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Vibration-Lectures-Part 1 PDF
Vibration-Lectures-Part 1 PDF
Mostafa Ranjbar
Fundamentals of Vibration
1
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Outline
• Why vibration is important?
• Definition; mass, spring (or stiffness)
dashpot
• Newton’s laws of motion, 2nd order ODE
Stiffness
• From strength of materials (Solid Mech) recall:
Force fk
103 N
x0
x1
x2
x3
0 20 mm x
Displacement
5
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• Newton’s Law:
y m&x&(t ) = −kx(t )
kk x(t)
x
fk
m mg
m&x&(t ) + kx(t ) = 0
Friction-free fc
c Friction-free
surface
c=0 surface
N
6
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7
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Periodic Motion
x(t)
Max velocity
Time, t
Phase = φ
2π
ωn
period
8
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Periodic Motion
x(t)
x(t) [mm]
A 1.5
0.5
Time, t
Time [s]
0
2 4 6 8 10 12
-0.5
-1
-A -1.5
ωπn
2π
2___
ωn
9
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Frequency
10
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11
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Displacement A
x = A cos( ωDisplacement
nt + φ ) O
x (t) = A sin(vnt + f) t
–A
vnA
Velocity
x& = −ω n A sin(x ω n + φt +)f)
(t) = v tA cos(v
Velocity
•
n n
O
t
–vnA
vn2A
Acceleration Acceleration
O
x (t) = –vn2A sin(vnt + f)
&x& = −ω A cos( ω n t + φ )
••
t
2
n
–v2nA
12
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k
ωn = ⇒ k = mω n
2
m
= (300)10 kg/s
2 2
= 3 × 10 N/m
4
14
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x(t) = Asin(ωn t + φ)
x(t) = A1 sin ω nt + A2 cos ωn t
x(t) = a1e jω nt
+ a2e − jω nt
A = peak value
1T
x = lim ∫ x(t)dt = average value
T →∞
T0
1T 2
x = lim
2
∫ x (t)dt = mean - square value
T →∞
T0
x rms = x = root mean square value
2
16
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Peak Values
17
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k 857.8 N/m
ωn = = = 132 rad/s
49.2 × 10 kg
-3
m
ωn
fn = = 21 Hz
2π
2π 1 1
T= = = 0.0476 s
ω n fn 21 cyles
sec
1
x(t)max = A = ω 2n x02 + v 20 = x 0 = 10 mm
ωn
18
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19
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21
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Damping Elements
Viscous Damping:
Damping force is proportional to the velocity
of the vibrating body in a fluid medium such
as air, water, gas, and oil.
Coulomb or Dry Friction Damping:
Damping force is constant in magnitude but
opposite in direction to that of the motion of
the vibrating body between dry surfaces
Material or Solid or Hysteretic Damping:
Energy is absorbed or dissipated by material
during deformation due to friction between
internal planes
22
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Viscous Damping
Shear Stress (τ ) developed in the fluid layer at a
distance y from the fixed plate is:
du
τ =μ (1.26 )
dy
where du/dy = v/h is the velocity gradient.
•Shear or Resisting Force (F) developed at the bottom
surface of the moving plate is:
Av
F = τA = μ = cv (1.27 )
h
where A is the surface area of the moving plate.
μA
c= is the damping constant
h
24
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Viscous Damping
and μA
c= (1.28)
h
is called the damping constant.
