486 * 10 4 µ2 = -3.316 * 10 4 +0.246 * 10 4 ⇒ p 1 = 49.) pulsatiile proprii. a.179 d 12 − 0.486 * 10 4 µ1 =0. 3.486 * 10 4 1.648 * 10 4 -1.2.2. -I- M.648 * 10 4 = = -3.D = 0.827 [rad/m] µ2( 2 ) = µ2 = p 22 − d11 0.088 [rad/s] 1 1 v 2 = µ2 = -3.

δL = F 1 * δϕ4 *R + M 2 δϕ1 δLϕ1 M 2 * δ ϕ1 δL1 Q1= . Qϕ4 = = = F 1 = F 1 * R sin ω t δq 2 δ ϕ4 δϕ4 •• •• a1 q11 + a1 q22 + c1 q1 + c1 q2 = Q1 15 .519 * 10 4 +1.1605 1.598 [rad/s] p 2 =148.519*10 4 -3.169*10 4 5.) ecuatiile diferentiale ale vibratiilor fortate pentru ω =2* p 2 ( p 2 = p max ).088 [rad/s] v1T *A* v 2 = 0 v1T *C* v 2 = 0 v 2T *A* v1 = 0 v 2T *C* v1 = 0 v1T *A* v 2 = [ 1 0.489 ] * 1 -3.179 =1.427 (nu este egal cu 0 dar oricum verifica.1605 0 0 1.7335 = 1.-I- -II- p 1 = 49.827 ] * 4 * 10 4 -3 *10 4 * 1 -3 *10 4 * 1 -3.519*10 4 ] * 0.179 =[6. Qϕ1 = = = M 2 = M 0 sin ω t δq1 δ ϕ1 δϕ1 δLϕ4 F1 * δ ϕ4 * R δL2 Q2 = . fiind un numar apropiat de valoarea 0) v1T *C* v 2 = [ 1 -0.179 3 *10 4 = [1.650*10 4 = 3.8 1 -3.179 = = 6.1605 – 4.827 ] * 6.

1605 [ kg * m 2 ] a 12 = a 21 = 0 a 22 = 1.•• •• a2 q11 + a2 q22 + c2 q1 + c2 q2 = Q2 6.8 •• ϕ 1 + 4 * 10 •• ϕ 4 . 16 .8) * 100 − (−3 * 10 4 ) * 36 = = (4 * 10 4 − 296 . a 11 = 6.3795 * 10 −4 [ rad ] 7.176 2 * 6.3 * 10 4 4 4 ϕ ϕ 1 .1605 ) − (3 * 10 4 − 296 .176 2 * 6.3 * 10 [ N * m / rad ] 4 c 22 = 3 * 10 [ N * m / rad ] ω = 2 * p 2 = 296.176 2 * 6.176 2 * 1.3 * 10 4 = 100 sin ω t 4 ϕ ϕ 1 + 3 * 10 4 = 36 sin ω t 6.1605 )(3 * 10 4 − 296 .8 [ kg * m 2 ] c 11 = 4 * 10 4 [ N * m / rad ] 4 c 12 = c 21 = .8557 * 10 −4 a2f = [ rad ] − (−3 * 10 4 ) * 100 + (4 * 10 4 − 296 .2.8) − (−3 * 10 4 ) 2 = -1.8) − (−3 * 10 4 ) 2 = .176 [rad / s] H 1 = M 0 = 100 [N * m] H 2 = F 0 = 36 [N * m] a1f (3 * 10 4 − 296 .1605 1.) coordonatele princiapale .176 2 * 1.176 2 * 1.1605 ) * 36 = (4 * 10 4 − 296 .) amplitudinea vibratiilor fortate pentru ω =2* a1f (c 22 − ω 2 a 22 ) * H 1 − (c 21 − ω 2 a 21 ) * H 2 = (c11 − ω 2 a11 )(c 22 − ω 2 a 22 ) − (c 22 − ω 2 a12 ) 2 [ rad ] − (c12 − ω 2 a12 ) * H 1 + (c11 − ω 2 a11 ) * H 2 (c11 − ω 2 a11 )(c 22 − ω 2 a 22 ) − (c 22 − ω 2 a12 ) 2 [rad] a2f = [N * m] [N * m] p2 .

