Chapter 9 Vibration Control = [KE = (400 xw?\4 Ons YE = (400K 2 ig. 4 ne Vw ioe ) = (6-3299 rad/s Ig ve speed of the automobile in km/fr> w= 2TS$= aw fy (teooyt 1 _ Sa aw fy Cee} © cosusiv rad/s r= & 2 0:3491V On - WErgpeg7 = 002138 Vv Ye tm 215% m I$ x= displacement of mass (passengers), we have xl 4 4 pene =r Yo? 7 445693 x07 Vv? X= 1? SI fe 1=—4-5693 xia? y? 1o4 — 4.5693 Vv 4 = 0 ok ys (SSbsx)* = 46-7816 kmn/ ne Thus passengers will perceive vibration in the neighborhood of 46.7816 Km/ty speed . Rossible methods of improving the design: 1. Change the stiffness of the system by changing tire pressure, or Springs of the suspension. 2. change the mass of the system by adding more mass (dead weight). 7 9 3. Add damping to the system by using better shock absorbers. 569x(t) = X cos wt , x) = x? costat fa ee fe estat dts ft 4 sin 209 T f © °. Binge tim (2 fw at } 6 ad TT 00 2 hie 4,4 sin 209T x Tee lt tas T - 2 -¥ftrepe =z “hems = fe For static balance = EReo, Sh= Here SFe= my Us o, + meq cod 02 +t Ty OS Cyt mre Oe z0 F 35 (Wo) cof 40” + 15(90) cod 220° + 25 (130) cS 290°+ mete coh Og = PF 1949 = ORL HM S & mere Oe =O emer HO = - 3026.5 ZFy = mr, Ain O, + meV; Sin Op -+ MTs Sin Os + Mere Sin Oe =O > 35 (Ito) Sin 40° + 15 (90) Sin 220° + 25 (130) sin 290° + me Sina =O > 2414.78 - 867-79 - 3054-025 + Mele Sin Oe = 0 > mere Sin Oe = 1447 025 mere = [ Ca0ze.5)%+ (m4 7-0258)*]* 2 3254. 6361 gem c= tan '¢ 1447-245)) - + 525° — 3026-5 omens 570‘Mass removed from holes 1 and 2 is 100 grams, and from 3 and 4 is 150 grams, radius for holes 1 to 4 is 0.1 m, 5% hole at a radius of 0.12 m. Solution: Unbalance due to hole is proportional to (rm) Let m, = mass removed from 5% hole radius at which 5 hole is drilled = 0.12 m. angle at which 5 hole is drilled. rs 6; 7 ZF, = Dy m, cos 0,=0 = = 0.1 (0.1) cos 0° + 0.1 (0.1) cos 60° + 0.1 (0.15) cos 120° + 0.1 (0.15) cos 180° +r; m, cos 6, = 0 = 0.01 + 0.005 — 0.0075 — 0.015 + 0.12 m, cos 0, 0.12 m, cos @; = 0.0075 ZF = DY xm, sin 0, im => 0.1 (0.1) sin 0° + 0.1 (0.1) sin 60° + 0.1 (0.15) sin 120° + 0.1 (0.16) sin 180° + r, m, sin 6, = 0 + 0.00866 + 0.01299 + 0 +r, m, sin 0, 0.12 m, sin @, = 0.02165 m, = on (0.0075)? + 0.02165) = 0.1909 (kg) = 0.02165 6, = tan! |— 9975 | = — 70.8929" ZF,= DY) my cos = 0 since all r, are same, we have 0.5 cos 10° + 0.7 cos 100° + 1.2 cos 190° + m, cos 6, = 0 => 0.4924 ~ 0.12152 - 1.18176 + m, cos 0, = 0 > m, cos 6, = 0.81088 4 Y mx sin 0, = 0.5 sin 10° + 0.7 sin 100° + 1.2 sin 190° + m, sin 8, = 0 = 0.0868 + 0.6894 - 0.2083 + m, sin 0, = m, sin 0, = — 0.56788 ; m, = ((0.81088)? + (- 0.56788}? = 0.98996 kg. 0.56788 | _ _ 35 o045° 0.81088 0 571Amplitude of unbalance 0.2 mm, x phase angle of unbalance 40°. », trial weight M = 0.2 kg, at a radius 0.065 m., new amplitude of unbalance 0.5 mm., new phase angle 150°. >, balancing weight to be located at a radial distance of 0.065 m. Solution: (0.2, 40° cw) PL Pl ‘utw = (0.5, 150° cew) = TAD + Aba — 2 Ay Anew C08 ( - 0} = (0.2? + 0.5% — 2 (0.2) (0.5) cos 110°)? = 0.5987 2 A M, = original unbalance = (2:« = ( | 0.2 = 0.06681 kg. 2AAy 2 (0.2) (0.5987) 1.6912° cow Grinding wheel will be balanced if a weight of 0.06681 kg is added at 51.6912° clockwise from the position of the trial weight or (65 + 51.6912°) = 116.6912 clockwise from the phase mark. Unbalance amplitude 0.15 mm, trial weight of mass 50 grams, new unbalance amplitude 0.22 mm. Solution: [ae AE Ale ce= cost | AB + Ae — Agen |. | = cos (0.6199) A, = (0.15, 15° ew) Bua y = (0.22, 35° cew) . A, = [AZ +2, —2Ay Ags w 608 (0- OF , = [0.15 + 0.22? — 2 (0.15) (0.22) cos (60°)? = 0.1687 mm Av) w= (925_) 0.0 Ay 0.1687 _ [AFAR Alew|_ [0.15% + 0.1687" - 0.297 wees 2AA, | 8 2 (0.15) (0.1687) M, 0 vriginal unbalance 0.0444 kg. = cos™ (0.05058) = 87.1009" cow Flywheel will be balanced if a mass of 0.0444 kg is added at 87.1009° ew from the position of the trial mass or (~45 + 87.1009) = 42.1009° ew from the phase mark. 572Original unbalance amplitude 0.1 mm, trial weight of mass M = 100 grams, amplitude 0.2 mm, B, = @.1, 45° cew) = vat w = (0.2, 145° cow) = [A2+A2,, —2A, Ay, y cos - OF A A, = (0.1? + 0.28 ~ 2 (0.1) (0.2) c08 100°)? = 0.2386 mm. 81 jor= 0.2386 5 ate Ase] (ort +0 ne 02 c= cost [Akt AS = Adee | = ogg .0419 kg. original unbalance = ( 2AAy ("2x 0.1 x 0.2386 = cos“ (0.5643) = 55.6440" cow Grinding wheel will be balanced if a mass of 0.0419 kg is added at 55.6440° ew from the position of trial weight or (20° + 55.6440°) = 75.6440° ew from the phase mark. Figure 3.11(b) shows thet the phase amg belaeen th displacemunt and the dniving fice 4 90° of a freppemcy valid of rat. the i dus t the contiigugal fate of the eccenbic mass, the dinection of tt unlalamced moss 4 90° ahead of the dueplacenet. Hence the mous for fo be removed af 229°+ 90" = 317° ot indicattd hy the purtiacth. 