ME22457 Chapter3 021503 MACL PDF

Mechanical Vibrations
Chapter 3
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
22.457 Mechanical Vibrations - Chapter 3 1 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
SDOF Definitions
Assumptions
• lumped mass
• stiffness proportional
x(t)
to displacement
m
• damping proportional to
velocity
k c
• linear time invariant
• 2nd order differential
equations

Forced Harmonic Vibration
Consider the SDOF system with

a sinusoidally varying forcing
function applied to the mass as
shown
F=F0sinωt
From the Newton’s Second Law,
∑ f = ma ⇒ m&x& + cx& + kx = F0 sin ωt (3.1.1)

The solution consists of the complementary

solution (homogeneous solution) and the particular
solution. The complementary part of the solution
has already been discussed in Chapter 2.
The particular solution in the one of interest here.
Since the oscillation of the response is at the
same frequency as the excitation, the particular
solution will be of the form
x = X sin (ωt − φ ) (3.1.2)

Substituting this into the differential equation,

the solution is of the form
F0 −1  cω  (3.1.4)
X= φ = tan  2
( )
(3.1.3)
2 2  k − mω 
k − mω + (cω) 2
Note that this is also seen graphically as
(recall that the velocity and acceleration are 90 and 180 degrees ahead of the displacement)

This is expressed in nondimensional form as

F0  cω 
X= k (3.1.5) φ = tan
−1  k  (3.1.6)
 1 − mω2 k 
( )
2
1 − mω  + cω
2 2
 
 k k

and can be further reduced recalling the following
expressions for a SDOF
ωn = k c c = 2mωn c
m ζ=
cc

The nondimensional expression is

Xk 1
= (3.1.7)
F0 2
  ω     ω  2
2
 1 −    +  2ζ   
  ωn     ωn  
 
 ω
2ζ  
φ = tan −1  ωn  (3.1.8)
2
 ω
1−  
 ωn 

This yields the popular plot of forced response

The complex force vector also yields useful

information for interpretation of the results

The differential equation describing the system

F0
&x& + 2ζωn x& + ω2n x = sin ωt (3.1.10)
m
and the complete solution of this problem is given
as
F sin(ωt − φ)
x(t) = 0
k  2 2 2
1 −  ω   +  2ζ ω   (3.1.11)
  ωn     ωn  
 
(
+ X1e −ζω t sin 1 − ζ 2 ωn t + φ1
n
)
Complex Frequency Response Function
The Complex FRF - real and imaginary parts

2
 ω
1−  
 ωn 
(3.1.17)
h ( jω) =
  ω 2 2 2
1 −    +  2ζ ω  
  ωn     ωn  
 
 ω
2ζ  
−j  ωn 
  ω 2 2 2
1 −    +  2ζ ω  
  ωn     ωn  
 

Forced Response - Rotating Unbalance
The effects of unbalance is a common problem in

vibrating systems.
Consider a one
dimensional system
with an unbalance
represented by an
eccentric mass, m,
with offset, e,
rotating at some
speed, ω, as shown

Let x be the displacement of the non-rotating

mass (M-m) about the equilibrium point, then the
displacement of the eccentric mass is
x + e sin ωt
and the equation of motion becomes

d2
(M − m)&x& + m 2 (x + e sin ωt ) = − kx − cx&
dt

This can easily be cast as
(
M&x& + cx& + kx = meω2 sin ωt ) (3.2.1)
which is essentially identical to (3.1.1) with the

substitution of F0=meω2
The steady-state solution just developed is

applicable for this solution
meω2  cω 
X= (3.2.2) φ = tan −1  2
(k − Mω )
(3.2.3)
2 2
+ (cω)2  k − Mω 


F0
&x& + 2ζωn x& + ω2n x = sin ωt (3.1.10)
m
as
F sin(ωt − φ)
x(t) = 0
k  2 2 2
1 −  ω   +  2ζ ω   (3.1.11)
  ωn     ωn  
 
(
+ X1e −ζω t sin 1 − ζ 2 ωn t + φ1
n
)
Manipulating into nondimensional form

2
 ω
 
MX
=  ωn  (3.2.4)
m e 2
  ω 2    ω  2
 1 −    +  2ζ   
  ωn     ωn  
 
 ω
2ζ  
φ = tan −1  ωn  (3.2.5)
2
 ω
1−  
 ωn 

This yields the popular plot of forced response


F0
&x& + 2ζωn x& + ω2n x = sin ωt (3.1.10)
m
as
F sin(ωt − φ)
x(t) = 0
k  2 2 2
1 −  ω   +  2ζ ω   (3.1.11)
  ωn     ωn  
 
