FUNDAMENTAL CONCEPTS OF PASSIVE VIBRATION CONTROL

USING VISCOELASTIC DYNAMIC ABSORBER: A GENERAL

METHODOLOGY

Carlos Alberto Bavastri. Dr. Eng.

Post Graduation Program in Mechanical Engineering - PGMec
Federal University of Parana

Laboratory of Vibration and Sound

 21/04/2020 2
Subjects: Mechanics of Solids and Vibrations

01- Introduction, Motivation and Classical Examples;

02- Objective and General Methodology;

03- Concepts of the Dynamic Absorber;

04- Mathematical Model of Viscoelastic Material;

05- Mathematical Model of Non Rotating Systems;

06- Equivalent Generalized Parameters of Neutralizers and Compound Systems;

07- Non Linear Optimization Techniques;

08- Rotating Systems;

09- Examples of Applications by PISA/CNPq group;

10- Works in Progress.

 1 - Introduction

Research Lines:

- Dynamic Characterization of Viscoelastic Materials;

- Passive Vibration Control (dynamic absorbers and isolators);

- Hybrid Passive/Active/Adaptive Vibration and Radiated Noise;

- Rotordynamics;

- Damage Prognosis;

- Computational Mechanics of Solids;

- Topological Optimization of Structures.

 1 - Introduction

Passive vibration control

If we have a resonance problem or dynamic instability in mechanical

structures, we must do the following:

- Suppress excitation (often difficult to achieve)

-Structural modification (change the distribution of mass, stiffness

or both);

- Introduce damping (viscoelastic links or/and constrained layers);

- Using dynamic absorbers (this device can be extremely effective

in a wide band of frequency,
because it introduces both structural
modification and a high damping)
 1 - Introduction

If we have to reduce the vibration levels of a structure exposed to an

excitation in a wide frequency band, and within this band we have one or
more natural frequencies, the best option is to use Viscoelastic Dynamic
Absorbers.

Neutralizers = Absorbers
 21/04/2020 6

1 - Introduction

Twenty years ago, the professor Espíndola and his group asked:

How to design the optimal form of a set of dynamic absorbers that are able
to reduce, by a wide band of frequencies in which there are one or more
natural frequencies, the vibration levels of a geometrically complex
structure?

FRF Ponto 33 - Traseira

20

dB
[g] 20

40

60
0 100 200 300 400 500
Freqüência [Hz]

neutralizers
Sem Neutralizadores
Com Neutralizadores
 21/04/2020 7

1 - Classical Examples of Applications of DVA’s

On a A.C. Generator
Pedestal

Electric Shaver
Power Transmission Line Damper
(Stockbridge)
 21/04/2020 8

1 - Classical Examples of Applications of DVA’s

One Wall Center in Vancouver Canada

 21/04/2020 9

1 - Classical Examples of Applications of DVA’s

Millennium Tower - Tokyo

The Millennium Tower is a skyscraper planned to be opened in 2009 in
Tokyo, but that did not pass the paper. Had it been built, the Millennium
Tower would be 840 meters tall
 1 – Automotive applications
Applied research (master degree, 2008, Pereira and Prof. Espíndola)

Vibration control in a car door

Finite element model of the car door

Dynamic viscoelastic absorber

1 - Classical Examples in Automotive Applications
Applied research (master degree, Pereira 2008, UFSC - Brazil)

10 dB of reduction, using 3
dynamic viscoelastic absorbers
in the inner of the car door.

Espíndola, J. J. de ; Pereira, P. ; Bavastri, C. A. ; Lopes, E. M. O. . Design of

optimum system of viscoelastic vibration absorbers with a Frobenius norm
objective function. Journal of the Brazilian Society of Mechanical Sciences
and Engineering, v. 31, p. 210-219, 2009
 1 – Automotive applications
Applied research (master degree, 2008, Pereira and Prof. Espíndola)
http://www.contitech.de/pages/produkte/schwingungstechnik/motorlagerung/individuelle_tilgerloesungen_en.html
 1- Dynamic vibration absorber for motorcycles

Each bar end weighs 300 g, so they reduce annoying vibrations

in the handlebar very effectively. Probably this weight can be
reduced if designed on the optimal way.
 21/04/2020 19

2 - General Methodology and Objective

Primary System

- Undamped Natural
Frequency
- Vibration Modes
- Modal Damping
Optimal Physical
Parameters of the Dynamic
Viscoelastic Absorbers