573For static balance, sum of all inertia forces must be zero! mye mae m+ Me At Ma Fhe = 0 ©) which can be written in scalar form as mit) CO, + Mp te CoS Oz + My Ty OF Os + ME TL, ot OL, + my, Mh, OQ =O (Ez) mf, Sin O,t mph Sin Oy + M362 Sim Gre Mm, Vy, Sin OL, + m2 Ty, sth B,, = 0 For dynamic balance, sum of moments due to inertia so(62? must be zero about any point. The moments about the point, defined & the intersection of z-axis with pane Ay gives Lym," T+ fom, ot + mye + Kim Tat Le Tat O or (Eg) Lymn, 80,4 Lam r, fe, +L: mr oh Or+ ame, a a,=0 Es) Lim r, sin + Lama ty sin on Lams ty sin z+ Lamy, ny, sin @, =0 (Ee) Egs. (Es) omd (Ee) give z 2 he = HlGon coh 0,4 Aamate of Or + Lams ty WFO) 4 + (Aimin tm oi+ lamin te ert Lom sn ogy} (©) imp t, Aen 6.4 Lam, rz tim 024 Agmy ty tm 03 @) oF a 8 Lyme, 5 Ot Laman, ot opt Lamy ty cof 02 } Once m,,, amd 9, are found, ys (E2) amd (£7) cambe used te determine 84, = tan! { 2 mT = frm CBO, + M2T CoS O2 + ZT, cof OZ + ML, Th, OF 42) A + (mrysin Ort Mary Hin One mg Ty im Os + Ma Tha tim o4.)' f €s) MY, Sin ©) + MAY, Sin Op + MT; Sin Og + MTL, sin = ! t 2 rz tes 3 ba ‘ba ba 04, = tam {itis ere mata Hn eat mury th Gy Mais tn Go iG mT, 6+ Mak, oh Opt My Ty CA Og + My, Ty, cof Obs 574M, = M, = 0.1 kg, radius 0.08 m. M, = M, = 0.1 kg., holes drilled at 0.1 m radius. Solution: Let My and M, be the amount (masses) of the material removed in planes B and C at angular locations 05 and @¢, respectively. The material removed must balance the masses added (temporarily) in planes A and D. Measuring angles counter clockwise from the horizontal (x-axis), we need to satisfy the following equations for static balancing of the rotor: DY Miticos 8, + My rp 608 Oy + Mo te 608 0, = 0 @) DY Minsin 6, + My rp sin Oy + Mg te sin 8 = 0 (,) Since M,=M,=M,=M, ty =r, = 15 0.08 m, ry Eqs. (E,) and (E,) yield: 0.1 (0.08) cos 90° + 0.1 (0.08) cos (~ 60°) + 0.1 (0.08) cos (120°) + 0.1 (0.08) cos (- 120°) + 0.1 Mg cos 6g + 0.1 Mg cos @, = 0 60°, 6, = 120°, 0, = - 120°. = Mg cos Og + Mg C08 Og = 0.04 (E,) 0.1 (0.08) sin 90° + 0.1 (0.08) sin (— 60°) + 0.1 (0.08) sin (120°) + 0.1 (0.08) sin © 120°) + 0.1 My sin Oy + 0.1 Mg sin 8g = 0 = — Mysin 0, + Mg sin 0, = - 0.0107 (E) For dynamic balancing (taking moments from plane A), My ry S, cos 8, + M, r, S, cos 0, + My ry Sp C08 Oy + Mg te Se cos Oy = 0 M, r, S, sin 0, + M,r, S, sin 0, + My ry Sy sin 0, + M, r¢ Sq sin 0, = 0 ie, 0.1 (0.08) (0.6) cos 120° + 0.1 (0.08) (0.6) cos (-120°) + Mp (0.1) (0.1) cos 6p + Mg (0.1) (0.5) cos 8g = 0 0.1 0.08) (0.6) sin 120° + 0.1 (0.08) (0.6) sin (-120°) + My (0.1) (0.1) sin 6, + Mg (0.1) (0.5) sin ie., 0.01 My cos Og + 0.05 Mg cos Og = 0.0048 om) &) 0.01 My sin 0, + 0.05 M, sin 0, Eqs. (E,) and (E,) give 4My cos 0g = 0.44 or Mg cos 0, = 0.11 () Eqs. (E,) and (E,) give 5754.Mg sin 0, = 0.0107 or Mg sin @, = 0.002675 1) Eqs. (E,) and (E,) yield Mg = 0.11? + 0.002675"]? = 0.1100 as Og = tan| 2:002675) _ 5 soaie ,) O11 J Eqs (Fy) and (Ey) give My cos 0, = -0.06997 Eqs (E,) and (Ey) give My sin 0, = -0.01337 Exo) ‘My = [(-0.06997)" + -0.01337)"]'= 0.07124 (kg) _, (0.01387) _ tan” | -0.06997} = 0.8178" Amount of material to be removed: 0.07124 kg at 10.8178° cew at radius 0.1 m in plane B and 0.11 kg at 1.3931° cew at radius 0.1 m in plane C. Masses 1 kg, 2 kg, 1.5 kg are located at radii 0.5 m, 0.8 m and 0.3 m. Solution: 0.8 m, rp, 90°, By = 220°, Oy Let Mg, T4, 0, and Mg respectively. , 0, denote the masses added in planes A and G, For static balancing, Morro 608 8 + Mp Fp 008 Op + Mg rp 008 Og + My Ty COS 0, + Mg re C08 Oy = 0 => Myr, cos 0, + Mg rg cos Og = 0.8360 «&) Mg te sin 0p + Mp Tp sin Op + My rp sin 0, + My rq sin 0, + Mg rg sin 0 = 0 = Myr, sin 0, + Mg tg sin Og = 0.2465 €,) 576For dynamic balancing, we take moments about the left bearing (plane B): Mg to 8c 608 Og + Mp Fp Sp £08 Op + Mg ry Sp cos Og + Marg Sq cos 8, + Mg tq Sg C08 Og => 0.4 My rq cos 04 + 2.2 Mg Tg C08 Og = 0.6021 Mo te Sp sin Op + Mp tp Sp sin Op + Mp rp Sy sin By + Mgr, S, sin 0, + Mg rg Sg sin , = 0 = -0.4 My ry sin 0, + 2.2 Mg fg sin 0, = 1.0885 Eqs. (E,) and (E,) yield 6.5 Mg rq cos Og = 2.3413 or Mg tq cos Og = 0.3602 Eqs. (E,) and (B,) give 6.5 Mg rg sin 0, Eqs. (E,) and (E,) give .ATAS or Mg rq sin Og = 0.3807 Mg tg = [(0.3602)* + (0.3807)? = 0.5241 kg-m Og = tan (2 807 | = 46.5849° 0.3602 Eqs. (B,), (B,) and (E,) yield Ma Tq COs Oq = 0.8360 ~ (0.5241) cos 46.5849° = 0.4758 | Ma Tq Sin 0, = —0.2465 — (0.5241) sin 46.5849° = — ra} Eq. (E,) provides My tq = [(0.4758)° + 0.6272)"}? = 0.7873 , = ino (=822) = ~ 52.8157° 0.4758 &) «&) 2) &) €,) Cr) cm) If the balancing weights are placed at a radial distance of 0.05 m in planes A and G, we have r, = rg = 0.5 m, and hence My = 1.5746 (kg), 8, = — 52.8157° Mg = 1.0482 (kg), 0, = 46.5849" 577¥, = 5/1007 — 0.8682 + i 4.9240 Vp = 4/180° =- 40-100 Vi, = 6.5 /120° =~ 3.25 + i 5.6292 Vi = 45/140" = = 3.4472 + 1 2.8925 Vi = 6.01.90 = 0.0 +160 Vg = 7.01.60" = 8.5 + i 6.0622 Mi, = 2.0230 = 1.7821 +1 1.0 ii,- 2000 =2.0+i10.0 2 3 a. wacws aL = My = 1.2420/-46.4914° = 0,6913/51.0984° ea >» _ Va- Vp By My = 4. 23151 —49.7058° ee > he Ryo ess Ma = 2.1217/-99.2682" > See Poy SS Apr Aa ~ Aan Ant. rr B= Am Va Aa Vo RS 3 38 Apr Aar —Aat Apr B,=- 0, = 4.2315/—49.7058° By =— Op = 2-1217 £39,268" 578G1) (= 10ox 2% = 104-72 rad/s Centrifugal forces due to rotating masses (all parallel 93- plane) are min = (50/00) (Boo )(104-72)* = 43-8651 N Fue my 9" = (20/000) (S/o) (104-72)" = 10-9663 N Fre mats ©* = (40/000) (6/oo) (104-72)? = 26-9191 N #3) These can be written in vector form as e Rah ler = 43-8651 Zo” = gasesr = Tes F(y) R= F (ex = 10-9663 [120° =-5.4932 F 4 9.4971 5 = F 22 = 26-3191 (200° 24-7319 F— 10017 ET The moments of these forces taken obout ta fearing at A met be balamced Ly th moment of the Leaning reacLionat B. Hence EM, = or x 4s a6sr T+ od Fx (4TH TAIT E ) 409 T x(-24-7319 F- 1007 EK) + in T x RR =D where Ry = reaction at bearing B and’ x” denotes the Cross product. this gives ig ion zy sasaq FH iT x Re =o --- (6) let Ry=(a p+ be). then aT x(asebF)euae (E,) amd (E,) give b= 4.7749 a Rye (8°75525 4 4.7749 © @ =13-7552 , Similarly, by taxing moments about B, mot 2 x (24-7319 f- 9.0017 F) 06 T x(C5-472F 49-4971 