If a damper is nonlinear, a linearization process
is used about the operating velocity (v*) and the
equivalent damping constant is:
dF
c= (1.29)
dv v*
25
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26
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Spring-mass-damper systems
m&x&(t ) = − f c − f k
kk x(t)
x
fkf
= −cx& (t ) − kx(t )
k
m mg
Friction-free
c surface fc
Friction-free fc
c
m&x&(t ) + cx& (t ) + kx(t ) = 0
surface
N
27
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λ1λ,2==±−ζω
k
±ωn jζ= ±−
− n =±
k 2
ω n1j ⇒
m m
x(t ) = a1e λ1t and x(t ) = a2 e λ2t ⇒
x(t ) = a1e λ1t + a2 e λ2t
28
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where ω n = k and
m
c
ζ = = damping ratio (dimensionless)
2 km
29
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30
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Three possibilities:
31
Sec. 2.6
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• No oscillation occurs
• Useful in door mechanisms, analog gauges
x(t) = [x0 + (v0 + ωn x0 )t]e − ω nt
0.8
Displacement (mm)
Displacement
0.6
0.4
0.2
0.0
0.5 1.0 1.5 2.0 2.5 3.0 3.5
–0.2
Time (sec)
Time, t
32
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33
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Displacement (mm)
0
2. x0 = 0, v0 0 = 1
1 –0.3, vv0 0==10
3.2:x0x0==0.0,
0.2
Displacement
3: x0 =-0.3, v0 = 0
2
0.0
–0.2 3
–0.4
0 1 2 3 4 5 6
Time,Time
t (sec)
34
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35
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Underdamping
x(t) = e − ζωnt
(a1e jω nt 1−ζ 2
+ a2e − j ωnt 1−ζ 2
)
= Ae − ζωnt sin(ωd t + φ)
ωd = ω n 1 − ζ 2 , damped natural frequency
1
A= (v0 + ζω n x0 )2 + (x0ωd ) 2
ωd
⎛ x0 ω d ⎞
φ = tan ⎜ −1
⎟
⎝ v0 + ζω n x0 ⎠
36
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Underdamped-oscillation
• Gives an oscillating
response with
exponential decay
Displacement
Displacement (mm)
37
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38
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Example
The human leg has a measured natural frequency of around
20 Hz when in its rigid (knee locked) position, in the
longitudinal direction (i.e., along the length of the bone) with a
damping ratio of ζ = 0.224.
39
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Solution:
V0=0.6, X0=0, ζ = 0.224
20 cycles 2π rad
ωn = = 125.66 rad/s
1 s cycles
ω d = 125.66 1− (.224) = 122.467 rad/s
2
A= = 0.005 m
122.467
1
A= (v0 + ζω n x0 ) 2 + ( x0ω d ) 2 ⎛ (0)(ω d ) ⎞
ωd φ = tan ⎜ -1
⎟=0
⎝ v0 + ζω n (0 )⎠
⎛ x 0ω d ⎞ ⇒ x( t ) = 0.005e −28.148t sin(122.467t )
φ = tan ⎜⎜ −1
⎟⎟
⎝ v0 + ζω n x0 ⎠
40
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2
⎛v ⎞
A = x02 + ⎜⎜ 0 ⎟⎟ , ω n = 125.66, v0 = 0.6, x0 = 0
⎝ ωn ⎠
v 0.6
A= 0 m= m
ωn ωn
⎛ 0.6 ⎞
max(&x&) = − ω n2 A = − ω n2 ⎜⎜ ( )
⎟⎟ = (0.6 ) 125.66 m/s 2 = 75.396 m/s 2
⎝ ωn ⎠
75.396 m/s2
maximum acceleration = 2 g = 7.68g' s
9.81 m/s
41
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-1
-2
-3
-4
-5 Time, t
Time (s)
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14
42
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43
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44
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Modelling
• Newton’s Laws
∑F xi = m&x&
∑M 0i = I 0θ&&
45
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Energy Methods
∫ Fdx = ∫ m&x&dx ⇒
Potential Energy
6
474 8 1 2
work done = U1 − U 2 = m x& 2 = T2 − T1
2 1 123
Kinetic Energy
⇒ T + U = constant
d
or (T + U ) = 0
dt
46
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Rayleigh’s Method
• T1+ U1= T2+ U2
• Let t1 be the time at which m moves through
its static equilibrium position, then
• U1=0, reference point
• Let t2 be the time at which m undergoes its
max displacement (v=0 so T2=0), U2 is max
(T1 must be max ),
• Thus Umax=Tmax
y
y +dy
m s, k
l
x(t)
53
Ex. 2.8
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ms ⎫
mass of element dy : dy ⎪⎪
l
⎬ assumptions
y
velocity of element dy : vdy = x& (t ),⎪
l ⎪⎭
l 2
1 m ⎡y ⎤
Tspring = ∫ s ⎢ x& ⎥ dy (adds up the KE of each element)
2 0 l ⎣l ⎦
1 ⎛ ms ⎞ 2
= ⎜ ⎟ x&
2⎝ 3 ⎠
1 2 ⎡1 ⎛ m ⎞ 1 ⎤ 1⎛ m ⎞
Tmass = mx& ⇒ Ttot = ⎢ ⎜ s ⎟ + m⎥ x& 2 ⇒ Tmax = ⎜ m + s ⎟ω n2 An2
2 ⎣2 ⎝ 3 ⎠ 2 ⎦ 2⎝ 3 ⎠
1
U max = kA2
2
k Provides some simple
⇒ ωn = design and modeling
ms
m+ guides
3
d
Now use (T + U ) = 0
dt
d ⎡1 2 1 2⎤
⇒ ⎢ mx& − mgx + k (Δ + x) ⎥ = 0
dt ⎣ 2 2 ⎦
⇒ mx&&x& − mgx& + k (Δ + x) x&
⇒ x& (m&x& + kx) + x& ( kΔ − mg ) = 0
1424 3
0 from static equ.
