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Chapter1 SDOF
Chapter1 SDOF
m
y(t)
1
Vibro-acoustics: Chapter 1 (SDOF)
m
y(t)
2
Vibro-acoustics: Chapter 1 (SDOF)
f r ky my ky 0,
2
d y
f r ky m 2 k
dt y y 0
m
3
Vibro-acoustics: Chapter 1 (SDOF)
Method of differential operators
k d
(D ) y 0
2
D Differential operator
m dt
k k
D 0
2
D j
m m
j 1 Imaginary number
4
Vibro-acoustics: Chapter 1 (SDOF)
Method of differential operators
k k
y(t ) A sin t B cos t
m m
k
n Undamped natural frequency, rad/s
m
y(t ) A sin nt B cos nt
A and B are constants determined from initial conditions
5
Vibro-acoustics: Chapter 1 (SDOF)
Complex exponential method
A A cos j sin
Imaginary
j
A Ae Complex number
A
A sin
A cos
Real
6
Vibro-acoustics: Chapter 1 (SDOF)
Complex exponential method
jA A sin j cos
A
A sin j cos
Imaginary
jA
j
Rotation of a complex
number by using j
90 A
Real
90
A/ j
7
Vibro-acoustics: Chapter 1 (SDOF)
Complex exponential method
A
A sin t
t
A cos t Real
8
Vibro-acoustics: Chapter 1 (SDOF)
Complex exponential method
A(t )
Imaginary
A cos t Real
k
k n
y y 0 m
m
jnt
y Ae jt y(t ) ( Ae )
k
( ) A e jt 0
2
10
Vibro-acoustics: Chapter 1 (SDOF)
Complex exponential method Undamped system
Phasor diagram of the response of an undamped system
jn t
v jn Ae
Imaginary
displacement jn y
Velocity A jn t
nt
t=0 a Ae
2
n
Real
acceleration jn v
y (t ) Re Ae
j n t
n2 y
y (t ) A cos(nt )
11
Vibro-acoustics: Chapter 1 (SDOF)
DAMPED SDOF Differential equation
f d Rmv Rm y
2
d y
f r ky Rm v m 2
dt
my Rm y ky 0
12
Vibro-acoustics: Chapter 1 (SDOF)
DAMPED SDOF Solution
jt
y Ae
Rm
Rm
2m n 2 km
( j ) 2 m ( j ) Rm k 0 Damping factor
j n n 2 1
Rm R
2
k
j m
2m 2
2m m j j 1
n n
n jd
13
Vibro-acoustics: Chapter 1 (SDOF)
DAMPED SDOF Solution
nt jd t
y Ae e
y (t ) Aent cos(d t )
14
Vibro-acoustics: Chapter 1 (SDOF)
DAMPED SDOF Phasor
Imaginary
j d t
y (t ) Ae nt e
j d t
v (t ) j Aent e displacement
Velocity
A
d t
Real
j d t
a(t ) 2 Ae nt e
j d t
y (t ) Re Aent e
acceleration
15
Vibro-acoustics: Chapter 1 (SDOF)
DAMPED SDOF Logarithmic decrement
-3
y y0 e nt cos(d t )
10x 10
6
Displacement, m
y Ae nt cos(d t )
1 n t
A e sin(d t )
2 md sin y(t ) h(t )
md
17
Vibro-acoustics: Chapter 1 (SDOF)
FORCE EXCITATION Convolution integral
Force
Impulse F ( )
F ( ) e nt sin d t
y (t )
F ( )
md
18
Vibro-acoustics: Chapter 1 (SDOF)
FORCE EXCITATION Harmonic excitation
my Rm y ky F cos t
my Rm y ky F sin t
my Rm y ky F
~ jt
F Fe
jt
y Ae
19
Vibro-acoustics: Chapter 1 (SDOF)
FORCE EXCITATION
jt jt
( m j Rm k ) Ae
2
Fe
F
A
k m 2 j Rm
jt
Fe F
y Displacement
k m j Rm k m j Rm
2 2
20
Vibro-acoustics: Chapter 1 (SDOF)
FORCE EXCITATION
jF
y , Displacement
[ Rm j ( m k / )]
~
~ F
v Velocity
Rm j (m k / )
21
Vibro-acoustics: Chapter 1 (SDOF)
Mechanical Impedance
~
F
Z m ~ Rm j (m k / ) Z m Z me j m
2 m k /
k
Z m R m
2 m tan
1
m
Rm
22
Vibro-acoustics: Chapter 1 (SDOF)
Mechanical Impedance
2
10 Magnitude of impedance as
a function of frequency
Magnitude of impedance
0 316
10 1 2 3 4
10 10 10 10
Excitation frequency, rad/s
23
Vibro-acoustics: Chapter 1 (SDOF)
Mechanical Impedance Nyquist plot
