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Undamped Vibration
Vibration Absorber
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ME 413: System Dynamics and Control Lab Manual
UNDAMPED VIBRATION
ABSORBER
OBJECTIVES
1. To show the discomfort and dangers that result from the resonance
phenomenon.
2. To study the effect of adding an absorber to a vibratory resonant system.
Part 1: THEORY
Fο sin ωt
m1
x1 (t )
k1 / 2 k1 / 2
m1x1 + k 1x 1 + k 2 ( x 1 − x 2 ) = Fο sin ωt
(1)
m 2 x2 + k 2 ( x 2 − x 1 ) = 0
By assuming a harmonic solution,
k 2 Fο
X2 = (4)
(k1 + k 2 − m1ω 2 )( k 2 − m2ω 2 ) − k 22
Fο sin ωt
Machine m1
x1 (t )
vibration absorber
k2
k1 / 2 m2 k1 / 2
x2 (t )
k2
ω2 = (5)
m2
if the machine, before the addition of the dynamic vibration absorber, operates near
its resonance, ω 2 ≈ ω 12 = k1 / m1 . Thus if the absorber is designed such that
k2 k
ω2 = = 1 (6)
m2 m1
The amplitude of vibration of the machine, while operating at its original resonant
frequency, will be zero. By defining
Fο k1
δ st = , ω1 =
k1 m1
k2
ω2 = (7)
m2
as the natural frequency of the absorber or auxiliary system, equations. (3) and (4)
can be rewritten as
ω
1 −
X1
= ω2 (8)
δ st k 2
2
1 + 2 − ω 1 − ω − k 2
k1 ω 1 ω 2 k1
And
X2 1
= (9)
δ st k ω 2
ω 2 k
1 + 2 − 1 − − 2
k1 ω1 ω 2 k1
Figure (3) shows the variation of the amplitude of vibration of the machine X 1 / δ st
with the machine speed ω / ω1 . The two peaks correspond to the two natural
frequencies of the composite system. As seen before, X 1 = 0 at ω = ω1 . At this
frequency, equation (9) gives
k1 F
X2 =− δ st = − ο (10)
k2 k2
This shows that the force exerted by the auxiliary spring is opposite to the impressed
force (k 2 X 2 = − Fο ) and neutralizes it, thus reducing X 1 to zero. The size of the
dynamic vibration absorber can be found from equations (10) and (6):
k 2 X 2 = m 2ω 2 X 2 = −Fο (11)
Thus the values of k 2 and m2 depend on the allowable value of X 2 . It can be seen
from Figure 3 that the dynamic vibration absorber, while eliminating vibration at the
known impressed frequency ω , introduces two resonant frequencies Ω1 and Ω 2 at
which the amplitude of the machine is infinite. In practice, the operating frequency
ω must therefore be kept away from the frequencies Ω1 and Ω 2 .
ω1 = ω 2
m2 1
=
m1 20
X 1 / δ st
Ω1 Ω2
ω / ω1
NOTES
Part 1: EXPERIMENT
The above theory is applied to a simply supported beam carrying a motor with mass
unbalance at its mid-span as shown in Figure 4. In this figure, a simply supported
beam carrying a motor with mass unbalance at its mid-span is shown. The motor is
connected to a speed control unit through which the speed of rotation can be varied.
In order to measure the amplitude of vibration an accelerometer can be attached at
the beam mid-span. The output of the accelerometer is connected to a vibration
meter that will provide reading of the amplitude of vibration. Underneath the motor
assembly, the vibration absorber can be fixed.
Apparatus
1. The absorber
Figure 5 shows the vibration absorber clamped below the motor. It comprises two
bodies of equal mass fixed equidistant from the midpoint of the horizontal cantilever.
The distance apart of the bodies varies until the system is ‘tuned’.
Figure 6 shows the speed control unit that is used in this experiment. A d.c. motor is
used for all forced vibrations experiments powered by a control unit. This
combination comprises of a control box and d.c. motor, which provides high precision
speed control of the motor up to 3000 rev/min, irrespective of the normal load
fluctuations of the motor.
The front panel of the unit contains a speed control, a fully calibrated speed meter
incorporating an automatic range switching device (there being two ranges: 0 – 1500
and 1500 – 3000 rev/min), and a power socket for:
1. Mains inputs
2. d.c. motor
3. Auxiliary output (either to stroboscope or chart recorder), sometimes
marked drum supply.
The Vibration Meter Type 2511 shown in Figure 7 is a wide range instrument that is
used in conjunction with piezo-electric vibration pick-up to measure mechanical
vibration and shock in terms of acceleration, velocity and displacement. It is
completely portable and is built to a high standard of accuracy and stability making it
suitable for laboratory and field conditions. The instrument is fully calibrated in both
metric and British units and has a charge amplifier input that allows the use of long
cables between the pick-up and the meter without any reduction in sensitivity.
4. Transducer (Accelerometer)
Figure 9 Accelerometers.
Procedure
For a given frequency, the masses of the vibration absorber are adjusted along their
cantilever leaf spring so that the energy of vibration transmits to the absorber and
the amplitude of the main (primary) system, i.e. the motor and beam, is reduced to
zero.
The aim is to determine the length l , the distance of the center of each of the
bodies from the midpoint of the cantilever so that the natural frequency of transverse
vibration of this sub-system corresponds to the running speed of the main (primary)
system, i.e. the motor and beam.
IMPORTANT
1. No Absorber
1. Turn the upper right switch of the Vibration Meter Type 2511 on displacement,
velocity or acceleration depending on what you are intending to measure.
2. Turn the lower right switch of the Vibration Meter Type 2511 for the
appropriate range (Range I: metric units and Range II: British units). Notice
that you are reading the amplitude of the quantity to be measured as shown
in Table 1.
3. Vary the motor speed and read the vibration amplitudes from the Vibration
Meter Type 2511.
5. Increase the speed gradually until you get the resonance phenomenon that
results in large amplitudes of excessive vibrations. From the tabulated data
plot the response curve and determine the resonant frequency of the system.
2. With Absorber
1. With the auxiliary system (vibration absorber) attached, vary the motor speed
and record the corresponding frequency and the resulting amplitude of
vibration.
3. With the aid of the experimentally defined resonant frequency, the dynamic
vibration absorber is to be designed such that the frequency of oscillations is
equal to
ω 1 3EI
f = = (12)
2π 2π ml 3
where f is natural frequency of the auxiliary system, m is the mass of each
of the two bodies, and EI is the flexural rigidity of the double cantilever
beam. The mass m is a given constant and l is to be found from the above
formula.
4. One can easily conclude, that any three parameters of equation (12) can be
fixed, in order to determine the fourth parameter. In this experiment we will
determine the position of the mass m , at which the absorber effect is
verified. Experimentally, one can vary the position of the mass m , and excite
the system at the required excitation frequency until no vibrations of the
primary system are observed, or the position of the mass l can be
determined from equation (12), adjusted accordingly and the absorbing
effect can be verified.
REQUIREMENTS
2. Plot on the same graph the velocity amplitude X ω versus the rotational
speed for the cases with and without the dynamic vibration absorber. (Use
MATLAB or Excel).
4. Indicate resonant frequencies and the frequency at which the primary system
(no absorber included) has zero vibration
5. Measure the length l for which the amplitude of vibration is zero when the
absorber is used. Compare this by solving Equation (12) for the length l.
1 3
Use E = 200 GPa and I = bh .
12
Table 2 Readings
References