‘ME S42 -Introdnétion to Theory and Practice of Vibration Term 1998 1997-1998 ME 542: Introduction to Theory and Practice of Vibration. Credit 3 Catalog Data: Differential equations and general solutior of damped, free and forced single-degree-of-recdom systems, Numerical solutions, Multi-degres-of freedom systems, prinipel modes. Semi-cefinite systems. Shock and vibration testing . Design project on vibration isolation of machinery Peeroqs: ME 421, 3 clastoalw Textbook: SS, Rao, Mechanical Vibration, Addison-Wesley, fMedition, Coordinator! CN. Bap, Poistor of ME Objectives: 1, Develop equations of motion using Newton's method or energy approach, _.. 2. Solve dhe equations of vibration and interpret the result. os 3. Understand basics of vibration and ite application to design ofa vibration isolator and + absorber Program Outcomes: 1, 2, 3, 5, 67, 11, 12, 13, 14, 18 (soe Tasle XII-C-1) Perquisite by Topics: artical dynamics: determination of faxces duc to known acceleration. Derivation of differential equations based on Newton's law of motion, Dynamics of a system of patticles Conservation of mechanical energy. Ordinary differential equations, Topics: 1. Free vibration: equations of motion, energy method, undamped and damped system,(6 classes) 2. Forced vibration of a single degree-of -ieedom system, base excitation, vibration isolation.(9 ‘lasses) 3. - Transient vibration, impulse response function, nmmericel methods (8 classes) 4. Two-degree-of-freedam system, normal modes, forced vibration, vibration absorbers.(8 classes) 5. Multi-degree-of-ficedom system, eigenvalics and eigenvectors, osthogonslity, modal matrix, forced vibration (9 Classés) Computer Usage: ’ ‘Homework problems and assignments will require the use of computer. Laboratory and Design Projects: 1 Desig of vibration isolator. 2 Design of Vibration abserber, Assessinent: — Objentive #1:2, 9 Objective #2: 2, 9 Objective #3: 3, 9, 12 For Program Oiitcomes Assessment see Appendix E, ABET category content as estimated by faculty ietaber who prepared this coutse description. Appendix A. ATS. Volume I-self study = si Mockansea! Eagacesing =aX H@ 1s For Siete, $02 Fe) LET Lenlace Teanstom Table TAL-T, From Far—> Fe) Inverse Laplace Tronsform, T. FinaiValue Theorems lim(f(O, F—> )=lim(F(s), #0) Wass £ o|—a5r15)~ Ao) 72 ‘a a Titia Value Theorem: f( £2 “- f° O)= J fat att =0 r is fo] —sre-¥0.-7) Test Functions SS > eetrae - FI Untimpulse—¢¢)—91 Seca ane es 7 coseire— | unit step ue au ao . Gro) a ! Exponentia. al System With With Real Poles: "; Exponential Solutions et : ate lt t eee 4 ee | (rey) Cray @ a ee [go eral ote aden 4. = Frglle- adler sod ee} 1 a aa Jo-e*- ae) er aa [e+ans+d) 32, 7a See-1+e") 1 1 ne eee gall ert! = ater) ate L ‘ esd gle 22m + ala alten] sto ber ayero M8 ye £ e Gages | beens te a jer h ea aoa sta (wae | (ave 6 Gralestierd | Baers) * eaWenD theSystems With Complex Poles - Sine 2 Cosine Sol (s+) Wtarto'] = atan2(}, ao) ~ atan2(, ~ Mass moments of Inertia (J = Sar?) —_— it Ts ime el -¥.