Teoría de Mecanismos

Tema 3. Vibraciones

Complementos de Formación de Acceso al Máster de Ingeniería

Industrial
José Manuel Abete
Summary

Summary
• Free vibrations.
• Undamped.
• Damped.
• Harmonic forced vibrations.
• Argand Diagram.
• FRF Representation.
• Transmissibility.
• Superposition principle.
• .

01/12/2020 2
5-2
Free Vibrations

One degree of freedom: not realistic but qualitative results. Lumped

parameter system. Base motion + force excitation.

f(t)

zS (t)

CS
KS

z r (t)

01/12/2020 3
5-3
Free Vibrations

Applying the 2nd Newton Law

f (t )  c( x (t )  x0 (t ))  k ( x(t )  x0 (t ))  mx(t )

mx(t )  cx (t )  kx(t )  f (t )  cx0 (t )  kx0 (t )
In case of free vibrations the base excitation and the force vanish and
the equation of motions results

mx(t )  cx (t )  kx(t )  0

The general solution is of the form

x(t )  Ae st

01/12/2020 4
5-4
 Free Vibrations
Deriving and operating we obtain the characteristic equation:

Ae st (ms 2  cs  k )  0
Ae st  x(t )  0  trivialsolution
(ms 2  cs  k )  0  characteristic equation
Roots of the characteristic equations:
2
c c 2 k  c  k
s1,2    ( )    
2m 2m m  2m  m
1- Case  =0. Double real solution, s.
x(t )   A0  A1t  e st
2- Case  >0. Two real different solutions, s1, s2. x(t )  A0 e s1t  A1e s2t
3- Case  <0. Two complex conjugate solutions , s1, s2. x(t )  A0 e s1t  A1e s2t

01/12/2020 5
5-5
 Free Vibrations
1- Case  =0
2
c c 2 k  c  k
s1,2    ( )    
2m 2m m  2m  m
2
 c  k k c
  0     0  c  ccr  2m  2mn ; s1,2  
 2m  m m 2m
k
n  , natural frequency
m
and the solution is non oscillatory
c

x(t )   A0  A1t  e st   A0  A1t  e   A0  A1t  ent
t
2m

Critically damped

01/12/2020 6
5-6
 Free Vibrations
1- Case  =0. Critically Damped. Non oscillatory solution.
c

x(t )   A0  A1t  e st   A0  A1t  e   A0  A1t  ent
t
2m

01.12.20 Mondragon Unibertsitatea 7

 Free Vibrations
2- Case  > 0
2
 c  k k 1
  0     0  cs  ccr  2m  2mn
 2m  m m 2
2
c  c  k
s        n   2
 n
2
  n
2
  n   n  2
1 
2m  2m  m
c c n c c
 n   ; s1,2  n   ;   n  n  n
2m 2m n 2mn ccr
c
 damping ratio, in this case   1, overdamped
ccr
  n  2  1

01/12/2020 8
5-8
 Free Vibrations
2- Case  > 0

c
 damping ratio, in this case   1, overdamped
ccr
  n  2  1
the solution is non oscillatory

x(t )  A0 e s1t  A1e s2t  A0 ent t  A1ent t  ent  A0et  A1et  
 ent  c0 cosh t  c1 sinh t 

01/12/2020 9
5-9
 Free Vibrations
2- Case  >0. Over damped. Non oscillatory solution.

x(t )  A0 e s1t  A1e s2t  A0 ent t  A1ent t  ent  A0et  A1et  
 ent  c0 cosh t  c1 sinh t 

01.12.20 Mondragon Unibertsitatea 10

 Free Vibrations

3- Case  < 0
2
 c  k k
  0     0  c  ccr  2m  2mn
 2m  m m
2
c  c  k
s1,2         n   2
 n
2
  n
2
  n   n  2
1 
2m  2m  m
 n  n (1)(1   2 )  n  n 1 (1   2 )  n  ni (1   2 )
s1,2  n  id ; s1,2  n  id ;
c
 damping ratio, in this case   1 , underdamped vibrations
ccr
d  n 1   2 , dampednatural frequency

01/12/2020 11
5-11
 Free Vibrations

3- Case  < 0
c
 damping ratio, in this case   1 , underdamped vibrations
ccr
d  n 1   2 , dampednatural frequency
The solution is oscillatory
x(t )  A0e s1t  A1e s2t  A0 e( n id )t  A1e( n id )t  ent ( A0 eid t  A1eid t )
A0eid t  A1eid t  A0  cos d t  i sin d t   A1  cos d t  i sin d t  
  A0  A1  cos d t  i  A0  A1  sin d t  C0 cos d t  C1 sin d t
C0  X cos  ; C1  X sin 
A0eid t  A1eid t  C0 cos d t  C1 sin d t  X cos  cos d t  X sin  sin d t 
 X cos(d t   )
01/12/2020 12
5-12
 Free Vibrations

3- Case  < 0
c
 damping ratio, in this case   1 , underdamped vibrations
ccr
d  n 1   2 , dampednatural frequency
The solution is oscillatory
x(t )  Xent cos(d t   )

01/12/2020 13
5-13
 Free Vibrations
3- Case  < 0
cs < ccr underdamped system, vibrational response to i.c.
1
  x  n x0 
2
 2  x  n x0 
n t
x(t )  X 0 e cos(d t   )   x0 2   0   e nt cos  d t  arctg 0 
   d    x 
0 d 

01/12/2020 14
5-14
Free Vibrations

01.12.20 Mondragon Unibertsitatea 15

Free Vibrations
cs =0 undamped system ‐> =0  ,  vibrational response to i.c.
1
 2
 z0   2
 z0 
zs (t )  Z 0 cos(d t   )   z0     cos  n t  arctg
2

 
 n    z 
0 n 

0.1

0.05

-0.05

-0.1
0 5 10 15 20 25

There isn’t a dissipation energy mechanism in the system and as a 
consequence the energy is maintained, changing between potential and 
kinetics.

01/12/2020 16
5-16
 Free Vibrations. Summary
Case  >0 Overdamped   1; s1,2  n   ; x(t )  ent  A0 et  A1e t 
cs
Case  =0 Critically damped   1; s1,2   ; x(t )  ent  A0  A1t 
2ms

Case  <0 Underdamped   1; s1,2  n  id ; x(t )  Xe nt cos(d t   )

0.1

0.05

-0.05

-0.1
0 5 10 15 20 25

0   1  0
01/12/2020 17
Free Vibrations. Summary

k
Natural frequency  n
m

Critical damping ccr  2 km  2mn

c c
Damping ratio  
ccr 2mn

Damped natural frequency d  n 1   2

  n  2  1

01/12/2020 18
5-18