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Assignment 3 Module of Free Vibration Engineering 1st SEMESTER S.Y. 2016 - 2017
Assignment 3 Module of Free Vibration Engineering 1st SEMESTER S.Y. 2016 - 2017
COLLEGE OF ENGINEERING
DEPARTMENT OF MECHANICAL ENGINEERING
ASSIGNMENT 3
MODULE OF FREE VIBRATION ENGINEERING
1st SEMESTER S.Y. 2016 - 2017
SUBMITTED BY:
SUBMITTED TO:
BALAIS , ADRIAN C.
ENGR. PICAR
BOCITO, RAVEN
MONTAS, REINIER
PAEZ, MEYNARD
TALAY, IVAN GIL
INTRODUCTION
Free vibration: Free vibration takes place when a system oscillates
under the action of forces inherent in the system itself due to initial
disturbance, and when the externally applied forces are absent. The
system will oscillates about one of its static-equilibrium positions.
Basically there are two types of systems. They are the discrete and
continuous systems. In the case of discrete systems, the physical
properties are discrete quantities and the system behavior is described
by ordinary differential equations. The system has finite number of
degrees-of-freedom whereas in the case of continuous system the
physical properties are function of spatial co-ordinates and the system
behavior is described by partial differential equations and has infinite
number of degrees-of-freedom. In other words, a system can be
considered as discrete in which the whole mass of the system is lumped
at some points and in case of continuous system the mass is distributed
over the entire length of the system. An n-degrees-of-freedom system is
governed by n coupled differential equations and has n natural
frequencies. So the discrete system has finite number of natural
frequencies and the continuous system has infinite number of natural
frequencies. The system under free vibration will vibrate at one or more
of its natural frequencies, which are properties of the dynamical system,
established by its mass and stiffness distribution.
Frequency: The number of oscillations completed per unit time is known
as frequency of the system.
Natural Frequency: The frequency of free vibration of a system is
called Natural Frequency of that particular system.
Damping: The resistance to the motion of a vibrating body is called
Damping. In actual practice there is always some damping (e.g., the
internal molecular friction, viscous damping, aero dynamical damping,
etc.) present in the system which causes the gradual dissipation of
vibration energy and results in gradual decay of amplitude of the free
vibration. Damping has very little effect on natural frequency of the
system, and hence, the calculations for natural frequencies are generally
made on the basis of no damping. Damping is of great importance in
limiting the amplitude of oscillation at resonance
Free vibration takes place when a system oscillates under the
action of forces inherent in the system itself due to initial disturbance,
and when the externally applied forces are absent. The system under
free vibration will vibrate at one or more of its natural frequencies, which
are properties of the dynamical system, established by its mass and
stiffness distribution.
CONCEPT
A. Free Vibration of Spring-Mass System
Differential Equation for a spring-mass system
Let us consider a spring-mass system as shown in Fig. 1.1. The
system is constrained to move in the vertical direction only along the
axis of the spring. Let k and m be the stiffness of the spring and the
mass of the block, respectively.
is,
(1.2)
Let
(1.3)
(1.4)
Substitution of Eq.1.3 into Eq.1.1 and application of Eq.1.4 yields,
(1.5)
Time period:
The time taken to complete one cycle, is,
(1.6)
It is important to note that, even though there is no specific damper
attached to the system, there will always be the presence of damping of
very small in amount. Because of this the response obtained from
experiment always corresponds to a small amount of damping.
Let c be the damping coefficient, then the equation of motion changes
to,
(1.7)
Damping ratio ( ):
(1.8)
Where
If
If
If
(1.10)
Where,
and
(1.12)
The damped natural frequency of vibration is given by,
(1.13)
Where
(1.14)
Substituting Eq.1.13 into Eq.1.14,
(1.15)
(2.1)
(2.2)
(2.3)
(2.4)
The undamped natural frequency is related with the circular natural
frequency as
(2.5)
the moment of inertia of the beam cross-section and for a circular crosssection it is given as,
(2.6)
(2.7)
Where b and d are the breadth and depth of the beam crosssection as shown in Fig. 2.2. Dimensions of the beam material are given
in Table 2.2
(2.8)
Where , is the mass density of the beam material and V is the volume
of the beam from the fixed end to the free end.
The equivalent tip mass of a cantilever beam can be obtained as
follows. Consider a cantilever beam as shown in Fig. 2.3 (a). Let be m1
the mass of the beam per unit length, l is the length of the beam,
mb=m1l is total mass of the beam, and Vmax is the transverse velocity
at the free end of beam and f is the force applied, E is the youngs
modulus of the beam and I is the moment of inertia of the beam.
(2.9)
Here fl3/3EI is the deflection at free end of the cantilever beam. Now the
velocity of the small element at distance x is given by,
(2.10)
where m1l = mb. If we place a mass of 33/140mb at the free end of the
beam and the beam is assumed to be of negligible mass, then
(2.11)
Values of the mass density for various beam materials are given in
Table 2.1. If any contacting type of transducer is used for the vibration
measurement, it should be placed at end of the beam and then the mass
of transducer has to be added into the equivalent mass of the beam at
the free end of the beam during the natural frequency calculation. If mt
is the mass of transducer, then the total mass at the free end of the
cantilever beam is given as,
(2.12)
(3.1)
initial displacement at the free end; and Fig. 4.1(b) depicts of cantilever
beam under the free vibration.
We have following boundary conditions for a cantilever beam (Fig. 3.1)
(3.2)
(3.3)
For a uniform beam under free vibration from equation (3.1), we get
(3.4)
with
(3.5)
Where
(3.6)
Where
So,
(3.7)
(3.8)
Third natural frequency
(3.9)
The natural frequency is related with the circular natural frequency as
(3.10)
where I, the moment of inertia of the beam cross-section, for a circular
cross-section it is given as
(3.11)
Where, d is the diameter of cross section and for a rectangular cross
section
(3.12)
Where b and d are the breadth and width of the beam cross-section as
shown in the Fig. 4.2.
Fig. 3.3: The first three undamped natural frequencies and mode shape
of cantilever beam
Density
(kg/m3)
Youngs Modulus
(N/m2)
Steel
7850
2.11011
Copper
8933
1.21011
2700
0.691011
Aluminum
Length,L,(m)
Breadth,b,(m
Depth,h,(m)
0.45
0.02
0.003
0.65
0.04
0.003
(3.13)
with
(3.14)
From which the effective mass at tip can be written as
(3.15)
with
or
(3.17)
The mass of accelerometer is 4.8 gm = 0.0048 kg, so the total mass will
be
For a uniform beam, the elemental stiffness matrix (Tiwari, 2010; Dixit,
2009)
(3.18)
and the consistence mass matrix is given as
(3.19)
1. First step: Divide the given beam geometry into three small elements
as shown in Fig. 3.4 (b). In Fig. 3.4(b), numbers 1, 2, 3 and 4 represent
the nodes.
2. Second step: Construct the elemental equations. For the first element,
from equations (3.18) and (3.19), we have
(3.20)
Here {X} represents the vector of nodal variables (i.e. at the first
and second nodes). In this case node variables are displacement and
slope, the right hand side vector {F}, represents the force.
Then for the second element,
(3.21)
In this only nodal variables will change and for third element, the
elemental equations
(3.22)
Here, 0.0048 is the mass of the accelerometer in kg at free end of the
cantilever beam.
3. Third step: Assemble all the elemental matrices to form a global
matrix. The length of the each element l = 0.453 m and area is A =
0.0020.03 m2, mass density of the beam material = 7850 Kg/m3,
and Youngs modulus of the beam E = 2.1 1011 N/m. After
substituting values of the l, , d, E, A in elemental equations (3.20),
(3.21) and (3.22); assembled equations become,
(3.23)
11
12
13
14
1.59
1.71
1.82
16
x(m) 1.14
1.25
1.37
1.48
15
1.2 Derive the solution of mx + kx = 0 and plot the result for at least
two periods for the case
with n = 2 rad/s, x0 = 1 mm, and v0 =
5 mm/s.
1.5 Find the equation of motion for the hanging spring-mass system of Figure P1.5,
and compute the natural frequency. In particular, using static equilibrium along with
Newtons law, determine what effect gravity has on the equation of motion and the
systems natural frequency.
Solution:
The free-body diagram of problem system in (a) for the static case and in (b) for the
dynamic case, where x is now measured from the static equilibrium position.
1.6 Find the equation of motion for the system of Figure P1.6, and find
the natural frequency. In particular, using static equilibrium along with
Newtons law, determine what effect gravity has on the equation of
motion and the systems natural frequency. Assume the block slides
without friction.
Figure P1.6
Solution:
Choosing a coordinate system along the plane with positive down
the plane, the freebody diagram of the system for the static case is
given and (a) and for the dynamic case in (b):
REFERENCES
http://bookzz.org/book/1128225/e867f4/?_ir=1
http://iitg.vlab.co.in/index.php