(
+ X1e −ζω t sin 1 − ζ 2 ωn t + φ1
n
)
The complete solution of this problem is given as
sin(ωt − φ)
x ( t ) = meω2
(k − Mω )
(3.2.6)
2 2
+ (cω)2
(
+ X1e −ζω t sin 1 − ζ 2 ωn t + φ1
n
)

Forced Response - Support Motion
Many times a system is excited at the location of

support commonly called ‘base excitation’

With the motion of the base denoted as ‘y’ and

the motion of the mass relative to the intertial
reference frame as ‘x’, the differential equation
of motion becomes
m&x& = − k ( x − y) − c( x& − y& ) (3.5.1)
Substitute
z=x−y (3.5.2)
into the equations to give

m&z& + cz& + kz = − m&y& = mω2 Y sin ωt (3.5.3)

This is identical in form to equation 3.2.1 where z

replaces x and mω2Y replaces meω2
Thus the solution can be written by inspection as
mω2 Y
Z= (3.5.4)
(k − mω ) 2 2
+ (cω)2
cω 
−1 
φ = tan  2
(3.5.5)
 k − mω 

The steady state amplitude and phase from this

equation can be written as
X k 2 + (cω)2
=
(3.5.8)
Y (k − mω ) 2 2
+ (cω)2
 mcω 3 
tan φ =  
( )
(3.5.9)
2
 k k − mω − (cω) 
2


Vibration Isolation
Dynamical response can be minimized through the

use of a proper isolation design.
An isolation system attempts either to protect

delicate equipment from vibration transmitted to it
from its supporting structure or to prevent
vibratory forces generated by machines from
being transmitted to its surroundings.
The basic problem is the same for these two

objectives - reducing transmitted force.

Vibration Isolation - Force Transmitted
Notice that motion transmitted from the

supporting structure to the mass m is less than
one when the frequency ratio is greater that
square root 2.
This implies that the

natural frequency of the
supported system must be
very small compared to the
disturbing frequency.
A soft spring can be used
to satisfy this requirement.

Another problem is to reduce the force transmitted

by the machine to the supporting structure which
essentially has the same requirement.
The force to be isolated is transitted through the

spring and damper as shown

The force to be isolated is transitted through the

spring and damper is
2
 2ζω 
FT = (kX ) + (cωX )
2 2
= kX 1 +   (3.6.1)
 ωn 
With the disturbing force equal to F0sinwt this
equation becomes
F0
X= k (3.6.1a)
  ω 2 2 2
1 −    +  2ζ ω  
  ωn     ωn  
 

The transmissibility TR, defined as the ratio of

the transmitted force to the disturbing force, is
2
  ω 
1 +  2ζ  
  ωn  
(3.6.2)
FT
TR = = 2
F0   ω     ω  2
2
 1 −    +  2ζ   
  ωn     ωn  
 
and when damping is small becomes
FT 1
TR = = (3.6.3)
F0  ω  2
  −1
 ωn 
Sharpness of Resonance
The peak amplitude of response occurs at

resonance. In order to find the sharpness of
resonance, the two side bands at the half power
points are required.
At the half power points,

2
1 1  1
  =
2  2ζ  2
  ω     ω  2
2 (3.10.1)
 1 −    +  2ζ   
  ωn     ωn  
 

Solving yields
2
 ω
(
  = 1 − 2ζ 2 ± 2ζ 1 − ζ 2 ) (3.10.2)
 ωn 
and if the damping is assumed to be small
2
 ω
  = 1 ± 2ζ (3.10.3)
 ωn 
Letting the two frequencies corresponding to the
roots of 3.10.3 gives
ω22 − ω12 ω2 − ω1
4ζ = 2
≅2
ωn ωn

The Q factor is defined as

ωn 1
Q= = (3.10.4)
ω2 − ω1 2ζ

MATLAB Examples - VTB2_3
VIBRATION TOOLBOX EXAMPLE 2_3
function VTB2_3(z,rmin,rmax,opt)
% VTB2_3 Steady state magnitude and phase of a
% single degree of freedom damped system.
>> vtb2_3([0.02:.02:.1],0.5,1.5,1)
Normalized Amplitude vers us Frequency Ratio
>> vtb2_3([0.02:.02:.1],0.5,1.5,3) 10
2
ζ= 0.02
ζ= 0.04
Normalized Amplitude
1 ζ= 0.06
10 ζ= 0.08
ζ= 0.1
0
10
-1
10
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
Frequency Ratio
P has e vers us Frequency Ratio
180
157.5
135
P has e lag (°)
112.5
90 ζ= 0.02
67.5 ζ= 0.04
45 ζ= 0.06
22.5 ζ= 0.08
0
ζ= 0.1
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
Frequency Ratio

MATLAB Examples - VTB1_4
VIBRATION TOOLBOX EXAMPLE 1_4
>> clear
>> x0=0; v0=0; m=1; d=.1; k=2; dt=.01; n=10000;
>> t=0:dt:n*dt; u=[sin(t)];
>> [x,xd]=VTB1_4(n,dt,x0,v0,m,d,k,u);
>>
>> plot(t,u); % Plots force versus time.
2
>> plot(t,x); % Plots displacement versus time.
1.5
0.5
-0.5
-1
-1.5
0 10 20 30 40 50 60 70 80 90 100


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Mechanical Vibrations

22.457 Mechanical Vibrations - Chapter 3 1 Dr. Peter Avitabile

22.457 Mechanical Vibrations - Chapter 3 2 Dr. Peter Avitabile

Consider the SDOF system with

From the Newton’s Second Law,

∑ f = ma ⇒ m&x& + cx& + kx = F0 sin ωt (3.1.1)

22.457 Mechanical Vibrations - Chapter 3 3 Dr. Peter Avitabile

The solution consists of the complementary

22.457 Mechanical Vibrations - Chapter 3 4 Dr. Peter Avitabile

Substituting this into the differential equation,

Note that this is also seen graphically as

22.457 Mechanical Vibrations - Chapter 3 5 Dr. Peter Avitabile

This is expressed in nondimensional form as

22.457 Mechanical Vibrations - Chapter 3 6 Dr. Peter Avitabile

The nondimensional expression is

22.457 Mechanical Vibrations - Chapter 3 7 Dr. Peter Avitabile

This yields the popular plot of forced response

22.457 Mechanical Vibrations - Chapter 3 8 Dr. Peter Avitabile

The complex force vector also yields useful

22.457 Mechanical Vibrations - Chapter 3 9 Dr. Peter Avitabile

The differential equation describing the system

The Complex FRF - real and imaginary parts

22.457 Mechanical Vibrations - Chapter 3 11 Dr. Peter Avitabile

The effects of unbalance is a common problem in

22.457 Mechanical Vibrations - Chapter 3 12 Dr. Peter Avitabile

Let x be the displacement of the non-rotating

and the equation of motion becomes

22.457 Mechanical Vibrations - Chapter 3 13 Dr. Peter Avitabile

This can easily be cast as

which is essentially identical to (3.1.1) with the

The steady-state solution just developed is

22.457 Mechanical Vibrations - Chapter 3 14 Dr. Peter Avitabile

The differential equation describing the system

Manipulating into nondimensional form

22.457 Mechanical Vibrations - Chapter 3 16 Dr. Peter Avitabile

This yields the popular plot of forced response

22.457 Mechanical Vibrations - Chapter 3 17 Dr. Peter Avitabile

The differential equation describing the system

The complete solution of this problem is given as

22.457 Mechanical Vibrations - Chapter 3 19 Dr. Peter Avitabile

Many times a system is excited at the location of

22.457 Mechanical Vibrations - Chapter 3 20 Dr. Peter Avitabile

With the motion of the base denoted as ‘y’ and

into the equations to give

22.457 Mechanical Vibrations - Chapter 3 21 Dr. Peter Avitabile

This is identical in form to equation 3.2.1 where z

Thus the solution can be written by inspection as

22.457 Mechanical Vibrations - Chapter 3 22 Dr. Peter Avitabile

The steady state amplitude and phase from this

22.457 Mechanical Vibrations - Chapter 3 23 Dr. Peter Avitabile

22.457 Mechanical Vibrations - Chapter 3 24 Dr. Peter Avitabile

Dynamical response can be minimized through the

An isolation system attempts either to protect

The basic problem is the same for these two

22.457 Mechanical Vibrations - Chapter 3 25 Dr. Peter Avitabile

Notice that motion transmitted from the

This implies that the

22.457 Mechanical Vibrations - Chapter 3 26 Dr. Peter Avitabile

Another problem is to reduce the force transmitted

The force to be isolated is transitted through the

22.457 Mechanical Vibrations - Chapter 3 27 Dr. Peter Avitabile

The force to be isolated is transitted through the

22.457 Mechanical Vibrations - Chapter 3 28 Dr. Peter Avitabile