- Disk rem ' Solid Ball = Zink", m = mss, R = radios sori fasstos dtd, dtd Roots Comalex Gretta)” Trae Ptasra Pets Comelex fers? # one! one 04) = (@as + 05) 64 +059 + ea) + (des dale? + 18-4) Equations lead to : By equating cocfistents Pad ty = ay 8 da topes +e + erda = 0g SF daca + does + die + cxdy = ag 9 daey + de = 04 101 0] fa) fey eo Matt) el teal ee eta B Jee cy oe ex] fda} ~ Jag Oe 0 ef {ae} [ag [Al BB)Mechanical Systems Mechanical -One Degree rf Freedom System. General Case, x0. Xo, X9 Catia oes Gg ¥ <> a> Ue ut? System Parameters + Stiffness Kika Vass 7 ™, Given, dampers - Cyand Cy. Tnputs . Base excitations ¢ uth), Usb examples ; earthquake, rood s with buraps and variation in height, base motion atc. Force~ £4): e2: unbalance due te rotation, Wind load, external force. Output + Ie) er XG). Trans {ex functons: X(SInput under consicleralion) Many inputs, henee rnany transfer functions, Free- Body- Diagram 4) PFO gtx ep m be ow” Bo enh ae el ee Z 2. io -x +: ce) Ee et) C2 la) ute) gett) Ki (-Uy) 7 | Ooles 3 7-25, wy? + we =o a Zs Sp59-= 2 34 + VERO) ga = Ss la a = SRW, +b Was = x me eS re iG SOR ear ee -No_oscillations under Inc. #0. ae ; [__Sy stews ~Aees nox _go tote other sideuf _ : pale ee as @)-= fo C2824 xvots x2 _Comolex ee V2 Tex elomina tins [System _ageilates at damped mnatuei freguney U2} == 2, vi {=F 2 Conde relarapet ayeten, ia 2] RO errs) Sean Se eiaetgel TSH ree ai Na Shen ES | aa SS ‘2 Molt). dann ped wave ancl x (tea large} me es1005, Transient Res Porse.. Specifications’ Secancl oder umalerchnped system, ~Dely-ntimen tet mech en of Cog nt ~-Rise time. >. volts 2.1) 20 time te weath seep, oy Os fh) biel, ese 3. Cfar. tngering system), men tine to settle within 29, of. he final. steady sctate 1%, overshoot = Mp =e ing—time Es aT: #10, 2 T=. Mime cans torte. ba of Mp as a function of -% Mp ve ze sj eeeeieece 08; Math. Part Ends. He Next: Fluid, Elect ical per Mechanical Systems OS cuca and combinations. Damping Ratio % Overshoot)New kno ase s— [ine fee one facet agement i i i a. — mn = bi. Tacas fox with T.c.¢ ane fined relations between a ae |X amd X cmd ir put parameters and f. ee Arrange umlenawns on The Lees £ knains.onRHS.Et = > ga + et = = 3) U,—|— < 3 fe ; 1 | 29, 5 Teter sete =(eastke if |___ cece tk, ) e. =lz,4 e961 Z,= E, Hlnjs-ccjec) Mot th Lge $1, +¢,5) O, = “ te if i A= 2%2.matyix given above. n | ea Xa = Za) | Hence.Pee set AN eee ees +t \ pV __| Vlodle Shapes: let Z=ZeQie Lce§ Softee 0, I “Then FA, Ajo} {ober Auk, +A2%; =o L A Aaa iets |e Bro Xs tha, % =o ero . a at i \ Co ee yt jon: f= f = Wate Response unaler_initial conalitions 20,15 stejs ssi, Cost they ellie +, ¥p 2 AICP ole Required answer O70 s?+k 4k X— KY =P = lk. & = eX +E stk )Y 20 or ya Ke% | C28 +K2 — —)4 @sh kena (ax yeep ET est Ko [Ty Pathan Ant ih Gmail Bj by Ste gab | ic aoe KK cg! =Cn.9 te : cael (Cartr)s! L xo =| cx, Leonel oe K—4 i i | i 10+205! ~20s' Jfy] fo 7 fy fe aan ass!x5|[xe =lGerssy 2] bel=4 [ssn [aso +5 zoe EO] it CDAD aaoteey oe eal sexi] = pt [-2est(ssi+s)x7 7] | i U Gexaes) Ca tee ert aX = Cer 209) 45%) ep HOO pI [Sst 0-5 x (006443509 4 5o Foo restos F Ret moots PR Ek Et Puy (0620523 EE 9 eae ett)— 13: Pepe — 134 Were sce r-[2] fr = rain -ce mes + Ry eo | moh A=427 Crma%s = wy) Page 14) mee +k), 2 of = 4 = =: o ats vert C603 et lact-e<,s)} areas Pyo = A-5-7 9-218, Pro. eee 228-35 | Pros A-! |Pm. B=5- 3, 8-5-4 pg. ee arene eel 5-1 222,24 pga Deb 247, Pra B= nog. 269, Pre ARB ng | Sette :710 cHAPreR 9 VIBRATION CONTROL Since r; = 0.8333, 3g, (3) gives a = mgm, = 0.1345 and m, = myf.1345 = 14.8699 kg, The specified lower limit of © is 2000 rpm oe 209.44 rads, and so Oy _ 209.48 nim ooo ia ig = 06657 ‘With this value of 7, Eq. (3) gives = my = 0.6942 and me, = my(0.6942) = 10.3227 kg, ‘With these velues, te sscond resonant frequency can be found from wan (oo8) + (Gooner which gives O = 4499.4 npm, larger than the specified upper limit of 4000 