7) mos tx (anes SF )omtx Re oT where &, = reaction at bearing A= cZ +d m3gea + ITT erie Kt rrd 7 2a e= 29-4021, d= 35436 Ry = -28-40217 - 35436 Note that these are rotating vectors. (b) Since the planes Lamd R pass through the bearings Aand B, the balancing forces are given by = = = 2 — ot Bp = - By = -13-7552 F-47749 & = MRTO (8 0, 5 +4in OZ) jew Mg (0-25) (104-72)* cos Op = - 19-7552 Mp (0-25) (104.72)* sin OR = 4-7749 SO my Ch Og = - 0°005017, mp bin Og = - 1001742 579= (G0-005017)*+ (-9.001742)" = 0-005311 4g Og= tant (—°OT4L | sgsoi7) = 19-1480" + 180%= 119-1480" 5-3 gy Foe Ri = 28-4021 f 435436 FT = mrw (te prune, © L ca, é 1 Le ce aa 28-4021 mot O= 7 = 001036 (@-25) (104-72) mL sin = ——2S#36§ =o 0012.93 (2°25) (toge72)* L JG-01036)* + (0-001293)* = 0-01044 tg = 10-449 = tan! (2700129%/.01036) = 7d? Note: Angler are measured clockwise From z-axit while Leoning $rom_A_towards 3B: 7 48 EI Stiffness of steel shaft between bearings = k = 7; 2 L k= S002 10) (x 00) eiemexitNm b4—— 4 (0.75)° 64 kf 10 (ce Critiee loan oe) tet eee ee ae crilee 45 (b) Vibration amplitude of the rotor (steady state value): 63.0206 rad/sec E (9.39) gives the amplitude of the rotor in x-direction as more k= mo’ Here w = 1200 rpm = 1200 (2) 125,664 rad/sec X =D mae when damping is zero .01 m, m w? = (45) (125.664)? = 710.615 x 10° 1 = 15.3601 x 10 m ]179.722 x 10° = 710.615 x 10°| X = (45) (125.664)? (0.01) Similarly the amplitude in y-direction is given by Y 13.3601 x 10°? m Resultant amplitude of the flywheel = R = ¥X® + Y? = 18.894 x 10m (©) Force transmitted to the bearing supports = KR = 178.722 x 10° x 18.894 x 10-9 = 376.782 N 580@) Considering bearings a1 simple supports, the spring constant of the beam i ‘= ae where = distance between bearings. Let r= variable position of center of mass, and £ By = Static radial displacement of center of mass. ad then epuation of motion is + - t «St meats k(r- Se) of GF re rr ome dynamic force =F= mre = mi? Sp since F acts at the widdle of the beam) go = Mt Yrar PR A where d= diameter of shaft. —* oo wa, = FLA L morn & ha or 8E (¢-ma*) Substituting the expression for &, oc = mu Sn Rd (42 ED) : oa 3x e ) (Hee —*) 2-5 em val wong Stiffness of a simply supported beam: 48 (207 (10°) |= coos] ager ED go0503 (104) N/m e B Natural frequency of the system: . -V=E V 19.0521 (10° ae m 20 Frequency of rotor (speed of shsft): k= 97.6014 rad /see (2 mt) = 628.32 rad/sec Whirl amplitude of the disc: A= Va + (2 ¢rY 581(a) At operating speed: _ 828.32 828.32 _ 6.4371 oreoia ~ 4578 A= — 0.005) (6.43767) 005124 m V (1 — 6.43767)? + (2 (0.01) (6.4376)? {b) At critical speed (Eq. 9.41): Critical speed: eect - aoa = 101.7565 rad/sec where c =2 Vk m ¢ =2 V(19.0521 (10*)) (20) (0.01) = 39.0406 N-s/m. w _ 101.7565 - JOLTSSS. _ 1 042 ra oreo ~ 10428 A= (0.005) (1.04267 = 0.06074 m (1 — 1.04267)? + (2 (0.01) (1.0426)? (c) At 1.5 times critical speed: 1.5 Wei 152.6347 = = AT 1.56: a or.sia ~ 15038 (0.005) (1.56387) A= = 0.008457 m V (1 — 1.5638”)? + (2 (0.01) (1.5638)? (a) At operating speed: 1 = 6.4376 ; w = 628.32 rad/see. Deflection of mass center: 1 —itesy |F (—Py +(2er? 1 = (0.005) {2 +12 (0.01) (8.4370)? _]* = (0.005) { (i — 6.4370}? + (2 (0.01) (6.4376)? Centrifugal force: m 7 R = (20) (628.327) (1.2465 (10™*)) = 984.2015 N mu? R R .2465 (10~*) Bearing reactions: Ry =R; = = 492.1007 N x x I= dt == (0.0254) = 1.9175 (10-*) m* ri sq (0:025*) = 1.9175 (107°) m’ 582Maximum bending stress: éyd 1 02! i 3) Z _ s02007 (5) 1.6040 (10°) N/m? T “79175 (10~ (b) At critical speed: t= 1.0426 ; w= 101.7565 rad/sec 1 : 4 R= (0.05) {+2 (0.0) (1.0028) _} 65560 (1 — 1.04267)? + (2 (0.01) (1.0426)? Centrifugal force: m a? R = (20) (101.7565) (0.05589) = 11574.1319 N R, = Ry = 5787.0659 N Maximum bending stress: Ri Oo es) s7e7.o8s0 (1) (225) a ay) = 18.8627 (10°) N/m? (c) At 1.5 times critical speed: mo? R 1 = 1.5638 ; w = 152.6347 rad/sec — +H Ri Re 1 _ 1+(2 (0.01) (1.5638)? z - m R = (0.005) {a — 1.56387)? + (2 (0.01) (1.5638))? 0.008460 Centrifugal force: m uf R = (20) (152.6347*) (0.003460) = 1612.1767 N R, =R, = 806.0884 N Maximum bending stress: (808.0884) (2) (2-925) = ary 2.6274 (10°) N/m? Stiffness of beam (k}: 48 BI _ 48 (71 (10°)) (1.9175 (10*) _ g5347.7344 N/m e a Natural frequency: KA / SS347. 7344 _ 57.1611 rad/see oy VE- 20 ‘ 583(a) At operating speed: 6000 w _ 628.32 = (2 =) = 628.32 rad/sec; r= = =" = ios 0 (27) rad /see; r ce 7 Sraeir 7 10.9922 Whirl amplitude of rotor: A = (1 =r)? + (2 ¢ 7) = (0.005) (10.9921?) fo — 10.99217)? + (2 (0.01) aor} (b) At critical speed: 2 Vk m ¢ = 2 V(65347.7344) (20) (0.01) = 22.8644 N-s/m eziaa = 59.5046 rad/sec Heses w _ 59.5946 ciead coneutST #10 1 eetuneaas A- (0.005) (1.0426?) fe — 1.04267)? + (2 (0.01) cos} (c) At L.5 times critical speed: LS Wai ai _ 89.3919 _ coag om 87.1611 : re (00s) (1.5858) = 0.008457 {x — 1.56387)? + (2 (0.01) (1.5638)? (a) At operating speed: 1 = 10.9921 ; v= 628.32 rad/sec. Deflection of mass center of disc: 5841 (0.005) { + (2 (0.01) coors" R = 0.4272 (10~*) m {a —10.99217)? + (2 (0.01) cose} , Centrifugal force: mu? R = 20 (628.: ao (og 4272 (10~*)) = 337.3052 N PR Bearing reactions: Ry =Ry = => 168.6526 N a ee Ri ® @ (168. 6526) irom! Maximum bending stress: ————"— = ———__—____~____ = 0.5497 (10°) N/m? I 1.9175 in 7 (b) At critical speed: r= 1.0426 ; w = 59.5946 rad/sec a 2 (0.005) f + (2 (0.01) corn} R= 4 .05589 m. {o — 1.04267)? + (2 (0.01) c.osne|* Centrifugal force: mu? R = (20) (59.5946”) (0.05589) = 3969.8850 N Ry =R, = 1984.9425 N Maximum bending stress: Ri (Z)(Z) _ (ase4.saas) (5) (2) ae . 