Professional Documents
Culture Documents
Summary
This laboratory demonstrates the behavior of a sinusoidally
forced, single degree-of-freedom, spring-mass-damper sys-
tem. Two di↵erent types of force can be imposed upon the
system: one arising from a base excitation, the other from a
rotating unbalance. Many of the physical parameters of the
system can be changed, and the influence of these changes
on the system’s response can then be studied. The system
is instrumented such that the absolute motion of the mass
and its motion relative to the base can be measured.
Particular attention is given to the phenomenon of reso-
nance, the influence of damping, and the phase relationship
between input and output terms.
4.1 Base Excitation
Consider the system shown in Figure 4.1. The equation of motion governing
the absolute displacement of the mass is given by
mẍ + cẋ + kx = ky + cẏ, (4.1)
where m is the mass of the system, c is the viscous damping coefficient, and
k is the linear spring sti↵ness. If we define a new coordinate z such that
k c y . .
k (x -y) c (x -y)
23
Forced Vibration (Experiment)
where X1 and 1 are evaluated from the system’s initial conditions and !d ,
the damped natural frequency, is
p
!d = !n 1 ⇣ 2 .
It must be emphasized that the constants X1 and 1 are very di↵erent from
the amplitude Z and phase . The latter are fixed by the system’s param-
eters (see below), whereas the former are found from the initial conditions
of the problem.
The steady state solution zss can be shown to be
where
Y r2
Z=p (4.5)
(1 r2 )2 + (2⇣r)2
and
2⇣r
tan = (4.6)
(1 r2 )
with
!
r= .
!n
The complete solution is then
However, if the damping is nonzero, the transient solution will decay to zero
as time increases and we will simply be left with the steady state solution
To obtain the absolute motion of the mass, x(t), we can either solve Equa-
tion (4.1) directly or use the relationship that x(t) = z(t) + y(t) to obtain
24
where s
1 + (2⇣r)2
X=Y (4.10)
(1 r2 )2 + (2⇣r)2
and
2r3 ⇣
tan = . (4.11)
(1 r2 ) + (2⇣r)2
3 3
ζ = 0 .1 ζ = 0 .1
2.5 2.5
ζ = 0 .2 ζ = 0 .2
Z X
2 2
Y ζ = 0 .3 Y ζ = 0 .3
1.5 1.5
ζ = 0 .4 ζ = 0 .4
1 1
ζ = 0 .5
ζ = 0 .5
0.5 0.5
1 2 3 4 5 1 2 3 4 5
r r
3 3
2.5 2.5 ζ = 0 .1
ζ = 0 .5
ζ = 0 .2
φ 2 ζ = 0 .4 ψ 2
[rad] [rad]
ζ = 0 .3
1.5 1.5
ζ = 0 .4 ζ = 0 .3
1 1 ζ = 0 .5
ζ = 0 .2
0.5 0.5
ζ = 0 .1
1 2 3 4 5 1 2 3 4 5
r r
(a) (b)
and Equation (4.10) as X/Y versus r in Figure 4.2(b), where r = !!n , with
!n constant. The functions are evaluated for various values of damping
ratios, ⇣. The associated phase angles and are also shown in these
figures.
25
Forced Vibration (Experiment)
m x
e ωt
k c
The right hand side of the equation originates from the angular acceleration
of the rotating unbalance in the x direction. As before, it is more convenient
to re-write Equation (4.12) as
me! 2
ẍ + 2⇣!n ẋ + ! 2 x = sin !t (4.13)
M
where
c
⇣=
cc
is the damping ratio, p
cc = 2 kM
26
is the critical damping coefficient, and
r
k
!n =
M
is the natural frequency.
Comparing Equation (4.13) to Equation (4.2), we see that they are of the
same form and so the steady state component of the solution can immedi-
ately be written as
x(t) = X sin(!t ), (4.14)
where
mer2
X= p (4.15)
M (1 r2 )2 + (2⇣r)2
and where the phase angle is unchanged and is given by Equation (4.6)
2⇣r
tan = .
(1 r2 )
Thus, the frequency response function for this system is the same as that
depicted in Figure 4.2(a), except that Z is replaced by X and Y is replaced
by me/M .
The following list provides physical data associated with the laboratory ex-
periment. Also, because the system you are going to use can have extremely
low damping (close to zero), transient solutions can last for a great deal of
time. Sometimes there is a need to wait for these transients to decay so that
a steady state amplitude can be observed. One way to speed-up this process
is to increase the damping, thus causing the transient to decay faster. The
damping can then be slowly reduced again. In general, it is good to change
parameter values (speed, damping) slowly and to carefully watch the result-
ing trends as you make the changes. This way, transient behavior does not
get introduced. Do these trends agree with, for example, the plots shown in
Figure 4.2?
One final point. The control labeled Base Motion Frequency is a multi turn
potentiometer that controls the frequency of the base motion by changing the
27