Index

absorber, dynamic vibration, 104, 128, 296 column matrix, 116

acceleration feedback, 315 complex modulus, 42
accelerometer, 315 complex roots, 231, 234
amplitude frequency response, 49, 106 complex stiffness, 42
asymptotes, 231 compressibility, 312
auto-correlation function, 80 computer control, 172
automatic control systems, 2, 6, 171 conservative system, 169
axial loading, 152 continuous systems, 141, 309
co-ordinate coupling, 96
beam equation, 148 co-ordinate generalised, 122
beam, corner frequency, 274
hinged structure, 156 Coulomb damping, 69
transverse vibration, 147 equivalent viscous, 43, 44
with axial load, 152 critical speed, 103, 151
with discrete bodies, 153 critical viscous damping 30, 284
block diagram, 6, 172 cross receptance, 125
Bode analysis, 271
Bode diagram, 184, 272, 325 damping,
breakaway points, 233 combined viscous and Coulomb, 40
break frequency, 274 Coulomb (dry friction), 37, 69
bridge vibration, 285 critical viscous, 30, 284
building vibration, 26 energy dissipated, 43
equivalent viscous, 43, 44,45
cantilever, 163 factor, 248, 251
characteristic equation, 93 free vibration, 28
closed loop, 180, 192, 194, 195 hysteretic, 68, 70
electric servo, 194, 195, 3 1 1, 3 13 joints, 34
hydraulic servo, 180, 192, 31 1 ratio, 30, 65, 241, 246, 248
system, 172 root locus study of, 37
transfer function, 225 viscous, 29, 46, 55, 67
with feedback, 192 dead zone, 38
 424 index

decay, 31,32 Gaussian process, 80

delta function, 73 geared system torsional vibration, 17
derivative control, 185 generalised co-ordinate, 122
derivative of error control servo, 185
design, 2 half power points, 64
direct receptance, 125 harmonic analysis, 74
D-operator, 37,71 hydraulic servo, 178, 185, 188, 311
dry friction damping, 37, 69 hysteretic damping, 41, 68
Duhamel integral, 74 equivalent viscous, 45
Dunkerley’s method, 153
dynamic magnification factor, 49
dynamic vibration absorber, 104, 128, 296 impedance, 135, 308
impulse, 73, 176
earthquake model, 100 influence coefficient, 117, 305
integral control, 188
effective mass, 52
Eigenvalue, 117 integral of error control, 207
Eigenvector, 117 isolation, 54, 56, 58, 62, 124, 287
iteration, 117
electric servo, 194, 195, 199,203,207,239,313
energy dissipated by damping, 43
energy methods, 19 Kennedy-Pancu diagram, 68
ensemble, 77
equations of motion, 8 Lagrange equation, 115, 121, 301, 304
ergodic process, 79 Lanchester damper, 108
Euler buckling load, 166 Laplace,
excitation, 54 operator, 222
periodic, 74 transformation, 221
shock, 72 transforms, list of, 222
logarithmic decrement, 3 1
fatigue, 2 longitudinal vibration, 142, 309
feedback, 172 loss factor, 42, 43
final value theorem, 223
finite elements, 170 machine tool vibration, 5, 113, 297
flexibility matrix, 171 magnification factor, 49
flow equation, 179 margin gain, 259, 325
fluid leakage, 312 margin phase, 259, 325
force, mathematical model, 3
suddenly applied, 71, 176, 192, 199, 287 matrix method for analysis, 115
transmitted, 56 mobility, 135, 308
forced vibration, 46, 102, 288, 190 mode of vibration, 93, 118, 141, 295
foundation vibration, 55 model parameter, 7
Fourier series, 75 modelling, 3
frame vibration, 158 multi degree of freedom system, 88, 115,
free motion, 94 292
free vibration,
damped, 28 narrowband process, 84
undamped, 11,92 natural frequency, 88
frequency, negative output velocity feedback, 203
bandwidth, 65 node, 21
corner, 274 noise, 1
equation, 93, 227, 229, 230 non-linearities, 8
natural, 88 notation, xiii
response of control system, 255 Nyquist,
criterion, 255, 323
gain margin, 259, 325 diagram, 68, 256
 Index 425

open loop, servo, simple hydraulic, 178

hydraulic servo, 178,311 closed loop, 180, 192, 31 1
system, 172 open loop, 178
transfer function, 225 with derivative control, 185
orthogonality of principal modes, 118 with integral control, 188
output velocity feedback, 203, 313, 314, 315 shaft, stepped, 17
overshoot, 177, 196, shear frame, 90,293
shock excitation, 72
periodic excitation, 46, 74 single degree of freedom system, 11, 159,
phase frequency response, 49 280
phase lag network, 325 sinusoidal input, 183, 196
phase lead network, 326 spectral density, 84
phase margin, 259, 325 spool valve, 178
pole, 228 springs,
portal frame analysis, 158 elastic soil, 27
power amplifier, error actuated, 178 heavy, 159
primary system, 104 in parallel, 15
principal modes, 141 in series, 14
probabalistic quantity, 77 non-linear, 18
probability, square wave, 75
distribution, 77 stability,
density function, 78 absolute, 259
of control systems, 208, 218, 228, 242,
Q-factor, 51, 63, 285 318
of vibrating systems, 169, 228, 242, 318
ramp input, 176, 183, 196 relative, 259
random, stable response, 28
variable, 77 standard deviation, 80
vibration, 77 stationary process, 79
Rayleigh’s method, 159, 309, 31 1 steady state error, 176, 183, 187, 194, 196,
reaction time, 171 207,208, 215, 223
receptance, 125, 155, 306 step input, 176, 182, 195
cross, 125 stiffness,
direct, 125 complex, 42
reciprocating unbalance, 51 equivalent torsional, 17
reciprocity principle, 127 string vibration, 141
relative stability, 259 Strouhal number, 167
remote position control, 178 structure, conservative, 169
resonance, 251 subsystem analysis, 127
Reynold’s number, 168 sweeping matrix, 120
root locus, 43, 228, 318 system,
rules, 230 closed loop, 172
summary, 236 open loop, 172
rotary inertia and shear, 152 matrix, 116
rotating unbalance, 51, 288
Routh-Hurwitz, 242, 321 time constant, 181
torsional vibration, 15, 143
s-plane, 114, 227, 241 geared systems, 17
servo, electric position, 194, 195, 239, 313 trailer motion, 103, 281, 291
comparison of main forms, 210 transfer function,
response to sudden load, 199 closed loop, 225
with derivative of error control, 207 open loop, 225
with integral of error control, 207 system, 173, 224, 312
with output velocity feedback, 203 transient motion, 48
426 index

translation vibration, 11 hysteretic damping, 68, 70

with rotation, 96, 293 isolation, 54, 56, 58, 62, 124, 287
transmissibility, 56, 289, 290, 292 longitudinal bar, 142, 309
frequency response, 57 machine tool, 5, 113, 297
transverse beam vibration, 147, 160 mode of, 93, 118
axial load, 152 measurement, 86, 289
with discrete bodies, 153 multi degree offreedom system, 88, 115,
transverse string vibration, 141 292
two degree of freedom system, 89, 92 principal mode, 141
dynamic absorber, 104 random, 77
forced, 102 rotation with translation, 96
free undamped, 92 single degree of freedom, 10, 11, 159, 280
viscous damped, 104, 113 systems with heavy springs, 159
systems stability, 115
unstable response, 115, torsional vibration of shaft, 143
transverse beam, 147, 160
vi bration, with discrete bodies, 153
beam, 147 transverse string, 141
hinged, 156 two degrees of freedom systems, 88, 92
bridge, 285 viscous damping, 29, 55, 284
buildings, 26 vibrometer, 87, 288
combined viscous and Coulomb viscous damped system with vibrating
damping, 40 foundation, 55
continuous system with distributed mass, viscous damping, 29, 67, 113
141 critical, 30
Coulomb (dry friction) damping, 69 equivalent coefficient, 43, 45
decay, 31, 32 ratio, 30, 65
distributed mass systems, 141, 309 vortex shedding, 167
dynamic absorber, undamped, 104, 128,
296 wave,
floor, 61 equation, 144
foundation, 55 motion, 141
forced, 46, 102 wheel shimmy, 228
forced, damped, 46,69, 290 whirling of shafts, 151
free damped, 28 white noise, 84
free, undamped, torsional, 15 wide band process, 84
free, undamped, torsional, geared system, wind excited oscillation, 167
17
free, undamped, translation, 11 zero, 228