Professional Documents
Culture Documents
JAGADEESHA T
Associate Professor
Mechanical Engineering Department
Name
USN
Section
3
2
Time period: It is the time taken to complete one cycle. It is equal to the time for the
vector to rotate through 2 radians
`
rad/s
Reference:
x1= X sin ( wt )
x2= X sin ( wt+)
rad/s
Resonance: it is the frequency of the external force coincides with the natural
frequency of the system , a condition known as resonance occurs. During the
resonance the system undergoes dangerously large oscillations
Damping: It is the resistance offered to the motion of a vibrating body.
Periodic motion
If the motion is repeated after equal intervals of time, it is called periodic motion, The
simplest type of periodic motion is harmonic motion
Aperiodic motion
If the motion does not repeat after equal interval of time , it is called aperiodic motion
y (t ) =
A sin (t + )
Displacement
y& (t ) =
A cos(t + )
Velocity
y& (t ) = A 2 sin (t + )
Leads / Lags
Acceleration
Classification of vibrations
One method of classifying mechanical vibrations is based on degrees of freedom.
The number of degrees of freedom for a system is the number of kinematically
independent variables necessary to completely describe the motion of every particle
in the system. Based on degrees of freedom, we can classify mechanical vibrations
as follows:
1.Single Degree of freedom Systems
2.Two Degrees of freedom Systems
3.Multidegree of freedom Systems
4.Continuous Systems or systems with infinite degrees of freedom
Another broad classification of vibrations is:
1. Free and forced vibrations
2. Damped and undamped vibrations.
m1
Where
x= displacement at any instant of time
X = amplitude of vibration
W= angular velocity or frequency in rad/second
observing the equations 2 and 3 the velocity and acceleration are harmonic with the
same frequency but lead a displacement vector by /2 and radians respectively.
x-Displacement
X-amplitude
T-Periodic Time
f-Frequency
f=1/T
=Frequency in
radians per second
t= time
t
X
X= A sin t
m1
F1
m1
kt1
m1
x1
kt2
Rotor with inertia J1
m2
x2
Cantilever Beam
m2
Continuous system
( consider the mass of the beam )
m3
Exercise
Specify the no of degree of freedom for the following
2
Cantilever Beam
k1
k2
m1
m2
Continuous system
( Neglect the mass of the beam )
3k
k
2m
4m
m,
J
m2
K2
K1
5.
L1
M1
1
2
L2
M2
x1 = X
sin ( t )
x2 = X
sin ( t + )
Adding x = x1 +x2
Hence the resultant displacement is also SHM of amplitude X and phase angle
10
X1= 3 sin ( t + 30 )
X1= 2 cos ( t + 0.5)
3)
X1= 10 cos t +
X2= 8 sin t +
( t
+
into two harmonic motions
6
).
4
Draw the variation of displacement for one cycle of vibration. Also determine
the displacement of body after 0.11 second. ( repeat the problem for velocity
and acceleration and draw graph using Excel and compare )
Time
Displacement
0
0.025
5
0.05
0.075
0
0.1
0.125
0.15
-3.53
0.175
0
0.2
Calculate the remaining values
6
4
2
0
0
0.05
0.1
0.15
0.2
0.25
-2
-4
-6
11
BEATS
When two harmonic motions with frequencies close to one another are added. The
resulting motion exhibits a phenomenon known as Beats.
A Beat Frequency is the result of two closely spaced frequencies going into and out
of synchronization with one another
Let us consider tow harmonic motion of same amplitude and slightly different
frequencies.
X1 = X Cos ( t ) ,
X2 = X Cos (( + ) t ) ,
t cos + t
2
X= 2 X cos
The above equation shown graphically in Figure. The resulting motion represents
and with a varying amplitude 2 cos(
t :
cosine wave with frequency +
2
2
whenever the amplitude reaches a maximum , it is called the beat. The frequency
at which amplitude builds up and dies down between o and 2 X is known as beat
frequency.
( )
-2X
2
12
ELEMENTS OF VIBRATION
The elements of constitute vibrating systems are
1. Mass or Inertia element - m
2. Spring - k
3. Damper - c
4. Excitation F(t)
Voigt Model
m
Elements of Vibration
F(t)
Passive element
Active element
m, C, K
F(t)
Conservative element
( Damper)
13
l
l
M eq = M1 + M 2 2 + M 3 3
l1
l1
14
1
Kinetic energy of the equivalent mass = M eq X& eq
2
Meq= m m +
Jo
is the required answer.
R 2
2
Jeq= m mR + J o is the required answer
Spring element :
Whenever there is a relative motion between the two ends of the spring, a force is
developed called spring force or restoring force. The spring force is proportional to
the amount of deformation x and then F x or F = kx. Where k is stiffness of the
spring or spring constant or spring gradient.
The spring stiffness is equal to spring force per unit deromation.
15
F
F
x
Stiffness of beams
Cantilever beam consider a cantilever beam with an end mass shown in the figure.