n
Imaginary
Zm
~
F
m
Z m ~ Rm j (m k / )
n v
Real
n
24
Vibro-acoustics: Chapter 1 (SDOF)
Phasor representation of harmonic force excitation
(a) Force very close to displacement in phase (
Imaginary n)
y
v
Real
a
Vibro-acoustics: Chapter 1 (SDOF)
Phasor representation of harmonic force excitation
Force very close to velocity in phase n
Imaginary
F
v
a
Real
y
) Vibro-acoustics: Chapter 1 (SDOF)
Phasor representation of harmonic force excitation
Force in phase with velocity, resonance ( n)
Imaginary
v
a F
Real
y
Vibro-acoustics: Chapter 1 (SDOF)
Phasor representation of harmonic force excitation
Force very close to acceleration in phase n
Imaginary
a F
Real
y v
Vibro-acoustics: Chapter 1 (SDOF)
29
Given stiffness, k=10 kN/m, mass, m=0.05 kg,
damping coefficient, Rm=10 N-s/m
The undamped natural frequency is given by
n
k
10 103
447.21rad/s (71.18Hz)
(1)
m 0.05
Rm
10
0.2236
(2)
2mn 2 0.05 447.21
30
The damped natural frequency is given by
d n 1 447.2 1 0.2236
2 2
Force is given by
f (t ) 5sin(50t / 6)
10 cos(250t / 3) N
31
Corresponding to each of the above forces in
equation (4), ω1=50 rad/s and ω2=250 rad/s
are the excitation frequencies. Since these
excitation frequencies are well below the
undamped natural frequency, they are in the
stiffness controlled region.
32
The complex mechanical impedance of the
system at 50 rad/s is given by
k
Z m1 Rm j 1m
(8)
1
10 103
10 j 50 0.05
50
10 j197.5 197.75 Rayl 87.10
33
Similarly, the complex mechanical
impedance of the system at 250 rad/s is
given by
k
Zm2 Rm j 2 m
2
10 10
3
10 j 250 0.05
250
10 j 27.5 29.26 Rayl 70 0
34
The complex acceleration response of the
system to the given force excitation is given
by
j1 F1 j2 F2 (9)
a
Z m1 Zm2
j
j
j 50t j 250t
j 50 5e 6 e j 250 10e 3 e
10 j197.5 10 j 27.5
j
j
j 50t j 250t
1.264e 6 e 85.44e 3 e
35
Comparing equation (9) with the force excitation equation
(4), the acceleration response is given by
j
j 50t
a(t ) Im 1.264e e6
j
j 250t
Re 85.44e e3
1.264sin(50t 300 1770 )
85.55cos 250t 600 1600
36
37
38
Vibro-acoustics: Chapter 1 (SDOF)
Electro-mechanical Analogy
Z m Rm j (m k / )
Resistance
Mechanical impedance
Inductance
Capacitance
Z R j (L 1 / C )
ac voltage
Electrical impedance
39
Vibro-acoustics: Chapter 1 (SDOF)
Electro-mechanical Analogy
Force-voltage analogy
Mechanical Electrical
Mass Inductance
Compliance Capacitance
(Reciprocal of
stiffness)
Damping Resistance
Force Voltage
Velocity Current
Displacement Charge
40
Vibro-acoustics: Chapter 1 (SDOF)
POWER INPUT
~
~ F
v (cos m j sin m ) velocity
Zm
F cos t cos m F sin t sin m F cos(t m )
(v )
~
Zm Zm
Real part of velocity
41
Vibro-acoustics: Chapter 1 (SDOF)
POWER INPUT
~
( F ) F cos t Real part of force
F cos t cos(t m )
2 T
1
Wi Wavg Wi dt
Zm T 0
2
F2 Frms
Wavg cos m cos m Frms vrms cos m
2Z m Zm
42
Vibro-acoustics: Chapter 1 (SDOF)
Power input using complex force and velocity
1
Wi t Re F v
2
~ ~
F v F e j t V e j t F V
F v FV
43
Vibro-acoustics: Chapter 1 (SDOF)
Power input using complex force and velocity
j j
F Fe V Ve
j j j
FV Fe Ve FVe
Re FV FV cos 1
Wi t Re F v
2
1
2
1
Re FV FV cos
2
f rms vrms cos Wi (t )
44
Vibro-acoustics: Chapter 1 (SDOF)
Input power to a SDOF
jm F F
Z m Z me v v
Zm
Zm
jm
Z Z me
m F F e
* * jt
2 2
1 Fe F e
jt jt
F F
Wi t Re
jm
Re e cos m
2 Z m 2Z m 2Z m
f rms vrms cos m
45
Vibro-acoustics: Chapter 1 (SDOF)
POWER INPUT
Frms
Wavg res
Frms v
rms res vrms res R
m
2 2
Frms Frms
Wavg res Wavg cos m
Rm Zm
2
Frms
cos m
Wavg Zm
W 2
cos 2
m
Power Ratio
Wavg res
Frms
Rm
46
Vibro-acoustics: Chapter 1 (SDOF)
POWER INPUT
1
0.9
0.8
0.7
Power ratio
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2
Frequency ratio
47
Vibro-acoustics: Chapter 1 (SDOF)
Half-power frequencies
2
R 1
cos 2 m m2 0.5 cos hp
m
Zm 2
k
m m 2
tan mhp 1 k
1
Rm Rm Rm
r 1
1
2 2 r
48
Vibro-acoustics: Chapter 1 (SDOF)
Half-power frequencies
r 2 r 1 0
2
r 2 r 1 0
2
r1 1
2
r2 1 2
49
Vibro-acoustics: Chapter 1 (SDOF)
FREQUENCY REGIONS
1
0.7
Power ratio
0.4
0.3
0.2 Half-power
bandwidth
0.1
r1 r2
0
0 0.5 1 1.5 2
Frequency ratio
50
Vibro-acoustics: Chapter 1 (SDOF)
n
Imaginary Mass controlled
region Nyquist plot of
Zm 2 Frequency regions
Damping controlled
region
m 450 n
Real
m 45 0
Damping controlled
region
1
Stiffness controlled
region n
51
Quiz 1,
2010
Consider a single degree of freedom system with spring, mass
and viscous damper. The coefficient of viscous damping is 10
N-s/m. When it is subjected to a force of rms value 0.25 N,
through an exciter at a single excitation frequency of 100
rad/s in the stiffness controlled region, it consumes ¼ of the
power it would have consumed when excited at its resonance
frequency.
Z m (100)
Rm
10
20 (1)
cos m 0.5
53
Using the above value of impedance, the rms velocity of
response at the excitation frequency of 100 rad/s is given by
Wavg (100) Frms vrms cos m 0.25 0.0125 0.5 1.56 (3)
mW
54
(b) Power consumed at an excitation
frequency same as resonance frequency is
given by four times the power consumed at
an excitation frequency of 100 rad/s, that
1.56 mWx4= 6.2 mW.
jF Fe j ( /2m )
y
Z Zm
56
Vibro-acoustics: Chapter 1 (SDOF)
~ j m
~ Fe
v
Zm
57
Vibro-acoustics: Chapter 1 (SDOF)
~ j (m / 2)
~ Fe
a
Zm
58
Vibro-acoustics: Chapter 1 (SDOF)
59
Vibro-acoustics: Chapter 1 (SDOF)
Displacement Ratio
versus Frequency
X 1
y
F /k (2 r ) 2 (1 r 2 ) 2
60
Vibro-acoustics: Chapter 1 (SDOF)
Mobility as a function
of frequency
V r
F ( km) (2r ) 2 (1 r 2 ) 2
61
Vibro-acoustics: Chapter 1 (SDOF)
Magnitude of accelerance
versus frequency
Am 1
F
2 2
2 1
1 2
r r
62
Vibro-acoustics: Chapter 1 (SDOF)
Admittance
-jm
v 1 1 e
Ym
F Z m Rm j ( m k / ) Zm
1 1 Rm Rm 1 jm
Ym e
Z m Z m Rm Z m Rm
jm
cos m e
Rm
63
Vibro-acoustics: Chapter 1 (SDOF)
Admittance Example
64
Vibro-acoustics: Chapter 1 (SDOF)
Admittance Example
1
Ym
2
k
R m
2
m
65
Vibro-acoustics: Chapter 1 (SDOF)
Figure 1 Frequency response
Admittance Example magnitude of admittance
0.9
0.8
0.7
0.6
Admittance magnitude
0.5
0.4
0.3
0.2
0.1
0
0 200 400 600 800 1000
Frequency, rad/s
66
Vibro-acoustics: Chapter 1 (SDOF)
Nyquist plot 90 1
of Admittance 120 60
0.8
0.6
150 1 1 30
2 Rm 0.4
0.2
0
0
180
1 Real
n
Rm 1
Rm
1
210 2 Rm 2 330
240 300
270
67