rpm. The spring stf- ress of the absorbers given by y= alm, = (814.16)%(103227) = 1.0188 108 Nin Our Textbook t A-5, ME 542 - Book by SiS.Raa 9.11.2 Damped Dynamic Vibration Absorber ‘The dynamic vibration nis described inthe previous section removes the original res- conance peak in the response curve of the machine but introduces two new peaks, Thus the ‘machine experiences large amplitudes as it passes through the first peak during start-up and stopping. The amplitude of the machine can be reduced by adding a damped vibration absorber, as shown in Fig. 9.31. The equations of motion of the two miasses are given by Fsinw —@.A41) arn + Kain + ha (8 — 39) + on (ia ~ fn 0.142) mz + ke (a = a1) + 2 (in ~ 4) Fysinar | Machine (m) | nd orb | ee | Brae ia | | Bes i Galy! rp 7 Rigid base ‘Dynamic vination absorber FIGURE 9.31 Damped dynamic vibration absorber911 VIBRATION ABSORBERS ~ 711 By assuming the solution to be 30) = Hep = 1,2 0.143) the steady-state solution of Eqs. (9.141) ard (9.142) can be obtained: Falke — mia? + tea) Ha mr to) oy 1k = ma) — mw?) — mea + toes = ma a) * Ki (ke + twes) 4, 645) 2” Ta mya? + tele) By defining = mm, = Mas tio = Absorber massa mats Poh = Static deflection ofthe systems olimg = Square of natural frequency ofthe absorber ©} — kyl, — Square of ratural frequency of main mess Ratio of ual roqnnsea ced frecuency a = Ci deipog cond the magus, Xj and X, can b expres as (ote) + (et = 2 J” ox (26)? r ier a 2,7 —(,2 ye 9.147) ilar eer Equation (9.146) shows tha the amplitude of vibration of the main mais is a funtion of ssf 804 ¢. The graph of x, 8. against the forced frequency ratio g = w/a, is shown in Fig. 9.32 for f = "1 and w= 1/20 for afew different values off I damping is zero (c, = £ = 0), thenresonance occurs atthe two undamped resonant frequencies of the system, a result that is already indicated in Fig. 9.28. When the damp- ing becomes infinite (f = 0°), the two messes m and m are virtually clamped together,(CHAPTERS VIBRATION CONTROL FIGURE 9.32 _Bect of damped vibration absorber on the response of the machine and the system boheves essentially as a single degree of freedom system with a mass of {om + m) = QUAD) and aliffess of ky, i this ease also, resonance occurs, with Sivoo 22 9759 Bro Vite ‘Thus the peak of 2; is infinite for ¢, = 0 as well as for ¢; = 90. Somewhere in between these limits, the peak of X; will be a minimum. ‘Optimally Tuned Vibration Absorber. It can be seen from Fig. 9.32 that all the curves intersect at points A.and B cegardless of the value of damping. These points can be located ‘by substituting the extreme cases of £ = O and £ = 00 into Bq. (9.146) and equating te ‘wo. This yields (0.148) AES ‘The two roots of Bq, (9.148) indicate the values of the frequency ratio, g4 = wala and gn = ws/es, comcesponding to the points A and B. The ordinates of A and B can be found ‘by substituting the values of g, and gp, respectively, into Eq, (9.146). It has been observed [0.35] thet the most efficient vibration sbsorber is one for which the ordinates ofthe points ‘A and B are equal. This concition requires that [9.35] 1 (9.149) T+e f ‘An absotbet satifyiig Eq (9.149) can be correctly called the tuned vibration absorber. ‘Although Eq: (9.149) indicates howto tune an absorber, it does not indicate the optimal9.11 VIBRATION ABSORBERS 713 Curve orzotal ae Curve orzo ata a a Qsar_as op aaa no, FIGURE 9.33 Tuned vibration absorber. value ofthe damping ratio {and the