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1 Fundamentals of Vibration PDF
1 Fundamentals of Vibration PDF
– stiffness k
x (t )
x A sin(t )
T
T 2 f (radians/second)
Period T 2 (seconds)
Frequency f 1 T (cycles/second) (Hz)
Phase
A
x (t )
t
x A sin(t )
x A sin(t )
Green curve lags the blue curve by 2radians
Harmonic motion
x(t )
A
angular
displacement
t t
Euler’s Equation
So x Ae j phase
magnitude x A a b 2 2
phase tan1 b a
Relationship between circular motion in the
complex plane with harmonic motion
x A sin(nt )
Natural frequency
Forced Vibration
• System vibrates at the forcing frequency
x (t )
x (t )
f (t )
x A sin(f t )
Forcing frequency
Mechanical Systems
• Systems maybe linear or nonlinear
• Linear Systems
1. Output frequency = Input frequency
3. Superposition applies
Mechanical Systems
• Linear system
Linear
system
input excitation
a
output response, y
M
b system
y Ma Mb M(a b)
Mechanical Systems
• Nonlinear system
Nonlinear
system
f k
hardening
spring
x linear
force
f softening
For a linear system spring
f kx
displacement
x
Mechanical Systems
• Nonlinear systems – example: nonlinear spring
Peak-to-peak vibration
(approximately linear)
force
f
Peak-to-peak vibration
(nonlinear)
displacement
x f
stiffness
x
Static displacement
Degrees of Freedom
• The number of independent coordinates required to
describe the motion is called the degrees-of-freedom
(dof) of the system
• Single-degree-of-freedom systems
Independent
coordinate
Degrees of Freedom
• Single-degree-of-freedom systems
x
m
Independent k
coordinate
Idealised Elements
• Spring
f1 k f2
f1 k x1 x2
x1 x2
f2 k x2 x1
f1 f2
• no mass
• k is the spring constant
with units N/m
Idealised Elements
• Addition of Spring Elements
1
k1 k2 ktotal
1 1
Series
k1 k2
ktotal is smaller than the smallest stiffness
k1
Parallel k2 ktotal k1 k2
f1 c x1 x2
f2 c x2 x1
x1 x2
f1 f2
• no mass
• no elasticity
• c is the damping constant Rules for addition of
with units Ns/m dampers is as for springs
Idealised Elements
• Viscous damper
f1 f2
m
f1 f2 mx
f2 mx f1
x
• rigid
• m is mass with Forces do not pass unattenuated
units of kg through a mass
Free vibration of an undamped
SDOF system
m
k
k
m kx
k
k
mx kx 0
m mx kx 0
x
k
k x x 0
m
x n2 x 0
k
where n is the natural frequency of the system
m
The motion of the mass is given by x X o sin nt
Simple harmonic motion
m Displacement
x
x X o sin nt x Xe jnt
k
Velocity
x n X o cos nt x jn Xe jnt
Acceleration
x n2 X o sin nt x n2 Xe jnt
Simple harmonic motion
Imag
x
x
Real
t
x
Free vibration effect of damping
m
x
k c
mx cx kx 0
inertia damping stiffness
force force force
Free vibration effect of damping
nt
x Xe
time
d x Xe nt
sin d t
2 Damping ratio
Td
d Td Damping period
Phase angle
Free vibration effect of damping
The underdamped displacement of the mass is given by
x Xe nt
sin d t
Exponential decay term Oscillatory term
x1
k k k k
m m m m
x1 x2 x3 x4
Degrees-of-freedom
Infinite number of degrees-of-freedom (Systems having
distributed mass and stiffness) – beams, plates etc.
Example - beam
X + 2
x t
+ 3
+
4
t
Response of a SDOF system to
harmonic excitation
Steady-state
xf ( t )
Forced vibration
F sin t
t
m
x
x p (t )
k c
x p ( t ) xf ( t )
t
Steady-state response of a SDOF
system to harmonic excitation
F sin t The equation of motion is
m
mx cx kx F sin t
x
k c The displacement is given by
x X o sin t
where
X is the amplitude
is the phase angle between the response and the force
Frequency response of a SDOF system
F sin t
The amplitude of the
m response is given by
x
F
k c Xo
k m c
2 2
2
Inertia force mX o
2
The phase angle is given by
Damping c
Applied force force tan
1
k m
2
F cX o
Stiffness force kX o
Frequency response of a SDOF system
Fe jt
The equation of motion is
m
x mx cx kx Fe jt
k c The displacement is given by
x Xe jt
This leads to the complex amplitude given by
X 1 X 1 1
or
F k m j c
2
F k 1 n j 2 n
2
Where n k m and c 2 mk
2
Complex notation allows the amplitude and phase information
to be combined into one equation
Frequency response functions
X 1
Receptance
F k 2 m j c
Other frequency response functions (FRFs) are
Acceleration Force
Accelerance = Apparent Mass =
Force Acceleration
Velocity Force
Mobility = Impedance =
Force Velocity
Force
Dynamic Stiffness =
Displacement
Representation of frequency response data
Log receptance
Increasing damping
1
k
n Log frequency
m x
Frequency Regions
k c
Low frequency 0 Xo F 1 k Stiffness controlled
Xo
Log
F
1
k
X
Re
F
n frequency
X
Im
F
Real and Imaginary parts of FRF
Real and Imaginary components can be plotted on one
diagram. This is called an Argand diagram or Nyquist plot
1k
X
Re
F
Increasing
frequency
n X
Im
F
3D Plot of Real and Imaginary parts of FRF
X
X Re
Im F
F
0
frequency
0.1
Summary
• Basic concepts
– Mass, stiffness and damping