The mass of the beam is assumed to be negligible. The static deflection of beam at
free end is given by
m
x
Similarly derive the expression for Simply supported beam and fixed support beam.
192 E I
st = l 3 N / m
Wl 3
st = 48 EI N / m
m
x
16
Combination of stiffness
Determination of equivalent spring stiffness when the springs are arranged in
series,
Consider two springs of stiffness K1 and K2 acted upon
by the force F.
The deflection of spring k1 is x1 =
F
K1
F
K eq
x= x1+x2
17
M
3k
2k
2k
2k
2 x10 6 N/m
M
3x106 N/m
38 kg
1x10 6 N/m
60 cm
2 x106 N/m
70 cm
18
60 cm
80 cm
50 cm
5.Replace the following torsional stiffness by a single shaft having radius 4cm and
find the length required for the equivalent shaft . Assume the material of given
system and equivalent system is same.
leqn
50 cm
R1= 3cm
60 cm
R2= 5cm
Rreq =4cm
DAMPING
Every vibration energy is gradually converted into heat or sound. Hence the
displacement during vibration gradually reduces. The mechanism by which vibration
energy is gradually converted into heat or sound is known as damping.
A damper is assumed to have either mass or elasticity, Hence damping is modeled
as one or more of the following types: Viscous damping; Coulomb or dry friction
damping; materials or solid or hysteric damping
Viscous damping
Viscous damping is most commonly used damping mechanism in vibration analysis.
When the mechanical system vibrates in a fluid medium such as air, gas, water or
oil, the resistance offered by the fluid to the moving body causes energy to be
dissipated. In this case , the amount of dissipated energy depends on many factors
such as size or shape of the vibrating body. the viscosity of the fluid, the frequency of
vibration and velocity of fluid. Resistance due to viscous damping is directly
proportional to the velocity of vibration
Fd V
Fd = C x&
Where C= damping coefficient
Fd = damping force
Examples of Viscous damping
1) Fluid film between sliding surface
2) Fluid flow around a piston in a cylinder
3) Fluid flow through orifice
4) Fluid flow around a journal in a bearing
19
Strain
20
FOURIER SERIES
The simplest of periodic motion, happens to be SHM. It is simple to handle but the
motion of many vibrating system is not harmonic (but periodic) Few examples are
shown below:
X(t)
X(t)
Forces acting on machines are generally periodic but this may not be harmonic for
example the excitation force in a punching machine is periodic and it can be
represented as shown in figure 1.3. Vibration analysis of system subjected to
periodic but nonharmonic forces can be done with the help of Fourier series. The
problem becomes a multifrequency excitation problem. The principle of linear
superposition is applied and the total response is the sum of the response due to
each of the individual frequency term.
Any periodic motion can be expressed as an infinite sum of sines and cosines terms.
If x(t) is a periodic function with period t its Fourier representation is given by
X(t) =
ao
+ a 1 cos( t ) + a 1 cos( t ) + ..............b1 sin ( t )
2
ao
2
+ a n cos(n t ) + bn sin( t ) =
= Fundamental frequency (1)
2 n=1
t
21
Determination of constants
To find ao Integrate both sides of equation(1) over any interval . All intergrals on
the RHS of the equation are zero except the one containing ao
2
ao =
2
x(t ) dt
x(t ) dt
o
To find an multiply equation 1 by cos (nt ) and Integrate over any interval . All
intergrals
2
an =
x(t ) cos(nt ) dt =
o
x(t ) cos(nt ) dt
o
To find bn multiply equation 1 by sin (nt ) and Integrate over any interval . All
intergrals
2
an =
2
X(t)
X(t)
t
t
2
t
X(t)
0.25
0.35
t
22
23
Let at any instant of time t, the mass is displaced from the equilibrium position x, the
different forces acting on the system are shown in figure (d)
From Newtons second law of motion
F = ma
Inertia force
( disturbing force) = restoring force
m &x& = k ( + x ) + mg
m &x& + k ( x ) = 0
k
(x) = 0
or &x& +
m
equation 2 is the differential equation of motion for spring mass system shown in
2
figure. Comparing equation (2) with the equation of SHM &x& + ( x ) = 0
since the vibrations of the above system are free( without the resistance of external
forces) we can write
k
m
rad
/ sec
24
time period , =
1
= 2
fn
m
k
k
m
n =
k
rad / sec
m
Rotational
kt
n =
rad / sec
Problems
1.A mass of 10kg when suspended from a spring causes a static deflection of 1cm .
Find the natural frequency of system.
2. A spring mass system has a spring stiffness K N/m and a mass of m Kg. It has a
natural frequency of vibration 12 Hz. An extra 2kg mass coupled to it. then the
natural frequency reduces by 2 Hz. find K and m.
25
3. A steel wire of 2mm diameter and 30m long. It is fixed at the upper end and
carries a mass of m kg at its free end. Find m so that the frequency of longitudinal
vibration is 4 Hz.
4. A spring mass system has a natural period of 0.2 seconds. What will be the new
period, if the spring constant is 1) increased by 50% 2) decreased by 50%,
5. A spring mass system has a natural frequency of 10 Hz when the spring constant
is reduced by 800 N/m, the frequency is altered by 45%, Find the mass and spring
constant of the original system.
6. Determine the natural frequency of system shown in fig is which shaft is supported
in SHORT bearings.
7. Determine the natural frequency of system shown in fig is which shaft is supported
in LONG bearings.
where l is the length of bearing and E youngs modulus and I is moment of Inertia.
7. Determine the natural frequency of system shown in fig is which shaft is supported
in LONG bearings.
8. A light cantilever beam of rectangular section( 5 cm deep x 2.5cm
wide) has a mass fixed at its free end. Find the ratio of frequency of
free lateral vibration in vertical plane to that in horizontal.
9.. Determine the natural frequency of simple pendulum
10. Homogeneous square plate of size l and mass m is suspended
from the mid point of one of its sides as shown in figure, Find the
frequency of vibration.
26
11. A compound pendulum which is rigid body of mass m and it is pivoted at O. The
point of pivot is at distance d from the centre of gravity. It is free to rotate about its
axis. Find the frequency of oscillation of such pendulum.
12. A connecting rod shown in fig is supported at the wrist pin end. It is displaced
and allowed to oscillate. The mass of rod is 5kg and centre of gravity is 20 cm from
the pivot point O. If the frequency of oscillation is 40 cycles/minute, calculate the
mass moment of inertia about its C.G.
27
m &x& + k ( x ) = 0 ----------------------------------------(1)
dx 2
dx
+ 2
=0
2
dt
dt
The general solution of equation (1) can be expressed as
X = A cos( t) + B sin ( t)
------------------------(2)
Where A and B are arbitrary constant which can be determined from the initial
conditions of the system. Two initial conditions are to be specified to evaluate these
constants. x=x0 at t=0 and
x = x 0 cos( t) +
Vo
sin ( t)
Energy method
In a conservative system the total energy is constant. The differential equation as
well as natural frequency can be determined by the principle of conservation of
energy. For free vibration of undamped system at any instant of time is partly kinetic
and partly potential. The kinetic energy T is stored in the mass by virtue of its velocity
where as the potential energy U is stored in the form of strain energy in elastic
deformation or work done in a force field such as gravity.
The total energy being constant T+U = constant. Its rate of change
28
Is given by
d
[T + U] = 0
dt
From this we get a differential equation of motion as well as natural frequency of the
system.
Determine the natural frequency of spring mass system using energy method.
k
m
Determine the natural frequency of the system shown in figure. Is there any limitation
on the value of K. Discuss?
m
Determine the natural frequency of system shown below. Neglect the mass of ball.
k
km
a
l
29
A string shown in figure is under tension T which can be assumed to remain constant
for small displacements. Find the natural frequency of vertical vibrations of spring.
T
m
a
l
8m
36m
A manometer has a uniform bore of cross section area A. If the column of liquid of
length L and Density is set into motion as shown in figure. Find the frequency of
the resulting oscillation.
30
Find the expression for natural frequency of system shown in the figure. Neglect the
mass of the cantilever beam. Study the special case i) k=Infinity ii) I = infinity.
l
k
m
Determine the expression for the natural frequency of a system shown in figure. The
two discs are keyed to a common shaft and have a combined mass moment of
inertia about centre of oscillation O. It is assumed that the card attached to mass m
does not stretch and is always under tension.
31
Determine the expression for the natural frequency of the system shown in figure.
Assume that the wires connecting the masses do not stretch and are always in
tension.
M2
M3
M1
k2
k1
Determine the natural frequency of spring mass system taking the MASS OF
SPRING (ms ) into account.
32
RAYLEIGHS METHOD.
This is the extension of energy method. Here we can determine the natural
frequency of a conservative system without finding the equation of motion. The
natural frequency is a function of the rate of change of Kinetic energy and potential
energy of the system.
From the principle of conservation of energy we have,
T+U = Constant
T= K.E and U =P.E
We can write the above equation as
T1+U1 =
--------------------------(1)
Let 2 be the time corresponding to the mass displacement of the mass, At this
instant the velocity f the mass is zero and hence
)Max = (
)Max
33
Home work.
Determine the natural frequency of system shown in figure. If the cylinder is free to
roll without slipping.
Determine the natural frequency of system shown in figure. If the cylinder is free to
roll without slipping.
B
K
34
Determine the natural frequency of system shown where in cylindrical disc rolls over
the inextensible spring.
Repeat the above problem Instead of cylinder assume sphere of radius with r rolls
without slipping on concave surface as shown above.
35
The torsional pendulum has a natural frequency of 5 Hz. What length of steel wire of
diameter 2 mm should be used for pendulum. The inertia of mass fixed at the free
end is 0.0098 kgm2. Take g= 0.83x1011 N/m2
Determine the torsional natural frequency of the system shown in figure. Neglect the
mass moment of inertia of the shaft. ( Figure not proportionate)
Kt2
0.6m
Kt1
20cm
0.8m
0.4m
20cm
20cm
20cm
Determine the natural frequency of simple pendulum considering the mass of the rod
into account.
M
M
Using the energy method, find the natural frequency of the system shown in figure.
The chord may be assumed inextensible in the spring mass pulley system.
36
37
CHAPTER 3
DAMPED FREE VIBRATION OF SINGLE DEGREE FREEDOM SYSTEM
LEARNING OBJECTIVES
] Introduction to damped free vibration
] Terminologies used in damped free vibration
] Three different types of damping
] Concept of critical damping and its importance
] Study of response of viscous damped system for cases of under damping,
critical and over damping.
] Concept of logarithmic decrement
] Problems related to damped free vibration problems.
Viscously damped free vibration of single degree freedom sytem
Consider a single degree freedom system with viscous damping as shown in figure,
For a viscous damped system, the damping force is
x&
x
38
At any instant of time, let the mass be displaced by x from the equilibrium position.
Then different forces acting on system is shown in the free body diagram
By Newtons second law of motion,
m&x& = cx& kx = O
m&x& + cx& + kx = O
----------------------------------------------------------(1)
or
d2x
dx
+
+ kx = 0
C
dt
dt 2
Ct
2m
CASE 1:
k
c
if
=0
m
2m
39
CASE 2:
k
c
if
> =0
m
2m
CASE 3:
k
c
if
< =0
m
2m
40
S1, 2
k
c
c
=
becomes zero.
m
2m
2m
Note : The damping coefficient c is defined as the actual amount of damping while
the damping coefficient is a constant depending upon the mass and stiffness of the
system. The roots of characteristics equation can be now written as
41
x
= ln 1
x2
Expression for logarithmic decrement ( )
Consider a damped free vibration which is expressed by
x = Xe (n t ) sin n 1 2 t +
x is the displacement at any instant of time. X and are arbitrary constants
2
1 2
42
Tutorial problems
1. Derive an expression for damping ratio in terms of logarithmic decrement
2. Show that logarithmic decrement =
1 xo
ln
n x n
Disc of mass
moment of Inertia
J
Viscous fluid
43
9. A thin plate of area A and weigh w is fixed to the end of the spring
and allow to oscillate in a viscous fluid as shown in figure. It f1 is the
frequency of oscillation in air and f2 in liquid. Show that
2
2
2
=
f 1 f 2 where the damping force on the plate
gA
Fd = 2AV , V being the velocity of vibration.
10. A torsional pendulum has a natural frequency of 175
cycles/second vibrating in vacuum. The mass moment of
inertia is 2 kgm2. It is immersed in oil and it is observed that
the natural frequency is 142 cycles/second. Find the damping
torque. If the disc is replaced by 3.4 deg. When in oil, find the
displacement at the end of the first complete cycle.
11. An automobile can be modeled as a mass placed on 4 shock
absorbers each consisting of a spring and a damper. Such that
each spring is equally loaded. Determine the stiffness damping
constant of each shock absorber. So that natural frequency is 2Hz
and system is critically damped. The mass of vehicle is 200kg.
M 200kg
=200kg
kgkg
12. Write the differential equation of motion for the system shown
in the figure below . Determine the natural frequency of the
damped oscillation and critical damping coefficient.
M
m
a
C
Determine the differential equation of motion and find the critical coefficient and
damped natural frequency for system shown in figure.
M
m
2a
C
44
Derive the equation of motion and find the critical damping coefficient and damped
natural frequency for the system shown below:
k
M
C
a
b
m
Write the differential equation of motion and determine the expression for critical
damping coefficient and damped natural frequency of system shown in figure.
Set up a differential equation of motion for system shown in figure and determine the
following: Undamped natural frequencies, critical damping coefficient , damping ratio,
damped natural frequency,
45
A mass of 300N is resting on two springs of stiffness 3000 N/m each and a dashpot
of damping coefficient 150 Ns/m as shown in figure. If the initial velocity of 10cm/s is
given to mass at its equilibrium position what will be the displacement from the
equilibrium position at the end of first second. Derive the formula used.
W= 3000 N
A gun barrel of mass 600kg has a recoil spring of stiffness 294 kn/m. if the barrel
recoils 1.3m on firing determine i) The initial recoil velocity of barrel ii) The critical
damping coefficient of dashpot which is engaged at the end of recoil stroke. Iii) Time
required for the barrel to return at the end of recoil stroke. Iv) time required for the
barrel to return to a position 5cm from the initial position.
FIRING
46
CHAPTER 4
FORCED VIBRATION
LEARNING OBJECTIVES
] Introduction to forced free vibration
] Terminologies used in forced vibration
] Concept of magnification factor
] Study of reciprocating and rotating unbalance.
] Concept of base excitation and support excitation
] Concept of Transmissibility ratio
] Problems related to forced vibration.
The vibration that takes place under the excitation of external forces are called
forced vibration. When a system is subjected to harmonic excitation, it is forced to
vibrate at the same frequency as that of excitation. Most of the mechanical systems
are prone to steady state forced vibration which cause fatigue failure. The vibration
problem also becomes very important when any of excitation frequencies coincide
with one of natural frequencies of a system. Under this condition resonance occurs
during which large amplitude of vibrations are observed. To avoid resonance
external frequency (operating speed) may be changed or properties of the system
may be changed to alter the natural frequency. In some cases, sufficient amount of
damping may be provided to avoid large amplitude during resonance. Thus the
problem of force vibration is very important in mechanical design.
FORCED VIBRATIONS OF SINGLE DOF SYSTEMS UNDER HARMONIC EXCITATION
Fo
F = Fo sin[ t ]
` F = Fo sin[ t ]
x& &x&
47
----------------------------------------------------------(1)
or
dx
d2x
+C
+ kx = Fo sin( t )
2
dt
dt
Equation (1) represents the differential equation of motion of the system. The
solution to this equation consists of two parts namely complementary function and a
particular integral.
The first of solution is also termed as transient solution of homogeneous solution and
can be obtained from the homogeneous differential equation. m&x& + cx
& + kx = 0
The second part of solution, particular integral is also termed as steady state solution
ad is of form x = X sin(t ) . Where X= steady state amplitude , is phase
difference between external force and displacement .
x = X sin(t )
48
The force polygon for the above vector diagram can be written as follows
Cx
Fo
KX
(t )
O
49
n
= tan 1
2
1
n
50
st
Fo
k
(1
)2
+ 0
Fo
=
k
Magnification factor (M) It is defined as the ratio of steady state amplitude to zero
frequency deflection xst.
M =
X
=
X ar
Fo
k
= tan 1
2
1
n
=0
=0
= 0.25
= 0.375
= 0. 5
Magnification
Factor M = X/Xst
= 0.707
=1
=2
Frequency Ratio r = (/n)
51
= 0.25
= 0.5
= 0.707
Phase Angle, ,
= 1.0
= 2.0
0.5
1.0
1.5
2.0
2.5
= p = n 1 2 2
52
3.0
x =
(k
Fo
2
(C
)2
k
m
= n =
Fo
k
k m
Fo
(C
)2
(C
)2
Fo
(C
Class work
Derive an expression for amplitude at resonance ( in non dimensional form)
53
F = 30 cos[50 t ]
54
ROTATING UNBALANCE
Unbalance in rotating machinery is a
common source of vibration excitation.
Consider a machine of mass m having
mounted on a foundation of stiffness k
and damping coefficient C as shown in
figure. The unbalance is represented
by an eccentric rotating mass m with
eccentricity (e) and having a angular
velocity ( ). let x be the displacement
of non rotating mass from the static
equilibrium position. The displacement
of rotating mass m from the static
equilibrium is (x + e sin( t )
Applying Newtons law of motion , we
have
2
n
= tan 1
2
1
n
55
RECIPROCATING UNBALANCE
Unbalance in reciprocating machinery is a common source of vibration excitation.
Consider a machine of mass M having mounted on a foundation of stiffness K and
damping coefficient C as shown in figure. The unbalance is represented by a
reciprocating mass (m) having crank radus (e) and connecting rod of length (l)
Let be angular velocity of the crank . Let x be the displacement of non
reciprocating mass from the static equilibrium position at any instant of time. The
displacement of reciprocating mass m from the static equilibrium position is
e
x + e sin t + sin(2t ) + ........................
l
2
n
= tan 1
2
1
n
56
me
for various values of ( ) is shown in figure. This frequency plot is same for
n
the rotating and reciprocating unbalance with the following points are noted from the
diagram.
1. Damping ratio plays very important role during resonance in controlling the
amplitude.
=0 for all the values of damping ratio ( )
2. When =0 then MX
me
n
3. When is higher than MX
tends to unity
me
n
4. At very high speeds i.e at very high frequency ratio there is no effect
n
of damping
The frequency plot of phase angle versus the frequency ratio is given as
shown in figure. The explanation is same as in forced harmonic vibration.
57
VIBRATION ISOLATION
Vibratory forces and motions generated by machine and other caused are
unavoidable . Howeever their effect on the other dynamical systems can be
minimized by proper isolator design. An isolation system is either to protect o
delicate machine from excessive vibration transmitted to it from its supporting
structure or to prevent vibratory forces and motions generated by machines
from being transmitted to its surroundings. The effectiveness of isolation may
be measured in terms of forces and motion transmitted. The first type is
known as force isolation and the second type is known as motion isolation.
Force isolation (Force Transmissibility)
When vibratory forces generated by machine are isolated the effectiveness of forced
isolation can be made by defining the term transmissibility. The term transmissibility
is defined as the ratio of force transmitted to the foundation to that of the external
impressed force.
Force Transmissibility =
Consider viscous damped spring mass system as shown in figure. Upon this system
an external harmonic force Fo Sin ( t ) is applied. The difference forces acting on
system are inertia forces , damping force, spring force and external force. All these
forces are represented on force polygon shown below.
Out of these four forces the spring force and damping force are common forces
acting on mass as well as on foundation. Hence the force transmitted to the
foundation Ftr is the vector sum of these two forces.
58
TR =
1 + 2
n
Ftr
=
2
2 2
Fo
1 + 2
n n
n
C
1
1
= tan
= tan
2
2
K
m
1
n
The phase difference between force transmitted to the foundation Ftr to the
displacement.
tan =
Cx c
=
Kx
k
or
C x
1
= tan 1
= tan 2
Kx
n
The phase difference between external force Fo and force transmitted to foundationis
59
1
1
= = tan
tan
2
n
1
Displacement Transmissibility
It is the ratio of amplitude of steady state vibration of machine to that of the base
motion.
Forced vibration due to support motion
Consider a spring mass damper system subjected to harmonic
excitation y = Y sin(t ) at the base as shown in figure. Let x be the absolute
displacement of the mass at any instant of time t. The different forces acting on
system are shown in free body diagram.
Applying Newtons Law of motion.
Ma = F
60
Frequency plot of
transmissibility versus
frequency ratio.
61
The plot of transmissibility versus frequency ratio is as shown in figure. The following
points can be noted from it.
i) The value of transmissibility is unity at frequency ratio =0 and 2
n
ii) For an undamped system =0 transmissibility tends to at resonance
()
iii) The value of transmissibility is less than unity for the value of frequency ratio
greater than
2 smaller damping
2 to
CASE 1
When = 0 to 2
n
In this zone , the value of transmissibility is always greater than 1 for all values of
damping ratio. In this zone, the transmissibility decreases with increase in damping.
Hence we can conclude that in this zone, damping is useful in isolating vibration
forces being transmitted to the support
CASE 2
When = 2 to
n
In this zone, the value of transmissibility is less than 1 for all values of damping ratio.
In this zone, the transmissibility increases with increase in damping. Hence we can
conclude that in this zone, damping will adversely affect in isolating vibratory forces.
62
5. A body of a car having mass 1500 kg and is mounted on 4 equal springs which
deflect through 22.5 cm under the weight of the body. A total damping forces the 4
shock absorbers is 46 N at a velocity of 1cm/sec. The car is placed with all the four
wheels on a test platform which is move up and down at resonant speed. With an
amplitude of 2.5cm. Find the amplitude of the car body on its springs assuming its
C.G. to be in the centre of wheel base.
6.A 75 kg machine which is mounted on springs of stiffness 11.6x105 N/m with the
damping of = 0.2 . A 2kg piston within the machine as reciprocating motion with a
stroke of 0.08m and speed of 3000 RPM. Assuming the motion of piston to be
harmonic , determine the amplitude of vibration of machine.
63
7. The spring of an automobile are compressed 10cm under its own weight . Find the
critical speed when a trailer is traveling over road with a people approximaterly by a
sine wave of amplitude 7.5 cm and wave length 15m. What will be the amplitude of
vibration at 64km/hour.
8. An eccentric mass excites us used to determine vibratory characteristics of a
structure of mass 25kg as given in figure. At a speed of 1000 RPM , the eccentric
mass to beat top position at the instant the structure was moved upwards through its
static equilibrium position and corresponding amplitude was 20mm. The eccentric
mass is 0.5kg at an eccentricity of 10mm. Determine
i) Undamped natural frequency of the system
ii) Damping ratio
iii) Steady state amplitude and phase angle at 1500 RPM.
iv) Force transmitted to the ground at 1200 RPM.
Eccentric mass
M=25kg
64
CHAPTER 5
VIBRATION MEASURING INSTRUMENTS
WHIRLING OF SHAFTS
LEARNING OBJECTIVES
] Introduction to Vibrometer and accelerometer
] Terminologies used
] Concept of critical speed and its importance in engineering practice
] Derivation of critical speeds with and without air damping
] Discussion of speeds above and below critical speeds
] Problems related to whirling of whirling of shafts
Support motion
Consider a spring mass damper system as shown in figure. Let it excited by motion
of support, let y be the harmonic displacement of support.
65
n
= tan 1
2
1
n
66
Z
is almost equal to unity. Then
Y
Z
is equal to 1 or Z=Y. it means that the mass will not be having any
Y
When
67
VIBROMETER
This is a device to measure the displacement of vibrating body. This is designed wit
low natural frequency. We know for vibration measuring instrument
Z
Y
(1
(2
when the natural frequency of instrument is low then frequency ratio tends to
n
higher values for undamped system.
Z
Y
(1
Z
which implies
Y
= 1 or Z= Y.
so relative amplitude Z is equal to the amplitude of vibrating body Y for every values
Z
versus
of damping ratio. This is shown in frequency plot of
n
Y
One disadvantage of vibrometer is its large size because it is an instrument with low
natural frequency. The seismic mass remains stationary while the frame moves with
an vibrating body. These instruments can be used to measure velocity and
acceleration by incorporating differentiators.
ACEELEROMETER
Accelerometer is used to measure the acceleration of vibratory body. The natural
frequency of accelerometer is high compare to the frequency which is to be
measured.
We know for a vibration measuring instrument
Z
=
Y
2
2
1 + 2
n n
where Z =
2 Y
.f
2 n
where f is a factor which remains constant for the useful range of accelerometer.
Where f =
(1
(2
with r =
68
2 Y
1
. To keep the value of factor f=1, for the
2 n
2 Y
or Z
acceleration where
From the equation (2) the following plot can be drawn. The figure shows the
response of the accelerometer . It is seen that for =0.7 there is complete linearity
for accelerometer i.e. f=1 for frequency ratio less than 0.25. Since the natural
frequency of accelerometer is high , it is very light in construction. Using integration
circuits, one can get the display of velocity and displacement . the same instrument
can be used to measure the velocity and displacement by incorporating integrator
69
70
CHAPTER 5 ( CONTD..)
WHIRLING OF SHAFTS
LEARNING OBJECTIVES
] Introduction to whirling of shafts
] Terminologies used
] Concept of critical speed and its importance in engineering practice
] Derivation of critical speeds with and without air damping
] Discussion of speeds above and below critical speeds
] Problems related to whirling of whirling of shafts
Introduction
Critical speed occurs when the speed of the rotation of shaft is equal to the natural
frequency of the lateral vibration of shafts, At this speed shaft starts to vibrate
violently in the transverse direction. Whirling is defined as the rotation of the plane
created by bent shaft and the line of centre of bearings.
The excessive vibrations associated with critical speeds may cause permanent
deformation resulting in structural damage. Example: The rotor blades of a turbine
may come in contact with stator blades. Larger shaft deflections produce larger
bearing reactions,which may lead to bearing failure. The amplitude build up is a time
dependent phenomenon and therefore, it is very dangerous to continue to run the
shaft at it critical speed.
This phenomenon results from the following causes:
1.Mass unbalance
2.hystersis damping in shaft
3.Gyroscope forces
4.Fluid friction in bearing.
Bearing centre
Undeflected Position
O
X C
G
Deflected Position
C
G
71
Bearing
Bearing
Rotor or Disc
Plane A
Plane A
Bearing
Bearing
Rotation of plane A
plane A
Bent up shaft axis
Rotor or Disc
The rotation of plane A, which is generally referred as whirling, may take place in the
same sense as that of spinning of the shaft or in the opposite sense. Further the
speed of whirling may or may not be equal to the speed of spinning of the shaft.
When the whirling speed is equal to the speed of rotation of shaft it is called
synchronous whirl.
72
X/e = 1/[(1/r2) 1]
73
Discussions:
The relation between X/e and c/ can be plotted as shown below in Figure 5.13.
+ ve
r<1
X/e
n
1.0
- ve
r >1
C
G
74
G tends to coincide with O. The disc tends to rotate about its mass centre and hence
vibrations are very minimum. This is the principle used for stabilization of
aircrafts at high speeds.
Dynamic force transmitted to the bearings.
Fd = KX
n2 = K/m, K = mn2 at the critical speed
= m2nX
= m2X, at
Note:
1. < n, r < 1, X/e is positive, Fd = m2 (X + e)
2. > n, r > 1, X/e is negative, Fd = m2 (X e)
If the shaft is vertical dynamic load on each bearing FB = Fd/2
If the shaft is horizontal dynamic load on each bearing = FB = (mg/2 + Fd/2)
75
76
a.
b.
c.
d.
The above forces are shown both in magnitude and direction as given below in Figure
5.16.
me2 Sin
me2
me2
KX
X
(K -m )x
mX
me2 Cos
CX
CX
Resolve these forces in horizontal and vertical direction and for equilibrium.
=0
= 0.1
X/e
= 0.15
= 0.25
= 0.5
= 1.0
r = / n
77
= 0.25
=0
= 0.5
= 0.707
Phase Angle, ,
= 1.0
= 2.0
0.5
1.0
1.5
2.0
2.5
3.0
Discussions
a. When <<< n, r <<< 1.
,
900
tan
Disc rotates with heavier side outside i.e., G outside C as shown in figure (a)
G
(a) < 90
b. When = n, r = 1
,
900
tan
G
C
O
(b) = 90
78
(d) = 1800
(a) < 90
C
O
(b) = 90
G
C
(d) = 1800
79
80
CHAPTER 6
TWO DEGREES OF FREEDOM SYSTEM
LEARNING OBJECTIVES
] Introduction to Two degrees of freedom system
] Terminologies used principle modes and normal modes of vibrations
] Concept of co ordinate coupling
] Generalized and principal co ordinates
] Free vibration in terms of initial conditions.
] Problems on Geared system
] Forced oscillations Harmonic excitation applications
] Vehicle suspension
] Dynamic vibration absorber
] Dynamics of reciprocating engines
The general rule for computation of number of degrees of freedom can be stated as
follows
Number of degrees of freedom =
{No
Figure 3
Kt
K1
Figure 1
J1
m1
Figure 2
1
x1
X1
X2
Kt2
K2
K
J2
m2
m1
m2
x2
Figure 4
Figure 7
81
X1
K1
X2
K2
K3
m1
m2
Figure 5
Figure 7
Figure 6
Two degrees of freedom will vibrate in two different modes called as principal
modes. If masses m1 and m2 shown in figure (1) are vibrating in phase , such mode
of vibration is called first principal mode. When the masses m1 and m2 are vibrating
in out of phase, such mode of vibration is called second mode of vibration.
There are two equations of motions for a two degree of freedom system, one for
each mass ( more precisely for each DOF0. They are generally in the form of
coupled differential equation. i.e each equation involves all the coordinates . After
assuming harmonic solution to the equation of motion, it gives two natural
frequencies. During free vibration at one of natural frequencies, there exists a
definite value of ratio of the amplitude, which is referred to as principal mode ( the
ratio of amplitude of vibration in a particular mode is known as principal mode) In the
principal mode if one of amplitude is taken as unity, then principal mode is referred at
as normal mode.
UNDAMPED FREE VIBRATION OF TWO DEGREES OF FREEDOM
82
1.write the equation of motion for the following fig. Determine the mode shape ,
natural frequency , no of modes in different modes. ( Figure 1)
83
Figure 2
Figure 1
2. Determine the natural frequencies and draw mode shapes and locate the nodes
for the systems shown in Figure 2.
3. Find the natural frequencies of system shown in figure,
Take J1 = 06 kgm2, J2 = 1.34 kgm2, G=0.83x1011 N/m2
K 11
&&
J1
1
Kt
Disc-1
J1
K 2 (2 1 )
Kt2
J2
Disc-2
&&
J2
2
2
84
X1
X2
K
m1
m2
x2 > x1
X1
X2
KX2
KX2
m1
m2
KX1
KX1
K (X2 X1)
m1
m2
K (X2 X1)
Class work
1. A electric train made of 2 cars 200kg is attached by a coupling of stiffness 40x106
N/m. Determine the natural frequency of the system.
85
2. Determine the natural frequency of Torsional vibrations of a shaft with two circular
disks of uniform thickness at its ends. The masses of the discs are m1 = 500 kgs and
m2 = 1000 kgs and their outer diameter D1 = 125 cm and D2 = 190 cm. The length
of the shaft is 3 m and its diameter = 10 cm. Modulus of rigidity for shaft material of
the shaft G = 0.83 * 1011 N/m2
Also determine in what proportion the natural frequency of the shaft gets changed if
along half the length of the shaft the diameter is increased from 10 cm to 20 cm
J1
J2
Kt1
Kt2
86
For the system shown mass m1 is displaced 0.01 m from its static equilibrium
position and released. Determine the resulting displacements x1 and x2 of masses
m1 and m2 , if m1=m2=m. Also determine the displacement of masses after 0.1
second. If k=10 KN/m and m=10kg.
Find the natural frequency and principal modes for system shown in figure Take
m1=m2=m and l1=l2=l
87
Determine the natural frequencies of the system shown below. Take m1=m2=m.
Derive
the
differential equation of motion for system shown. Assume a chord passing over
cylinder do not slip. Determine an expression for natural frequencies of system.
88
Derive the equation of motion for the double pendulum shown in the figure and
hence derive the frequency equation by considering m1=m2=m and l1=l2=l also find
the amplitude ratio an draw the mode shapes.
UNDAMPED
DYNAMIC
VIBRATION
ABSORBER.
( Forced harmonic vibration of two degree freedom system)
When a single degree freedom system having large amplitudes of vibration under
external excitation at resonance, the same can be eliminated by coupling a properly
designed auxiliary spring mass system to the main system. This is the principle of
undamped dynamic vibration absorber. Here the excitation is finally transmitted to
the auxiliary system, bringing the main system to rest.
89
Consider a two degree freedom system as shown in Figure. The spring mass system
k1, m1 is called the main system which is excited by an external
harmonic force, F1 = F0 sint
K1x1
F1 = F0sint
m1
m1&x&1
K2(x2-x1)
m2
m2&x&2
90
x2 =
Fo K 2
[m1m 2 4 (k 1m 2 + k 2 m 2 + k 2 m1 )2 + k 1k 2 ]
91
Fo [k 2 m 2 2 ]
x1 =
[m1m 2 4 (k 2 m1 + k 2 m1 + k 1m 2 )2 + k 1k 2 ]
The amplitude of vibration of main system can be reduced to zero, if the numerator
of equation (2) is zero
F0 (K 2 m 2 2 ) = 0
K 2 m2 2 = 0
2 =
K2
m2
K2
rad / s
m2
This shows that the amplitude of vibration of main mass can be made equal to zero
if the operating frequency is equal to the natural frequency of the absorber system.
The addition of a vibration absorber to main system is not much meaningful unless
the main system is operating under resonance. Then
= n
= n 1 = n 2
2 we can write
effective
absorber is known as tuned absorber.
= n 1
but absorber to be
92
93