250 ϕ 4 η2 = 0.3. •• Aq +C q = f 0 sin ωt •• V T A*Vη + V T C*Vη = VT M f 0 sin ωt K M = a1 0 0 a2 K= c1 0 0 c2 ψ = ϕ 1 ϕ4 a1 a2 •• η1 •• η2 T = v1 v 2T f f 0 0 + c 1 η1 =ψ1 sin ωt + c 2 η1 =ψ2 sin ωt 17 .827 * η1 = η1 +η2 η2 0.3.794 ϕ 1 .) ecuatiile diferentiale ale vibratiilor fortate in coordonatele princiapale pentru cazul ω = p1 .827 1 .0.179 1 η η ϕ 0.827 1 .179 = V −1 * η q η1 +η2 = ϕ / *3.179η2 =3.179η2 1 .250 ϕ 4 [rad] η2 = ϕ 1.250 ϕ 4 [rad] 8.006η1 / = 3.179 2 = 4 4.179 ϕ 1 +ϕ 4 η1 = 0.=V*η q ϕ 1 =η 1 + η2 ϕ4 = µ1 η1 + µ2 η2 ϕ 1 = ϕ4 1 0.179η1 +3.206 ϕ 1 .179 2 = 4 ⇒ 3.827η1 .0.794 ϕ 1 + 0.3.0.179 ϕ 1 η η ϕ 0.η 1 =ϕ 1 .3.

772 = -14.179 a 2 = 24.827] * [rad / s] 6.358 -I- •• η1 •• η2 100 36 100 0 = [ 1 -3.827 ] * = 129.827 = [ 1.179 c 2 =53.598 t 18 ψ1 = 129.T a 1 = v1 A v1 T a 2 = v2 A v2 T c 1 = v1 C v1 T c 2 = v2 C v2 ω = p 1 = 49.3 * 10 4 * 1 = [ 13.392 •• η1 24.1605 -5.1605 0 0 1.772 sin 49.179 -3.444 sin 49.598 a 1 = [ 1 0.3 * 10 3 * 10 -3.827 c 1 =1.827 ] * 4 * 10 4 .519 * 10 4 ] * 1 0.351 c 1 = [ 1 0.519 * 10 4 -0.179 ] * 4 * 10 4 .179] * 36 0 = [ 1 0.8 * 1 -3.772 ψ2 = -14.537* 10 4 ] * 1 4 4 .090*10 4 η1 =129.179 = [ 6.598t + 1474.827 0.392 a 2 = [ 1 -3.179] * 6.1605 1.444 + 1.3 * 10 3 * 10 0.3 * 10 4 * 1 4 4 .537 * 10 4 -12.7222] * 1 -3.392 *10 4 ψ1 = v1 f ψ2 = v 2 f T T 7.392*10 4 η1 =-14.56 sin 49.4886 ] * 1 0.090*10 4 c 2 = [ 1 -3.57η1 =17.827 a 1 = 7.1605 0 0 1.8 * 1 = [6.444 .598 t + 53.

088 t C 4 cos 148.088 t + θ 2 )+ + 0.827At cos49.088 t + B sin 49.179B sin49598 t componenta datorata vibratiei la rezonanta componenta vibratiei fortate datorate fortei perturbatoare 19 .) legile de miscare generale in cazul vibratiilor fortate cu ω = coordonate generalizate p1 in ϕ 1 (t) = η 1 + η2 [rad] ϕ 1 (t) = A 1 sin( 49.598 t solutia particulara la rezonanta η2 = C 3 sin 148.088 t + θ 2 ) + At cos 49.99η1 = .827A 1 sin(49.598t + θ 1 ) – 3.598 t + C 2 cos 49.598t + A t cos 49.3.0.179A 2 sin(148.-II- •• η2 + 21925.598 t ϕ4 (t)= µ1 η1 + µ2 η2 [rad] ϕ4 (t) = 0.598t η1 = C 1 sin 49.598 t +Bsin 49.598 t + θ 1 ) + A 2 sin( 148.598 t .598 t solutia particulara in caz diferit de rezonanta 9.59sin 49.

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