⇒ m&x& + kx = 0
56
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• Longitudinal motion
• A is the cross sectional area
(m2)
l EA • E is the elastic modulus
k=
l (Pa=N/m2)
m
• l is the length (m)
• k is the stiffness (N/m)
x(t)
60
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Torsional Stiffness
• Jp is the polar moment of
inertia of the rod
• J is the mass moment of
GJ p inertia of the disk
Jp k= • G is the shear modulus, l
l
is the length
0
J θ(t)
61
Sec. 2.3
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∑ M = Jθ&& ⇒ Jθ&&(t ) + kθ (t ) = 0
k
⇒ θ&&(t ) + θ (t ) = 0
J
k GJ p πd 4
⇒ ωn = = , Jp =
J lJ 32
For a 2 m steel shaft, diameter of 0.5 cm ⇒
GJ p (8 ×1010 N/m 2 )[π (0.5 ×10 − 2 m) 4 / 32]
ωn = =
lJ (2 m)(0.5kg ⋅ m 2 )
= 2.2 rad/s
62
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64
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65
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66
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• Hence the
natural ω full =
3EI
=
3(6.9 × 109 )(5.2 × 10−5 )
ml 3
1000 ⋅ 23
frequency
= 11.6 rad/s = 1.8 Hz
changes by an
3EI 3(6.9 × 10 9 )(5.2 × 10 −5 )
order of ω empty =
ml3
=
10 ⋅2 3
magnitude = 115 rad/s = 18.5 Hz
while it empties
out fuel.
• Static equilibrium:
kx
0 ∑ F = 0 = −kδ + mg
δ • Dynamic equation :
+x
∑ F = m&x& = −k ( x + δ ) + mg
mg
m&x& + kx + kδ − mg = 0
m&x& + kx = 0 !
68
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Static Deflection
69
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Combining Springs
• Equivalent Spring
1
series : kAC = 1
k1 + 1
k2
parallel : kab = k1 + k2
70
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71
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• Let m = 10 kg
k2 • Compare a series and parallel
k1
combination
m • a) k1 =1000 N/m, k2 = 3000 N/m,
k3 k3 = k4 =0
k4 • b) k3 =1000 N/m, k4 = 3000 N/m,
k1 = k2 =0
72
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73
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• Equation of Motion:
Consider a single degree of freedom system with
dry friction as shown in Fig.(a) below.
75
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77
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= πcωd X 2 (2.94)
94
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Energy dissipation
Consider the system shown in the figure below.
The total force resisting the motion is:
F = − kx − cv = − kx − cx& (2.95)
If we assume simple harmonic motion:
x(t ) = X sin ωd t (2.96)
Thus, Eq.(2.95) becomes
F = −kX sin ωd t − cωd X cos ωd t (2.97)
The energy dissipated in a complete cycle will be
2π / ω d
ΔW = ∫ Fvdt
t =0
2π / ω d
=∫ kX 2ωd sin ωd t ⋅ cos ωd t ⋅ d (ωd t )
t =0
2π / ω d
+∫ cωd X 2 cos 2 ωd t ⋅ d (ωd t ) = πcωd X 2 (2.98)
t =0
95
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