corresponding value of X/5.:The optimal value of {can be found by making the response curve X 6, as flat as possible at peaks A and B. ‘This can be achieved by making the curve horizontal at either A or B, as shown in Fig. 9,33, For this, fest Ea. (.149) is stbstated into Bq, (9146) to make the resulting equa- vin applicable to the ease of opine tuning. Then the modified Bq, (9.146) is ditferen- ciated with respect og to find the slope of the cive of X/5, By sting the slope equal to zero a points and B we obtain for point A (9.150) and aa for point B 1st) A convenient average value of £? given by Eqs. (9.150) and (9.151) is used in design so that 3a. So = Se GP (0.152) ireTIA CHAPTERS VIBRATION CONTROL ‘The corresponding optimal value of 0 ox Notes 1 Thean be seen omg. 0.147) that the amplitude ofthe absorber mass (3) is always MrSeh seeater thn that ofthe main mass (X;). Thus the design shouldbe able fo ecommnodate the large amplitudes ofthe absorber mass. a, eons amplitado of mz are expected to be lage, te absorber spring (needs to toe designed ftom é fatigue point of view. 4. ehaicaal work elatng tothe optimum design of vibration absorbers ean be found in Refs. [9.36-9.39] 9.12, Examples Using MATLAB EEE Plotting of Transmissibility EXAMPLE 9.11 _ LE 9.11 7; MATLAB, plot th vaiaton of wanmnisiity of single degre of feedom yw wih he equency rao, gen by Eq (94), comesponding tof ~ 0.0,0.1,02,0.2,04 and 0 Solutlon: ‘Te following MATLAB program plots the variation of wensmissbity asa function of the frequency rtio using Ea. @.94) fegmta) = 3 4 CL = 33/3000), Tae et cialt GaP tead's wammeany #1700 = nom * ya Potiwse, Te waned wren) jameciney femoeea = 0.279) Gieemea:BES. Thre Degree af Freedom Syctem 4 esate eee Be ey = a l24-0) K2(22- 21) 3 re" Xa) KO) 4 wi J > | FS on Te | a 2 t 1 CE \-8) G Ob, %) C3 ca, -2) Sal ai ni S208 + Mo Gear +G(%, =F) +f. ft Rg es alge Re ata hye tty (ae I) ely Ge ee am, ky tG)eo+ leek, = k= 2 | Ie, 3 ase | | ky tag am $4 (pt) 5 thigh _nicgeegs |} a | I ' oO. = kz =¢ St Cesta) ¥3 1 \ é e stkgrky Ib J sie : F Le Ax= E- a = em te a eee ee alye. fox. £.%4 using... X= 4 anol. E=5 =0- Maate shape y Sues se tlk ky 1 a mz a 2) = aa [Asa Pes |S afi ape ee tent bs] [- A2i ¥r] Made shapes using - —— Pas => gives third wmode | Cee SieSy ae 27 mnadle 3 === , 1 macke,ME 5760, Mechanical Vibrations Textbook: Mechanical Whrations, 5.5. Rao, Latest! Folition, Adelison Wesley. Chapters 1-Fand 4-10, Exams : exams = #07, , omewarke = 40 Finat ome eae: = 20% iia History of Vibraton ( pg- i= 4 = home study) O Musical instruments @ Pendulums Vibration of strings @® lateral vibrations of vode, Vibration of plat es © Rayleigh's method. @ Practical problems + pre peller shaft vibrations Aynamte vibration absorber , turbine blade vibyoticn g Linear and nonlinear vibration theory, ®) Random vibrates — eavthquahe winds, toarre: of grvds, rocket ard jet engine noise, ® High Speed Digital computers — Finite Clement method | | Importance of Stud Vibration ( pp-to- 2) ipHuman achvities — heaving, seeing, breathing Engineering applications © design of machines, foundations, structures, co) turbines and control systems. Yibraton Problems in Engineering « aPrime movers — inherent Unbalance, Turbine — mechanical failure : Centrifugal machines, me tors, geers, EsceessWe. wear ane noise. Nuts become Joose + use antivibration nuts. Machine tool chatter — poor surface finish, Vibration testing is part of a clesignane clevelep: