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1812to1813 PDF
1812to1813 PDF
Vibrations
18.12
FORCED-DAMPED VIBRATIONS
F0
c
s
= a,
= b, and
= d.
m
m
m
Then, using the operator D, the equation becomes
(D2 + aD + b) x = d sin wt
PI =
d sin w t
D + aD + b
2
d sin w t
-w 2 + aD + b
(b - w 2 ) - aD
1
d sin w t
(b - w 2 ) + aD (b - w 2 ) - aD
sin w t (b - w 2 ) - aD sin w t
=d
(b - w 2 ) 2 - a 2 D 2
sin w t (b - w 2 ) - aw cos w t
=d
(b - w 2 )2 + (aw )2
Theory of Machines
(b - w 2 )2 + (aw ) 2
R=
PI =
j = tan1
a
b - w2
sin(wt j)
(b - w 2 ) + (aw ) 2
d
2 2
(b - w ) + (aw ) 2
sin(wt j)
F0 / m
s - w2 + c w
m
m
=
and
F0
( s - mw 2 ) 2 + (cw ) 2
sin(wt j)
sin(wt j)
x = CF + PI
F0
= Xe -zwn t sin(w d t - j1 ) +
( s - mw 2 ) 2 + (cw ) 2
sin(wt j)
(18.37)
The damped-free vibrations represented by the first part (CF ) becomes negligible with time as e = 0. The steady-state response of the system is then
given by the second part PI.
The amplitude of the steady-state response is given by
A=
F0
( s - mw 2 )2 + (cw ) 2
(18.38)
F0 /s
2
mw 2
cw
1
+
s
s
F0 /s
2
2
w 2
w
1 - + 2z
wn
w n
(18.39)
Vibrations
The equation is in the dimensionless form and is more convenient for analysis. It may be noted that the numerator F0 /s is the static deflection of the spring
of stiffness s under a force F0. The frequency of the steady-state forced vibration is the same as that of the impressed vibrations. j is the phase lag for the
displacement relative to the velocity vector.
w
cw
2z
wn
aw
cw
m
=
=
=
tan j =
2
s - w 2 s - mw 2
b - w2
w
1-
m
wn
(18.40)
The particular solution of the equation of motion can also be obtained graphically as follows:
Assuming that the displacement of the vibrating mass under the action of the
applied simple harmonic force Fo sin wt is also simple harmonic and lags by an
amount j. Then
x = A sin (wt j)
x = wA cos (wt j) = wA sin p + (w t - j )
and
2
2
x = w A sin (wt j)
where A is the amplitude of vibrations.
Substituting these values in the equation
m x + c x + sx = F0 sin w t
mw 2A sin(wt j) + cw Asin + (w t - j )
2
+ sA sin(wt j) F0 sin w t = 0
p
sA sin(wt j) = 0
The forces and the vector sum of the same have been shown in Fig. 18.21.
In triangle abc.
Fig. 18.21
Theory of Machines
A ( s - mw 2 ) + ( cw ) 2 = F0
A=
F0
( s - mw 2 )2 + (cw ) 2
cw
s - mw 2
The vectors as shown in the diagram are fixed relative to one another and
rotate with angular velocity w.
and
18.13
tan j =
MAGNIFICATION FACTOR
The ratio of the amplitude of the steady-state response to the static deflection
under the action of force F0 is known as magnification factor (MF).
MF =
=
F0 / ( s - w 2 ) 2 + (cw ) 2
F0 /s
s
2 2
( s - mw ) + (cw ) 2
1
1 - m w 2 + c w
s
s
2 2
w
1 - + 2z
wn
w n
(18.41)
2
w
, and
wn
Vibrations
Fig. 18.22
Solution
m = 2.5 kg, F0 = 30 N, A = 14 mm, T = 0.22 s,
2p
2p
=
= 28.56 rad/s
T
0.22
(i) At resonance, w = wn
w=
or
or
Now,
wn =
s
= 28.56 rad/s
m
s
= 28.56, s = 2039 N/m or 2.039 N/mm
m
F0/s
A=
2
w 2 2zw 2
1 - +
w n w n
Theory of Machines
or
A=
w = 1
n
F0 /s
2z
30/2039
2z
or
z = 0.526
c = 2m wn z = 2 2.5 28.56 0.526
= 75.04 N/m/s
= 0.075 04 N/mm/s
(ii) w = fn 2p = 4 2p = 25.13 rad/s
With damper:
30/ 2039
A=
2
2
25.13 2
25.13
+ 2 0.526
1 -
28.56
28.56
or
0.014 =
30/2039
(0.2258)2 + (0.9248)2
= 0.0155 m
Without damper: z = 0
30/2039
A=
= 0.0652 m
0.2258
\ Increase in magnitude = 0.0652 0.0155 = 0.0497 m
or 49.7 mm
Example 18.12 A single-cylinder vertical diesel engine has a mass of 400 kg and
is mounted on a steel chassis frame. The static deflection owing to the weight of the
chassis is 2.4 mm. The reciprocating masses of the engine amounts to 18 kg and the
stroke of the engine is 160 mm. A dashpot with a damping coefficient of 2 N/mm/s
is also used to dampen the vibrations. In the steady-state of the vibrations, determine:
(i) the amplitude of the vibrations if the driving shaft rotates at 500 rpm
(ii) the speed of the driving shaft when the resonance occurs.
Solution
m = 400 kg
N = 500 rpm
c = 2000 N/m/s
r = 80 mm
D = 2.4 mm = 0.0024 m
2p 500
w=
= 52.36 rad/s
60
Now
s D = mg
\
s 0.0024 = 400 9.81,
s = 1.635 106 N/m
Centrifugal force due to reciprocating parts (or the static force),
F0 = mrw2 = 18 0.08 (52.36)2 = 3948 N
F0
(i) A =
( s - mw 2) 2 + (cw ) 2
3948
=
[1.635 106 - 400(52.36)2 ]2 + (2000 52.36)2
= 0.0072 m or 7.2 mm
[Eq. (18.38)]
Vibrations
s
=
m
1.635 106
= 63.93 rad/s
400
2p N
= 63.93, N = 610.5 rpm
60
Example 18.13 A body having a mass of 15 kg is suspended from a spring
which deflects 12 mm under weight of the mass. Determine the frequency of the free
vibrations. What is the viscous damping force needed to make the motion aperiodic
at a speed of 1 mm/s?
If, when damped to this extent, a disturbing force having a maximum value of
100 N and vibrating at 6 Hz is made to act on the body, determine the amplitude of
the ultimate motion.
or
Solution
m = 15 kg, D = 12 mm, F0 = 100 N, f = 6 Hz
1 g
1
9.81
=
= 4.55 Hz
2p D 2p 0.012
The motion becomes aperiodic when the damped frequency is zero or when it is
critically damped (z = 1) and
fn =
g
9.81
= 28.59 rad/s
=
D
0.012
c = cc = 2m w n = 2 15 28.59 = 857 N/m/s
= 0.857 N/mm/s
Thus, the force needed is 0.857 N at a speed of 1 mm/s.
F0
A=
( s - mw 2) 2 + (cw ) 2
But,
w = 2p f = 2p 6 = 37.7 rad/s
and s can be found from
1
s /m
fn =
2p
1
s /15
or
4.55 =
2p
or
s = 12 260 N/m
100
\
A=
2
12 260 - 15 (37.7)2 + (857 37.7) 2
w = wn =
= 0.002 98 m = 2.98 mm