Viscoelastic Materials

Non Linear Optimization Techniques + Genetic Algorithms

- Objective Function
BAVASTRI, C. A. ; ESPÍNDOLA, J. J. de ; TEIXEIRA, P. H. . A Hybrid Agorithm to Compute
- Constraints the Optimal Parameters of a System of Viscoelastic Vibration Neutralizers in a
Frequency Range. MOVIC 98, Zurich, 1998. v. 2. p. 577-582
 3 - Concepts of the Dynamic Absorbers

One degree of freedom model (1DOFM):

• Mechanical Impedance on the mass;

• Mechanical Impedance on the roots;

• It will be presented, the dynamical characteristics of the viscoelastic

materials used to substitute the two elements of the simple model: spring and
dashpot;

• A new methodology using optimization techniques for design theses

devices will be introduced and its results will be compared with the traditional
method;
 3.1 - One Degree of Freedom Model (1DOF)

Equivalent 1DOF Model Free Body diagram

m x(t )  c x (t )  k x(t )  f (t )

f (t )  F ()eit x(t )  X ()eit Complex exponential

model

eit  cos t  i sin t Euler theorem

 3.1 - Frequency Response Function

In the frequency domain, the response is given by

X ()  H () F ( ) X () 1

H ( )  
F () - m 2  ic  k

where H(Ω) is known as receptance

k
n 
m

d  n 1 -  2

max  n 1 - (2 ) 2
 3.1 - Dynamic Stiffness on the Mass

For 1 DOF system K(Ω) is the inverse of H(Ω) and is defined as dynamic
stiffness.
F ()
K ( )   -m  2  ic  k
X ()

min  n 1  (2 ) 2
 3.1 – Dynamic stiffness at the root of the 1DOF System

1DOF system with applied force at its base

f (t ) - k ( xb (t) - x(t)) - c(xb (t) - x (t))  0

k ( xb (t)-x(t))+c(xb (t)-x(t))  m x(t )

 3.1 Dynamic stiffness at the root of the 1DOF System

F () - k(X b () - X()) - ic(Xb () - X())  0

k(Xb ()-X())+ic(Xb ()-X())  -2mX ()

Defining the dynamic stiffness as: F ( )

K b ( ) 
X b ( )
It is possible to find this relationship using the equation above

[k  ic]( X b () - X())  -2mX ()

X b ()(k  ic)
X () 
-  2 m  ic  k
 3.1 Dynamic stiffness at the root of the 1DOF System

By substituting in the equation below

F () - (k  ic)(Xb - X )  0

F () (k  ic)(-m 2 )
K b ( )  
X b () - m 2  ic  k
3.1 - Concepts of the Dynamic Absorbers

The concepts of the

dynamic absorber is
introduce a high dynamic
rigidity, or mechanical
impedance, in a system
that need or does not
have
3.2 - MK - Dynamic Absorbers

Free body diagram

 3.2 – MK - Dynamic Absorbers

Applying the Newton’s second law

 F  m x (t )
1 1  f (t ) - k1 x1 (t ) - k 2 ( x1 (t ) - x2 (t ))  m1x1 (t )

∑F  m x (t )
2 2  k 2 ( x1 (t ) - x2 (t ))  m2 x2 (t )

Applying the Fourier transform

F () - k1 X 1 () - k 2 ( X 1 () - X 2 ())  - 2 m1 X 1 ()

k2 ( X 1 () - X 2 ())  - 2 m2 X 2 ()

The response of the primary system in the frequency domain

(- 2 m2  k 2 ) F ()
X 1 () 
[- 2 m1  (k1  k 2 )](- 2 m2  k 2 ) - k 22
k 2 F ()
X 2 ( ) 
[- 2 m1  (k1  k 2 )](- 2 m2  k 2 ) - k 22
3.2 – MK - Dynamic Absorbers

The response of the

primary and
secondary system in
the frequency
domain is shown in
these figures
3.2 - Design of the MK absorber

m2   m1
with   (0.1 to 0.25)
2  n
or
k1
k2  m2   k1
m1
 3.2 - Design parameters of the MK absorber

Narrow band control

k1
n 
m1

m2  (0.1 ~ 0.25)m1

k2
2  n 
m2

1) It creates new natural frequencies;

2) It can produce fatigue in the absorber;
3) The lack of damping creates infinite impedance at the point where the absorber
is attached.
3.3 - MCK - Dynamic Absorbers

2DOF System, MCK

dynamic absorber

m1 x1 (t )  c2 [ x1 (t ) - x 2 (t )]  (k1  k 2 ) x1 (t ) - k 2 x2 (t )  f (t )

m2 x2 (t )  c2 [ x2 (t ) - x 1 (t )]  k 2 ( x2 (t ) - x1 (t ))  0
 3.3 - MCK - Dynamic Absorbers

In the frequency domain

[- 2 m1  (k1  k 2 )  ic2 ] X 1 () - (k 2  ic2 ) X 2 ()  F ()

[- 2 m2  ic2  k 2 ] X 2 () - (k 2 c2 ) X 1 ()  0

[- 2 m2  k 2  ic2 ]F ()

X 1 () 
(- 2 m2  k 2 )(- 2 m1  k1 ) -  2 m2 k 2  ic2 (- 2 m1  k1 -  2 m2 )

( k 2  i c 2 ) F (  )
X 2 ( ) 
(- 2 m2  k 2 )(- 2 m1  k1 ) -  2 m2 k 2  ic2 (- 2 m1  k1 -  2 m2 )
 3.3 - Design of the MCK absorber: Point fixed theory

Den Hartog’s point fixed theory

 3.3 - Design of the MCK absorber: Point fixed theory

Choose the parameters k2, m2 and c2 in order to:

• The fixed points are at the same height;
• The peaks of the |H (Ω)| pass by them or as close as possible to them.
 3.3 - Design of the MCK absorber: Point fixed theory

Defining

m2
  (0.1 to 0.25)
m1
2

n
and
c2
2 
2m2  2
 3.3 - Design of the MCK absorber: Point fixed theory

1) To find Ω1 and Ω2, we make | H11 () | 0 | H11 () | ∞

2) Then αoptim is given doing | H 11 0 |1 | H 11 0 |2

1
 optim 
1 
3) and, the last parameters ξoptim is

d | H () | 1   21
0  2 →  22
d
1 3
 2 optim 
 optim 8(1   ) 3
 3.3 - Design of the MCK absorber: Point fixed theory

m2   m1
with   (0.1 to 0.25)
 2 optim  c2   2 optim 2 m2  2
 optim   2   optim  n
k2   22 m2
 3.3 - Design parameters of the MCK absorber

The design parameters are given by

m2
  0.1 ~ 0.25 Large band control
m1

2 1
 
n 1  

c2 c2 1 3
 otimo   
cc2 2m2  2  otimo 8(1   )3
 3.4 - Generalized equivalent parameters

As saw, for a two degree of freedom system, the equation of motion is

given by:

[-2 m1  (k1  k2 )  ic1 ] X 1 () - (k 2  ic2 ) X 2 ()  F1 ()

[-2 m2  ic2  k2 ] X 2 () - (k 2  ic2 ) X 1 ()  0

Is common we change the number “2” for

the letter “ a” when we are talking about
the absorber or auxiliary system.
 3.4 - Generalized equivalent parameters

And, in the frequency domain, this system of the motion equations can be
represented through matrix form as:

 m1  k1  k 2  ic2  (k 2  ic2 )  X 1 ()   F1 ()

    
  (k 2  ic2 )   m2  k 2ic2   X 2 ()  0 
2

1
 X 1 ()   m1  k1  k2  ic2  (k2  ic2 )  F1 ()
X () 2 x1     
 X 2 ( )    (k2  ic2 )   2 m2  k 2ic2   0 

X () 2 x1  H () 2 x 2 F () 2 x1

 3.4 - Generalized equivalent parameters

Then, the response of the primary system when excited in the same point,
or degree of freedom, is

X 1 ( ) ( 2 m2  k 2  ic2 )
H11 ()  
F1 () ( 2 m2  k 2 )( 2 m1  k1 )   2 m2 k 2  ic2 ( 2 m1  k1   2 m2 )
 3.4 - Generalized equivalent parameters

As will be seen latter in this course, it is very important, may be

fundamental, change the theoretical model of one degree of freedom
system for another model dynamically equivalent.
 3.4 - Mechanical Impedance

Two models are dynamically equivalent when for example have the same
mechanical impedance. Then, it is necessary that:

F ( ) F ( )
Z b1 ()  Z b 2 ()  
V (  ) i X (  )

where Zb(Ω) is the mechanical impedance at the root of the model 1 and 2.
It is easy to show that the mechanical impedance of the model 2 is given
by:

F ( )
Z b 2 ( )   ceq ()  i meq ()
i X b (  )
 3.4 - Mechanical Impedance

For another hand, the mechanical impedance of the model 1 is:

(k  ic)(-m 2 )
Z b1 () 
i(-m 2  ic  k )
 3.4 - Dynamic Rigidity

Even as, the dynamic rigidity in the model 1 is:

F () (k  ic)(-m 2 )
K b1 ()  
X b () - m 2  ic  k
 3.4 - Dynamic Mass

F () F () (k  ic)(-m 2 )

M b1 ()   
Ab () -  X b () -  2 (-m 2  ic  k )
2
 3.4 - Generalized equivalent parameters

It easy to prove that the generalized equivalent parameters are defined as:

meq ()  Re[M ()]

ceq ()  Re[Z ()]

Demonstration: If we consider the mass

element, the relation between the
external force and acceleration will be
given by

F ()  meq () A()

 3.4 - Generalized equivalent parameters

Considering the relationship between acceleration, velocity and

displacement quantities, the equation above can be rewritten as

F ()  meq () A()  meq ()(-2 X ())  meq ()iV ()

Then, the dynamic mass and stiffness and the mechanical impedance, for a
mass elements, are defined by

K m ()   2 meq ()

Z m ()  imeq ()

M m ()  meq ()
 3.4 - Generalized equivalent parameters

In the similar form as the mass element

ceq ()
F ()  ceq ()V ()  ceq ()iX ()  A()
i
Then, the corresponding dynamic
mass and rigidity and mechanical
impedance will be given by

Kc ()  i ceq ()

Zc ()  ceq ()

i
M c ()   ceq ()

 3.4 - Generalized equivalent parameters

For complete equivalent model

Kb 2 ()  2 meq ()  i ceq ()

Zb 2 ()  ceq ()  i meq ()

i
M b 2 ()  meq ()  ceq ()

So,
meq ()  Re[M ()]
ceq ()  Re[Z ()]
 3.4 - Generalized equivalent damping

Writing the mechanical impedance at the root of the system, and taking the
real parte it is possible to find this parameters. Then,

(k  ic)(-m 2 )[- 2c - i(k - m 2 )]

Z b () 
[i(k - m 2 ) -  2c][ - 2c - i(k - m 2 )]

(-m 2 k - imc3 )[- 2c - i(k - m 2 )]

Z b () 
[k - m3 ]2  [ 2c]2

(-km 2 )(- 2c) - (mc3 )(k - m3 ) m 2c 4

Re(Z b ())  
(k - m )  ( c)
3 2 2 2
(k - m 2 ) 2  (c) 2
 3.4 - Generalized equivalent damping

Defining the follow parameters:

ca  k
a  a  a 
2 ma  a a ma

ma  a 2  4
ceq ()  2 2 a a

[ a - 1]  [2 a a ] 2
 3.4 - Generalized equivalent mass

Rewriting the dynamic mass, and taking the real parte it is possible to find
this parameters. Then,

(k  ic)(-m 2 )(k - m 2  ic)

M b () 
-  2 (-m 2  ic  k )(k - m 2  ic)

Re(M b ())  meq ()

meq () 

 ma  a  [1  (2 a a ) 2 ]
2

( a  1) 2  (2 a a ) 2
2
 3.4 - Equivalent model

(m  meq ())x(t )  (c  ceq ())x(t )  kx(t )  f (t )

 3.4 - Equivalent model

In the frequency domain

  (m  m
2
eq 
())  i(c  ceq ())  k X ()  F ()

X () 1
H ()  

F ()   2 (m  meq ())  i(c  ceq ())  k 
This is the same FRF that shows
below

H ()  H11 ()

Response point Excitation point

 3.5 - Optimal design of the MCK absorber

Non Linear Optimization Techniques

min f  x  where f : R nd  R
with x  R nd

subject to :
hi  x   0 i  1,2,.., q (equalityrestrictions)
g j x   0 j  1,2,.., l (inequalityrestrictions)
 3.5 - Optimal design of the MCK absorber

In the particular case, the objective function is defined by:

f cost  x  = max H11  , x 

1     2

where

x   a ,  a 

The inequality restriction are

aL  a  Ua and aL  a  aU

and 1 and 
are2 the lower and upper limit of the optimization.
 3.5 - Optimal design of the MCK absorber - NLOT

If the band of frequency of

interest is a narrow one, then
the result is similar to MK
design

If the band of frequency of

interest is a large one, then
the result is similar to MCK
design (theory of fixed points)

Using H11  or H 