2 i ToT a y 6.4698 (10°) N/m’ (c) At 1.5 times critical speed: r= 1.5638 ; w = 89.3919 rad/sec 1 (0.005) {: + (2 (0.01) assays]? R = 0.003460 m {a — 1.5638")? + (2 (0.01) case]? Centrifugal force: _m u? R = (20) (89.3019?) (0.003460) = 552.9711 N R, =R, = 276.4855 N 585Maximum bending stress: eva 1, , 0.025 R, (2) (4) a7s.aess) (2) (225) EE SE) (10) N/m? Ir 1.9175 (10° (Gai) 3.75 (10°) N/m ; ¢ = 0.05 “ (2 7) = 376.992 rad/see m = 60 kg; a = 2000 (107°) m Pe VE Nf 00 = 250.0 rad/see 4 _ 316.992 _ 1 5099 Gh 250.0 (a) Steady state whirl amplitude: 2 A = 7 @ {a —PY +@cr? (2000 (10 0.003545 m {a — 1.5080)? + (2 (0.05) aso} (b) During start-up and stopping conditionss, rotor passes through the natural frequency of the system. Thus, using r = 1 in Eq. (1), we obtain the whirl amplitude as a _ 0.005 Alm =5> 25 7 Fos 7° ™ (2) Let t= 0 Unbalanced forces: Fy, = m rw (cos a, + cos a, + cos a, + cos «t,) = mr @? (cos 0° + cos 180° + cos 180° + cos 0°) =0 2 eg? 262 ro’ F,=m D cos 20; = ie (cos 0° + cos 360° + cos 360° + cos 0°) 5 7 2m? ‘9 2 = dmre’ 2 4 ay or? {200@%) = i5701.97N é 0.25, 60 586Unbalanced moments: wrt] *t _ mro* (B cos 0° + cos 180° ~ cos 180° ~ 3 cos 0°) ae :) +R, (3) -Fe, (3) -Fay (33) 2g? = aaa (3 cos 0° + cos 360° — cos 360° ~ 3 cos 0°) = 0 Reference TW plane TT bets Let the cylinders be separated axially by a distance 4. Fyp = mrcst (cof y+ cof 2) = mrs” (cof O + Cor 180") = 0 amrtot £ Fase MES (os 24, = me" (cs of S)= eae SOS a+ cet ae)= BP ch 0° + coS 360 = Moments about the reference plane: = A 4, amr 7 7 2 Map Fp Et —- Pepa $= fare ( x = =O fe Zao 589b) =e, Fo (9-93) = —- = = +2238 £y (9-93) > 7- Tey 740°22 On us= 25 Hz to 35 Hz = 157-08 rad/sec to 219-912 rad/sec m= 85/981 = 86646 *9 Transmissibility of an undamped isolator is given by Ey.(9.94): 1 Te [2 - (YonF | () For 807, vibration isolation, €%- (ED gives = —t___ p ove o> TT efan"] fer L- (YL ss oo Bs Ve = 24495 At (= 2542, Wye 157/08/ 2.4495 = 64-1274 rad /sec At w= 35 Hz, ©, =219-92/2- 4495 = 99-7783 rad/sec or Bee 9081 oz At qw= 25 Hz, Sse = 981g 12745 = 0:002385 m at w=35 Hz, Ss = 99 /(a9.7783) = 01001217 om Select static deflection of isolator af 0:0023385 m- checking the performance ak o9= 35 Hz = Wy= 64-1274 Ted /secs AE G9= 35 He, 1 ~ [t= (2912/ 64.1274)° | > 915% isolation , better than the reguired amount. = 00850 Tt, Syy of isolator = 0-2385 mm mg = 800N, = 600 Tpm = operating speed = 62.922 rad/sec Tr = 2-5 at w= Oy, Ey. (9-94) gives 590pe t+ @yry with r= & d-r¥+ Gerry on “ At rst east ease Te tan, 625 = TT > y= 0-282 At operating speed, T, = 0-1 and y= 0-2182 5 Ey. (E,) gives At 4 (0. 2182)* ents ae 182) G-r*)? + 4 (o2e2)* 7 which , upon simplification, becomes y4 20-9595 r*>-99 = 0 > *= 24.8443 Ge ve Gn 49844 Since «= 62-832 rad/sec, U9,= 12-6057 rad /sec = VE 4 =, m = (j2- 6057) | ( so) = 12958-5054 N/m « Isolator is defined by *= 12958-5054 N/m c= amo, y= 2( $020 (12. 6057) 6 2182) = 448-6139 NA M= 500 49, me= 50 tym, W= 300 tpm= 31-4ie rad/see Fy= steady state force magnitude = mew* > n> f/m Static deflection of compressor = 5,4 = Be meet «) Transmission ratio= T= Fe 7 Y fon ratio= Te FB { save) =} Ce) with r= %,. G-r*)" + (25r) Amplitude of vibration of compressor =X= f — ty. ater 1% = Me ees (8) / Tc mat) + arc* ] M fo-e + 5N* For a good design, T, must be small. Alco X should be small for smaller dynamic stress. 2 7 591Isolator with « + A {8 (6) Sor Trae ond ¥ ca t+ (o2ry® ‘" -rtY + (o2r)* Fr small T, r=2 should on . = 05347 re= tls (-r*)* = 00 (2tr)*= G2r)*= (02x s-a1ey = 044 13-3665 {152-9203¢0+5347 = 0:001079 ™ u 500 flea to-4h be large or c5, small or 4 5.96 1? -99 =0 so that \ or 13-3665 {er Cy, = 3+ 6560 ' aan 1 Wy= 31 41/5. 65¢ = VYseaice = 4/s. 3166 i = 85929 rad/sec ' 2 = 94724 vad/sec 1 = (5929) (500) . 1 = 36919-2174 N/m aera | Sy = mew. (32) (1 416)” = G4724) (500) ' 36919-2174 = 44 363-1809 N/m ! = 00134 m : 2 Sg = = (32) (3 ane) i opts 13.3665, (-r2)"s 152-9303 44 963-1909 ' G@yr)t= (ox a-cs6)* = o-ollo m i i 1 \ i 1 1 1 1 ' : 1 01001093 _m Since XK is smaller in the case of shock absorber, it is to be preferred. In this case, a@ smaller value of « will be Sugficients this leads to a cheaper design. 592war #9» k= 10000 N/m, T= O15, U9, @ Fos. F 1+@x¥) 7 From £4. (9°94), (oikea} pase fee 8+ @3r)y> > G-rt)*+ QT ry net > Ga rtyt this gives 1 > f+rt-2r7 ; rto2zr* < 0 r*(r'-2) 0 (pr? 16+ 8021)(12+ 58920) > 0 he p*#_ 1g.9021 >0, 245-8920 >0 1 16-8021<0, 145.892 <0 #e y*> 16021, 12 >- 5-992 of r*< 16-8021, r*< —5-892 r7> 16-8021, +> 4-0990 Acme (3 > 4:0990(7.07Nn) = 28-9844 rad/s = 276-7803 rpm R-_k _ or undamped system, transmission ratio is T, = 5 Ro k-mo Since isolation is 60%, we have k TTS? Oo k 24(—_* «-60[ an) (am 4 60 or 0.4k~26845,.3=-k or k= 1917523 Nim 3 Nim to provide more than 60% isolation, mg oF ©.)min = at mma = = 0.034786 m 3 59300 ae (2 7) = 125.664 rad/sec ; ¢ = 0.07 1 Fr | ates |F TF (es a) For 75% isolation, Eq. (1) gives 1+ (2 (0.07) r? (1 —r*}? + (2 (0.07) (1)? The solution of Eq. (2) is given by: 0.25? = or 0.0625 r* — 0.143375 r? — 0.9375 =0 (2) 1? = 5.186255 (positive value) or r= —~ = 2.2773 wy w_ _ 125.664 2.2773 2.2773 Maximum stiffness: k =m w2 = (50) (55.1803") = 152,243.1865 N/m This gives u, = = 55.1803 rad/sec n= s0kg;w= ~ (2.7) = 104.72 rad/see Fr _ 2000 k Br _ 2000 4224 —* -,___* __ ©) Fy * T0000 Sea 1 — (80) (104.72) Using the negative sign in Eq, (1), we find 0.2 k — 17.5460 (10* @ —k ° = 17,5460 (10°) — 1 49227.0453 N/m Maximum stiffness = kpax a (b) Steady state amplitude: Fo | = 10000 k—ma? |__| 146217.0453 — 87.7302 (10*) (c) Maximum amplitude of fan during start-up: = 0.01368 m Fo Fo wts|- k h- a k 146217.0453 where uy -VE-" / a AB 7518 rad/see Using w =u, X —+ co. Hence an undamped isolator must pass through resonance very quickly to avoid damage. X= 594=30kg;u= = (2x) = 314.16 rad/sec ; Fo = 30,000 N Requirements: LL d= a =small — k = large () F 2 X=————*__ <25 (10-4) m (2) {e-w¥ tu? ef 3. X|mi= [ret <2 (107?) m (3) Fr { Bie — +a de _ 4) F (koma tae] ~ 30000 “) 5. For achieving isolation, r > V2. Hence k< ae or k <14,8045 (10°) N/m (5) Since four inequalities, Eqs. (2) to (5), are to be satisfied, in general, we need to use an iterative process. From Eq. (3), we obtain: Fo _ Fo _ 30000 we 314.16 ¢ <0.02 or ¢ > 47746371 N-s/m (8) «(S5) We assume ¢ = 5000.0 N-s/m and k = 6 (10°) N/m as trial values. These values satisfy Eqs. (5) and (6) and give: 1 1 {o mo) +a? ef = {o (10°) — (300) (314.16)? + (314.16 coy} ; = 23.6611 (10°) and the left hand side of Eq. (2) becomes: 30000.0 23.6611 (10°) and hence Eq. (2) is satisfied. The numerator on the left hand side of Eq. (4) is: 1 1 fe tur ef = fs (10?) + (314.16 i009" * = 6.1844 (10) 0.001268 m < 0.0025 m 595and the left hand side of Eq. (4) thus becomes: 6.1844 (10°) 23.6611 (10°) whieh is less than the value on the right hand side. Thus Eq. (4) is satisfied. The final design is given by k = 6.0 (10°) N/m and c = 5000.0 N-s/m. 633) = 120 kg ; me = 0.2 kg-m ; k = 0.5 (10°) N/m; ¢ = 0.08 1 1 k |? _ J05 (10°) |? aqep? =] 28 UO) 1” x 64.5497 rad, 3 Fp <2500N oy { | { faa /sec t< 2614 Eq. (9.104) gives: 1 2 1+ (2 (0.08) (r))? = Fr 2500 . {a =F} + (2 (0.08) | meat ~ Oay(easary ~* 140.0144 1? = 27.7323, 12 = 769.081, and (2 ¢ r,)®= 7.69081 14+ @on) =eyry |—1t sn ¥ Ola = OY fi =D? + @En) a 1+ 7.69081 f i core ae le — 769.081)? + 7.69081 = 33.701159 mis? > 2g Hence k = 65.4575 kN/m is not acceptable, At 130 kph: Q = 6.7 v = 6.7 (36.1112) = 241.945 mis, and Bq. (6) gives: 1+ (2on)* a4 (2) (ste = 19.627 1+0.01r? 241.945)! (0.15)? | cal came eee le = 199" +1) or rt — 2004.852 r? — 200285.24 @ The Eq. (7) gives (with positive value of r2): r = 45.828. Hence, { 0, = = 5.2794 rad/see = | & 8 45.828 Vm Stiffness of the isolator (suspension) is: k = m ©, = 18.9530 kN/m 601Check for acceleration at 130 kph: x 2, = 6.7 v, = 120.973 radisec, @, = 5.2794 rad/sec, and r, = 9+ = 22.9142 ry = 525.059, (2 r,)? 5058, (1 — x7)? = 274637.4 and hence, ; 1+(2 > 2 X,(0 Inox = 7 eee = 10.4724 misec? <2 g -a : Hence k = 18.9530 kN/m is acceptable. ‘orce transmitted to base in case of Coulomb damping can be found using the quivalent viscous damping constant: 1 1 Fr =f x)? + (Cog a} =x fe +u7 af ~ferea} & “| iy with tq = [8 F. Bt z= Fro jite 2) ° aa-ry 602Under base excitation, the displacement transmissibility is given by (similar to-that of a viscously damped system, Eq. 3.68): 1 x ca Y"lT_ey) [ed " 1-+ Sa we Ke eh _(4un) fm _[4eN] 1 Be eeelat alist (2) Substituting Eq. (2) into (1), we obtain 2 ja 4uNn 2 x the | 5 >= 3) ¥ 4uNn -ry Bt GQ-Pye+ TEX Relative displacement transmissibility is given by (similar to Eq. 3.77): al a (4) _#}, oe Using Eq. (2), (4) can be written as 4 P $-___*___ (8) per fi (G43) M= 20 me = 0.02 bem ME = 0.005 m = Me (200) (9-81) 39 04 (104) N/m 0.005 0.005, w= = (2 7) = 125.664 rad/sec 39.24 (104) = 44.2044 rad/see 200 603(a) Assume ¢ = 0 for the isolator. pa 2 a 195.684 _ 9 8370 wy 44,2044 Amplitude of washing machine (from Eq. 3.82): 2 x [32] E = 0.02 (2.83707) 11.4188 (10-*) m 1 200) {a _ of 1 — 2.8370? (b) Force transmitted to foundation (given by Eq. 9.104): 8370") Fr meat? —1 0.02) (44.29442) —(2-8370")__ 44 so69 ramen ae (0.02) ( ) Times M = 60 kg ; me = 0.002 kg-m; w= ane (2 7) = 314.16 rad/see Fr T= <0.25 r mew Let ¢ = 0 for the isolator. From the relation: Fr 1 T, = —, = + 4 or r>2.2361 Let r = 0.25. (r= a = 25; 1, = S416 _ 195 664 rad/sec. k =M wi = (60) (125.6647) = 9.4749 (10°) N/m. (bt) x=2e TST (given by Eq. 3.82) =F 0.002 2.5? = || ———_- = 39.6825 (10-* so) ae (©) Fr =meu? —* __ = (0.002) (125.6642) £25 _ 37 5987 N h—- |] 5.25 604Using N= 3000 rpm and 85, = 0-01 m, Eg.(9+101) yields N= 29-9092 |_2-R O01 (1-R) or o-0% (3000) = = l0-0304 Z 299092 2-R er = 100-608) t-R or R= 0:99996 Thus the reduction in the transmitted force is 98.996/, m= 30 #9 , = lo-75 Hz = 62-832 — 471-240 tad/s Vt 025, xXe< is = = 015 100 displacement transmissibility as Fs ol5, we Using the obtain 2 ' ols = je 2 G17)? + (ayry? Squaring this eguation, we find o-0225 = 1+ 0:25 r* (-1?>? 40-25 r? 2 2 7 o-o225(i+r4 ar eon? SGD) iam Lt acon or e-o225 4 or 2 -—0'289375 f —0-.9775 =o Solution of this eguation is: r= 15-6390563 -2-777945 Thus os © Vm r= 3.954625 = — = — Cn ie ere = BN 8 sagsore os 3954625 3-954625 or k= 1-918274 os Thus 4= leew Nin when w= 62-932 rad/s 425, 995:6163 N/m when a9= 471-140 tad/sAnelysy When «= 7.573°0776 N/m ; when w= 62-932 rad/s: : since m= 30g 3.9546 @sr)'= = - 1h. 6389 3.9098 {-r 4+ 3:9098 ' ' ' t i : ' ' ‘ Tre at Gi4-6399)+3- 9098) | ' ' ' ' ' 1 ' \ ' O15 > Acceptable When w= 471-240 rad/s: = 29/6597 @yry = 219-9251 (-r? = - 878-6978 ' ' ‘ f (+ 219-9251 at —— " (¢978-6978) + 219-925 = 0:01691 > Acceptable 1 @sr)? When k= 425,9895+6163 N/m When W= 62-932 rad/s: One rm = 19-1617 rad/s Since m= 30 kg Te 0+ 5273 Grr)’ = 006951 torte 6 7219 1+ 006951 ie Te i 2 = 1:3455 > Not acceptable When w= utl2yo radfe: r= 3.9346 39098 te _ 1h 6389 k (14-6389) 43-9098 (+3-9098 ob => Acceptable — stiffness of the suspension = & = 7,573-0776 N/m: 900 2m) _ 62.832 rad/see 60 F=mro?= (30) (2 38) (62.832)? = 22502.80 N _ x 10° 1200 fk @ o,= J 62.832 38.7298 re—s Vm o s = 1.64814 O, 606 = 88.7298 rad/secSince w > @,, force transmitted to the foundation (F,) is given by FB = 2250280 _ _ 13110.73 N =i _ fk _ [44 x 108 V 1200 ra = 02882 _ 1 o9764 ©, 60.568 = 225028 _ _ 993 49gN 1 1.03764? ~ 1 Fy is given by Fp = For harmonic base motion, the displacement transmissibj lity is given by Xf t+ Grr? 4 Y ase Gro} For an undamped isolator, Eg.(1) becomes a) or +l x,1. [+ Xe te 4-r* Thus p= fat = 4:5826 = 4 or W,= —~__ = 2, in” Seee 267422 rad/s 2 fe. fk Gd . = (2:7422)" = 7.5197 N/m = stiffness of isolator. Let the shock isolator be undamped. Fpax = X On “ (@) where X is the amplitude of the displacement of the mass. Since the maximum step velocity is specified as 0-01 m/s, the 2 Rpax = =X On 607maximum allowable value of X is given by &%.(1): x= % max On or wy, > Bmax. 2th 2 4 rad/s @) x evel &y-(2) gives XOe £162 of ws fe max 196-2 x \ eer or Sy, SF HO- 0 71H rad/s (4) Egs-(3) and @) give: 4 rad/s S Gi, = [40-0714 rad/s By selecting the value of Wy in the middle of the range, we fied the stiffness of the isolator pad (x) as 5 2 k= ™ @y = 10 (70-5357) = 49,752-0570 N/m m= 10° &g , maximum deflection = 0-5 m pena e From the response spectrum, the peak value of (2) can be seen to be approximately 1:75 at w value of os, aes 0-75 Usi Xmax * 9 %max= 95> —“E—— = 1.75 gives ° 1:75 Fo te = §75 (10,000) N =F = 70,000:0 N/m % max o-5 Ys m= 200 9, Oy = '200(t%e) = 407 rad/s = [es %, = epuivalent spring constant of air compressor Fm, = 31583 MN, Let the absorber be tuned 40 that 2 Natural frequencies of the combined tyr woots Of (9.139), which for Aystem are given by the (Prfis,) = 1 becomes 608(ia)* - G+ HAY +1 <0 ow, yt-G@t MY) r+) =0 --- &) Now = Gao &_.(€) Jives @at - (2+ Baar eo > i= o-2025 ms 40-5 ty ke _ OSE TEE) = FEO tre &, (0.2025) 20-6396 MN/~m Th we mt y= 4.2, &.(E,) gives G@2y*-@+ RE) (are tao > BE= 013044 Since this value of Ze is taller, we howe te use the Values of me amd Ke peen by =0-8. Beam: = @, = 1500(21) = 157-08 rad /sec m= Mz 300 fg = mass of motor 41 Keam = Wim, =(157-08)"(300) = 7-4022x10° N/m 2 Lm = 0,2 Vm, S &2= moh = 24 674-1264 me Ce) 2= m7 @) Beam with absorber Fis 78, or = ty = 2, = O75, For a tuned absorber, uy = 1 , and = (+ VG 4 or B= (N44) | or ateg tt = = “Ratio of absorber mass to the mass of the motor == 0- 3403 (b) Mass of the absorber = mys pum = (0 -3408)(89) = foz-08 kg ShEfnest of the absorber = t,= mz? from Ey. (€:) ko = 24674-1264 (02:07) = 2-519 x10 N/m (€) Amplitude of vibration of the absorber mass (Xz): 609Eq. (95136) gives Fo ew (2 +038) xe - ae MEL Eler-00) 2 2519x108 = = 0-1959 mm Forcing Freguency = 900(27)/co = 93.776 rad/see = u3,= U9, m= 4 ky For @/a, = 4, 2. C+ 2) FVG+ Ayr- where y= Asn, me Arf, B= im Here y= 750 rpm = 75.54 rad/sec , n,=1000 rpm = 104-72 rad/sec, N= 750/¢00 = 0-9375 , amd y= 1000/g00= 1-2500- + B)-J@ ayer > ur By > 7 Gra) whe Gt Vag > ps GHD ye -2 = 9.772541 ing! 08789 Sey = STSCI ky. New repuired value of a, i 700 rpm= 73-304 rad/sec which corresponds to T= 70°/g00 = 0-875 Be ene S82 2 = 7192 O7e56 7 = 9°? Mes pre = 0107182 (59-8861) = 4-30 10 ty With these values, 2 can be found as tt Baa fy = Wg. = 1.3063 (93-776) = 00167 ni ~ 2 (14003591) 4 0 2704 = = | 3063 a = 107-437 rad /see = 1045-04 Tym This is larger than the desired upper value of 1040 rpm. Spring stiffness of the absorber= y= m,u92 = (4-301)(83-776)* = 30186-2166 Sh/in. 610Original system: m, = 900 kg, w, = 600 rpm = 62.832 rad/see = |X ™m, k, =m, ©] = 900 (62.832)? = 3.55307 x 108 N/m (a) Absorber For tuned absorber, w, = w, = 62.832 rad/sec, ky = 900 x 103 N/m, ky _ (900 x 10°) wo: 62.8327 Weight of absorber = 2236.40 N 227.972 kg. (b) New system Natural frequencies of the new system, @, and Q,, are given by (for @,/, = 1) L 2 i J a-[reg}= (+3) Q where _r, here pt = 0.25330 and hence xf = 0.60767, r, = 0.77953 1 = 1.64563, r = 1.28282 Q, = r, @, = (0.77953) (62.832) = 48.979 rad/sec = 467.7191 rpm Qy = ty W, = (1.28282) (62.832) = 80.602 rad/sec = 769.6938 rpm Natural frequencies of the combined systems are Q, = 0.7 a, = 0.7 (62.832) = 43,9824 rad/sec 9,= 13 3 (62.832) = 81.6816 rad/sec 62.832 rad/sec (for tuned absorber) «) 4 ae(r+8)-fre4) =1 or p= nil, 2 a _ on st -2=0.5308= ™2 = m, = 0.5308 (900) = 477.72 kg (0.7y my From Eq. (E,), ky = (62.832)? (477.72) = 1.885972 x 10° N/m 611Verification of r,: aa(reg)+ (ea) = 2.0408 or ry 4286 > 1.3 (desired value) Hence m, = 477.72 kg (weight of absorber = m, g = 4686.4332 N) k, 885972 x 10° Nim 2 G= 80x 10°Pa, j= ™4 shagt For shaft 1: = ~ Yea 75, = Yoéxi/is = 200 rad/sec Absorber: hugs Te, Ore / */3, For the combined system with tuned absorber, the natural Frequencies n, amd 24 are given by an epuation similar to Ey. (9.140) os ons (+ 4) FV Gr AY -1 (e,) where Hf yz, ye ifo, and Let n, be 25% Las tam Ww. Then n= HE 2075 “By. (Er) gives @7sy = it A-VGF AH pe 0 seo3 1 = BI = 51045 Ky mt = S€i/z, = 200, «y= 4x09 = 02042 x10 N-m/rad Since AL, has to be at least 20% greater than a9,, me = My, B= Bre Ne Fy (B\) gives, for p= 0.3403, 2 je 3 * 3 a @ 3403) [t+ S3S3 5 5 7779 & ya19393 Hence = 72= 5-1045 gem? and Kp, = 012042 MN-m/rad are acceptable. 613a C58) (EY OH (By rise here pe or, =v (2¢py eet 0 where p= {err + Veen Fs} OT je 3] Au ge or G| i G © P} 0 0-25 os 075, +O tos + (i) Ltot— (SY 1[t- (YJ - 0 But Beg =v, (49) tos toi opel anemee (HAE) (1-h) - 0-4 wheelie For 40-5, we get feat ers reat fe ye = 105125 (+ value) 5 t= 10253 For -0-5, we get ate a hate -ze2r? 7 2 hee fe = 0-9534, 3.1466 0:9764, 17739 (above the upper ance point operating range is resonance point) o-9764 < S Rs ross 614iy 10° oa 22 50 ay 40 rad/see 1 a 2 Assuming that w) =u, , we obtain a-{2} -{s} =50 2 ky = 75000 N/m , and Fo Fo X,=- my oF mf -30(50) kee im k#—._ fz-5m ~———>} (setm at A) Motor: m = 20 kg, w = 1350 rpm = 141.372 rad/see, me = 0.1 kg-m. From Appendix B, we have ae Pb? a? (3aé—a(3a+b)) . sEIe 1 = where I = a” Ga aa (0.15) (0.012) = 2.16 (10-8) m* Hence k, =P. = —__(207 (10°)) (2.16 (10~*)) (1.5) Ya (0.5%) (1*) [3 (1) (1.5) —1 (3 (1) +0.5)} = 362167.2 N/m Natural frequency of the motor on the beam: ky '362167.2 Sa STH = 134.5678 rad, on V ms a 134.5678 rad /see Natural frequency of the absorber: ke a = — =w = 141.372 rad/sec my 615Selecting my = 10 kg, we obtain Ky = 10 (141.372*) = 19.9860 (10) N/m Amplitude of the absorber at forcing frequency u my = 15,000 kg; ky = 2 (10°) N/m; F,(t) = 600 cos wt Assume that the foreing frequency coincides with the natural frequency of the bridge. ote Ly -\/ 20 - 11.5470 rad/see my For a tuned absorber, wz, VE = uy = 11.5470 rad/see Choose my = 10 kg. This gives ky =m, w3 = 10 (11.5470) = 1333.3333 N/m Amplitude of bridge will be zero at the forcing frequency, w = 11.5470 rad/se! ©, = 100 rad/sec. To suppress the vibration of the motor, the absorber should have the natural frequency: [ie Vm m, (80%) = 5 (802) = 32 kN/m ©, = 80 rad/sec (operating frequency) 616Equations of motion: @) DFa=mk mit+ex+(k+K,)x-K,RO=Fo sinwt SM) =18 (1+MR?)6+(K, +K,)R?0-K,Rx=0 (1) (@) Treating the forcing function as the imaginary component of Fo e'”', we assume the solution as: xaXelilvt-4) Substitution of Eqs. (3) and (4) into (1) and (2) gives [me $(k +H) +e u] X~ (6 R)O= Fy =(K R)X + [-(4+MR) 2 +R? (Ki, +K)] © o Solution of Eqs. (5) and (6) yields: Equation (8) shows that the steady state displacement of mass m (X) will be zero if —K, RFo e (Ky RY =| ma? + (k + Ky) +i we] |—Iy a? +R? (K, + Ke) [be +R OG +16)] Po x= — mu? +(k +Kz) tiwe| |—Ip u? +R? (K, +K;)| —(—K, R?? where Ip =1+MR? Igo? =R? (Ky +K) (3) (4) (5) (9) (10) ¥Ex9_65.m for j=1:5 zeta = (j-1 )* 0.25; for i= 1: 1001 r(i) = 3 -* (i ~ 19/1000; Teli) = sqet( (1 + (2 * zeta * rfi))*2)/((2 - r(i)r2) 72... 4 (2 * zeta * x(i)) * 2); end: plot(r, Tr); hold on; end axis({0 3.0 81); xlabel('r') ylabel(tr') gtext (’zeta=: -0'); % Click to put the text beside the curve you like 617° mu = 0.2 g = 0.6 : 0.001 : 1.3; tzg2 = (2.*zeta.*g).*2 teg2 = (2*zeta*g)*2 g2_£2_2 = (g.*2-£.°2).°2 7% g2_£2_2 = (g*2-£°2)"2 g2_imug2_2 = (g.*2-Lema.*g.*2).72 maf2g2 = mu.t£.72%9.°2 ; g2ii= g.*2-2; g2_f2 = g.*2-£.°2 war sqrt ( (t2g2+g2_£2_2) ./(t2g2.*g2_1mug2_2+ (mmuf2g2-g2_1.*g2_£2).72))7 xr =aqrt ((t2g2+£.°4) «/(t2g2. *g2_lmag2_2+ (muf2g2-g2_1.*92_£2)-72)) + plot (g,xiz) hold on plot (g,x2r) ; hold on zeta = 0.2, m: P13: tzg2 = (2.*zeta.*g).*2 + tzg2 = (2*zetatg)*2 92_£2_2 = (g-*2-£.°2).°2 ;& g2_£2_2 = (g°2-£72)7°2 g2_Amag2_2 = (g.*2-Lem.*g.*2).°2 muf2g2 = m.*£.*2%g."2 ; 618og. = 9.721; 92_f2 = g.42-£.°2 ; xe ssqrt ( (tzg2+g2_t2_2) . / (tzg2.*g2_1mug2_2+ (muf2g2-g2_1.*g2_£2) .*2)); xe sqrt ((tzg2+£. 4) ./ (tag2.*g2_imig?_2+ (m£2g2-g2_1.*92_£2).*2)); plot (g,xir,‘=.') hold on plot (g,x2r, hold on e zeta ma = 0.2: 9 = 0.6 : 0.001 : 1.3; tag2 = (2.*zeta.tg).*2 ;B--- tzg2 = (2*zeta*g)*2 92£2_2 = (g.72-£.°2).°2 8 g2_£2_2 = (g*2-£92)°2 92_Amug2_2 = (g.*2-L4mi.*g.*2).*2 ; maf2g2 = mu.*£.°2*g.°2 5 g2 = g.*2-1; g2_£2 = g.°2-£.72 wrt ( (tzg2+g2_£2_2) ./(tzg2.*g2_1mug2_2+ (muf2g2~g2_1.*g2_£2) .*2)); sqrt ( (tzg2+f.~4) ./(tzg2. *g2_1mug?_2+ (maf2g2-92_1 plot (g,xir,"=="); hold on plot (g,x2r, =="); hold on rh tzg2 = (2.*zeta.tg).*2 ;--- tzg2 = (2*zetatg)*2 92_£22 = (g.72-£.°2).°2 7% g2_£2.2 = (g*2-£72)72 @2_Imag2_2 = (g.*2-1emm.*g.°2).°2 5 muf2g2 = mu.*f.72"g.72 g@i = g.*2-1 ; 92_£2 = g.72-£.°2 ; xd =sqrt ( (tzg2+g2_£2_2) . / (tzg2. *g2_1mig2_2+ (muf2g2-g2_1.*92_£2) .°2)); xx ssgrt((tzg2+f.*4)./(tag2.*g2_1mug2_2+ (muf2g2-g2_1.*g2_£2).°2)); plot (g,x1r, hold on plot (g,x2r, hold on - zeta’ = 0.4, mu=0.2 ~. zeta ma = 0.2, g = 0.6 : 0.001 : 1.3; teg2 = (2.*zeta.*g).*2 ;%--- tzg2 = (2*zetatg)*2 92_£2_2 = (g.*2-£.72).*2 ;8 g2_£2.2 = (g°2-£°2)72 g2_imig2_2 = (g.*2-L+mu.*g.72) .*2 7 muf2g2 = mu.*f.*2*g.°2 7 g2_l = g.*2-1 5 92_f2 = g.72-£.72 619xdr =sqrt { (tzg2+g2_£2_2) . / (t2g2.*g2_tmig2_2+ (mif2g2~g2_1.*g2_£2) .°2)) ; x2r =sqrt ( (tzg2+£.*4) ./(tzg2. *g2_1mug2_2+ (muf2g2—g2_1.*92_£2) .2)); plot (g,xir,‘:") hold on plot (g,x2r, hold on ® zeta = 0.4, mu: zeta = 0.4; m = 0. a= 0.6 0.001 + 1.3 tzg2 = (2.*zeta.*g).*2 ~ tzg2 = (2*zeta*g)~2 92_£2_2 = (g.*2-£.°2).°2 ;% g2_£2_2 = (g*2-£°2)72 92_imug?_2 = (g.*2-1emu.*g.*2).°2 muf2g2 = mu.tf.72*g.72 ; g2t = g.72-1 92_£2 = g.*2-£.°2 ; xe =sqrt ((t2g2+g2_£2_2) ./(t2g2.*g2_lmug2_2+ (uf2g2-g2_1. *g2_£2).."2)); x2r saqrt ((tzg2+£.*4) ./(t2g2. %92_1mug2_2+ (muf2g2-g2_1.*g2_£2).*2)); plot (g,x1r,‘~.'); hold on plot (g,x2r,'-.'); xlabel(’g’) ylabel(’Xir and x2r') axis({0.6 1.3 0 16]) 16) xr xer Ss 4 Xtand X2r Zolaco2 Zata-0.2 mmu=02 mu=05 uo os 7 08 03 1 14 12 13 620(Omg, Oma, wd 5, Ono, as p30, Ome, Ss WyW 24.5, Oma, im, % O41 02 03 4 05 06 07 08 09 1 my m2_i(i) = (i-1)/100; Omgl_w2(i) = sqrt ( ( (1+(1+m2_1(i))*w2_1*2) - sqrt ( ( L+(1+m2_1(i))*w2_1°2 )*2 ~ 4¢w2_1*2 ) Omg2_w2(i) = sqrt ( ( (1+ (14m2_1(i)) *w2_172) + sqrt ( ( 1+(1em2_1(i))*w2_1°2 )92 - 422172 ) end w2A = 3.0; for i = 1: 101 m2_i(i) = (i-1)/100; Omgi_w2_b(i) = sqrt ( ( (1+ (L+m2_1(i))*w2_172) sqrt ( ( 1+(Lem2_1(i))*w2_1°2 72 - aw2_172 ) Omg2_w2_b(i) = sqrt( ( (1+(1+m2_1 (i))*w2_172) sqrt ( (1+ (L+m2_1(i))*w2_1°2 )*2 - 4#w2_i*2 ) end w2A = 4.5; for i= 1: 101 m2_i(i) = (i-1)/100; Omgi_w2_c(i) = sqrt( ( (1+(14m2_1(i))*w2_1*2) sqrt ( ( 1+(Lem2_1(i))*w2_1*2 92 ~ 4*w2_ir2 ) Omg2_w2_c(i) = sart( ( (1+(1+m2_1 (1) )*w2_1°2) sqrt ( ( 1+(Lem2_1(i))*w2_1°2 )*2 - 4#w2_1°2 ) end plot (m2_1, Omgl_w2); hold on; plot (m2_1, omg2_w2,'--'); gtext (*w2/w_1=1.5, Omg_1/w_2"); gtext (*w_2/w1=1.5, Omg_2/w_2"); hold on: plot (m2_1, Ongl_w2_b) ; 621 a fs 7 (2ew2_1°2) 7 (20w2_a72) 1 (aewaa-2) 7 (2ew2_1"2) 7 (2+w2_172) 7 (20w2_1"2) Me De nG Dphold on; plot (m2_1, Omg2_w2_b,’-~"); gtext ("42/w_1=3.0, Omg_1/w_2") gtext ('w_2/w_1=3.0, Omg_2/w_2"); plot (21, Ongl_w2_c] hold on; plot (m2_1, Omg2_w2_e,"=~"); gtext ('w_2/w1=4.5, Ong_l/v_2") gtext (‘w_2/w_1=4.5, Ong_2/w_2") xlabel ('m_2/m1"); ylabel (‘Ong_1/w_2, Omg_2/w_2’ Results of Ex9_68 >> programl3 Results of two-plane balancing Left-plane balancing weight Right-plane balancing weight Magnitude=4.231537 Magnitude=2.121730 ange! 30.294244 Angel=140.731862 Results of Ex9_69 RESULTS OF TWO-PLANE BALANCING LEFT-PLANE BALANCING WEIGHT RIGHT-PLANE BALANCING WEIGHT MAGNITUDE = 4.23153662 MAGNITUDE = 2.12172985 ANGLE = 130.29424410 ANGLE = 140.73186247 622The main program and output are given below: PROGRAM 13.F TWO-PLANE BALANCING nanane DIMENSION VA(2), VB(2), VAP (2), VEP (2), VAPP (2), VEPP (2), WL(2),WR(2), 2 BL(2), BR(Z) € FOLLOWING § LINES CONTAIN PROBLEM-DEPENDENT DATA DATA VA/5. 0, 100. 0/ DATA VB/4. 0, 180. 0/ DATA WL/2. 0, 30. 0/ DATA VAP/6. 5, 120. 0/ DATA VBP/4. 5, 140. 0/ DATA WR/2. 0,0. 0/ DATA VAPP/&. 0, 90. 0/ DATA VBPP/7. 0, 60. 0/ END OF PROBLEM-DEPENDENT DATA CALL BALAN (VA, VB, VAP, VBP, VAPP, VEPP, WL, WR, BL, BR) PRINT 10 10 FORMAT (//,31H RESULTS OF TWO-PLANE BALANCING) PRINT 20, BL(1),BL(2) 20 FORMAT (//, 26H LEFT-PLANE BALANCING WEIGHT, //, 11H MAGNITUDE: , 2 E15. 8,/,7H ANGLE=, 4x, E15. 8) PRINT 3O, BR(1), BR(2) 30 FORMAT (//, 29H RIGHT-PLANE BALANCING WEIGHT. //, 2 11H MAGNITUDEs. E15. &, /, 7H ANGLE=, 4X, £15. 8) sToP END RESULTS OF TWO-PLANE BALANCING LEFT-PLANE BALANCING WEIGHT MAGNITUDE= 0. 42915292E+01 ANCLE= —--0. 49705841E+02 RIGHT-PLANE BALANCING WEIGHT MAQNITUDE= 0. 21217260E+01 ANCLE= = -0. 39268173E+02 623nanrne From Eg. (9-145), ae 52 Fat ses Ce . ep + WCE } po Heme +10 G @omeys oe Mee Xf Gis Grd) y" Bete igh s Gia a is given by &. (9:46). st the program for generating the values of os and = for ML=M= Yor F=1, T= 01,0,0 as Boy varies between 0-6 and 1-3 is given below. PROBLEM 9-71 su eo 90 100 au xa wu xa) DI4ENSIUN X(2) REAL MU MU=0.05 bo 1v0 1. G=0.4 Du 90 Ju=1,15 GEGrO.L Fei.0 If C11 £0. 1) Zeraso.u IF CLI .e0. 2) ZeT AF CIT seQ. 3) 2ETA=10.0 AN=(2.0*ZETA®G) 9#2¢(G462-F 582) 402 XD=( (2. 08ZETAPG) #424 ((GO42-1,0¢4U5G4G)442)+ 3 2 CMUSFAPEU3G=(G#G"1,0)4(G#G-F#F)) #92 XCL)SSORTOANZXD) ANE (ESA) 4 (2 O8ZETASG) #42 XDS(FRE~G8G) #424 (2. 08ZETASG) FFZ X(2) 3K 9SQRT CANAD) PRINT 50, AU,ZELA,G,E FORMAL (/,2X,7H MU =,E15.8,2X,7H ZETA =,£15.8,/, 2 2x, G vE15.0,2X,7H F =,E15.8) PRINT 60, X(1),X(2) FURMAT (2x,7H X(1) =,€15.8,2X,7H X(2) 2,615.8) CONTINUE CUNTINUE sTuP END = 0,500090U1E=01 ZETA = v.00000000E+u0 O,s0u0000VE+00 =F = 0, L9009U00EFUL = 0.13630304EFUL = X(2) = 0. 18181919EFUI = 0,5000U001E~01 ZETA = 0.00000000E+00 = 0.00000002E+00 =F = 0, 10000000E+01 = 0,16343209¢+01 —-X(2) = 0.25536203E+01 624v.suneaoure 0. 199v0UNSE +3 ve2lodoyozetol = XC 2) 8, v099v900E400 ©. La9d0900E +01 S.4yaawsserol 0.5v000001F=91 O.1M0GG03E FUE 0.191 eToodk +06 YeLDodOvE FO? &1NGOuDOE FOL B.49113098E+00 0,50novoulz=91. OL 1wnyNA DIET 0.16 dodSoEs ue v.100U0000e+02 9, LOv0dINGE FOL ©, 1158250 HReow yo = o.50u00ULEMUL 9 .10920090E +02 G = GL 19MyEO SEL vlivovovadeeol ACL) = 0, 3585u242E+Gu Re) = 0,33774359E+00 Gn) Crane location: x= AL EEE cient &) Forging press location: ;(t)= Ag sin Wy t ©) Air compressor location: %,(t)= Ay sinayt (Es) Ac= 20pm, W= 10 Hz, Ye= OF Attenuation Low: Ars Ag © °F" where Ags amplitude at source (Es) and r= distance from source Application of Fy.(e4) gives Ac=topm reduces to 208. 506) a tee “™ Age aopm reduces to 30 60°C) _ 20, 1096 pm Aaz2spm reduces to 25 €° 74) «og. 4ess pm Disturbances at site of milling machine are %e(t) = 14-8164 2 7™* sin zowt — pam (es) E(t) = 20-1096 sin Jot pm &) Ho (t) = 20-4683 sin gore pm 500 Kg: Find mi, €i and fo *N/m = 4, Such that Imateelnee ® 29/57 when Xsround = Bev Bet Soe all octing simultaneously 625Equations of metion : (mbH mE) Eh me (aye HE) + Hep CE 4) — (Ry HD + Coy (2, - %) <0 (ea) Weg A Hey (2L- %) — Oe (HE- HY = 0 (>) [~ ° % 4 | STS Se 7 : wep | | & wee een | Kit te = key {7} . {* xg | &) ~ key ey | | % ° The right hand side of %-(E,) giver, For each type of disturbance, when xy = 2. (4): want Kixp tes B=: (Merce € sin rome xu *) . pamt nant ‘ +r figegicy (2m) € Sin 2ewt + wezicy (zo) ect zemtpioe When %= x,(t): ©) Ki xg cs Ky =; (20-10% sin sot) + C6 (20-0016 «30m + coh tome :) When X= Salt: HE XG tC: Hy =H: (2004683 tim Zot) + cz (20/4683 « 407 x cot Gort) (Eu) Proced Let vy; 2m, (1) Assume my (2) Assume 45 G) Find oz mitt G@) Solve Ey (Ee) numerically with xg= x.(t). Find max Xp (ED. (5) Solve Eg. (Ee) numerically with x, 440) Find max # ind Bg C8)- 626(6) Solve &-(Et) numerically with x= Za(t)- Find max %4,(#)- (7) Find max %4(t) = man [£4 (4)|+ max J2a | + max | 5,,(4)| (@) If max x2) <= 25 pm, current values of ome, Ki amd CF constitute the desired design. GQ) Otherwise, increment mi and/or k:, and ge to step (3). 627