William J.

Palm III : Mechanical Vibration

6. Two-Degree-of-Freedom Systems

 Model of 2 DOF systems

 Lagrange’s equation
 Models & system response
 Harmonic response
 General forced response
 Nodes & modal response
 Chapter review

Outline
This chapter treats general forced response, which is the response of a system
having 2 degree of freedom when subjected to many other types of forcing
functions such as step and ramp inputs, other than pure sine and cosine functions.

Mataram University Intelligent Mechanics Lab.

 Introduction
 We have considered only models that have one degree of freedom (1DOF)
 In most practical applications, more degrees of freedom system require to describe
important features of system response
 Modes : critical to understanding the response of multi-degree of freedom system

 Equation of motion for multi-DOF system :

 Newton’s law of motion based on force concept
 Lagrange’s equation based on energy concept

Mataram University Intelligent Mechanics Lab.

 Models of 2-DOF Systems
 How to use Newton’s laws of motion to obtain the equation of motion for 2-DOF system

Example : Vibration Absorber

Obtain equation of motion for system

 Assume x2  x
 Spring force : k2 ( x2  x)
 Equation of motion :
mx  F mx  f  k2 ( x2  x)  kx
m2 x2  F m2 x2  k2 ( x2  x)

Obtain transfer function

 Apply Laplace transform with zero initial condition :

(ms 2  k  k2 ) X ( s)  k2 X 2 ( s)  F ( s)  ms 2  k  k2 k2   X ( s)   F ( s) 
   
k2 X ( s)  (m2 s 2  k2 ) X 2 ( s)  0   k2 m2 s 2  k2   X 2 ( s)   0 

 Two unknowns : X (s), X 2 (s)

Mataram University Intelligent Mechanics Lab.

 Example : Vibration Absorber

Mass Spring

Mataram University Intelligent Mechanics Lab.

 Models of 2-DOF Systems

Example : Vibration Absorber

D1 ( s) D (s)
 Cramer’s method : X ( s)  , X 2 ( s)  2
D( s ) D( s )
ms 2  k  k2 k2
D( s)   mm2 s 4  [m2 (k  k2 )  mk2 ]s 2  kk2
k2 m2 s 2  k2
F (s) k2
D1 ( s )   (m2 s 2  k2 ) F ( s )
0 m2 s  k2
2

ms 2  k  k2 0
D2 ( s )   (ms 2  k  k2 ) F ( s )
k2 F (s)

 Transfer functions :
X ( s) m2 s 2  k2

F ( s) mm2 s 4  [m2 (k  k2 )  mk 2 ]s 2  kk 2
X 2 (s) ms 2  k  k2

F ( s) mm2 s 4  [m2 (k  k2 )  mk2 ]s 2  kk 2

 Characteristic equation :
mm2 s 4  [m2 (k  k2 )  mk2 ]s 2  kk2  0
or mm2 s1  [m2 (k  k2 )  mk2 ]s1  kk2  0 ( s1  s )
2 2

Mataram University Intelligent Mechanics Lab.

 Models of 2-DOF Systems

Example : Two-Mass Model of a Suspension

Derive equation of motion for m1 , m2

 Assume x2  x1 , x2  x1 , y  x2

 Equation of motion using Newton’s law : m1 x1   F , m2 x2   F

m1 x1  c( x2  x1 )  k1 ( x2  x1 ) or m1 x1  cx1  k1 x1  cx2  k1 x2  0
m2 x2  c( x2  x1 )  k1 ( x2  x1 )  k2 ( y  x2 ) or m2 x2  cx2  (k1  k2 ) x2  cx1  k1 x1  k2 y

Two-mass model of suspension and its free-body diagram

Mataram University Intelligent Mechanics Lab.

 Models of 2-DOF Systems

Example : Shaft Elasticity in a Drive Train

Derive equation of motion for system

 Assumed 1st shaft is rigid (k2  )

Neglect gear & shaft masses

I1e  N 2 I1

 Equation of motion using Newton’s law :

I1e2  M , I 23  M

 For 2  3 , 2  1 / N

I1e 2  NT1  k ( 2  3 )
or I1e 2  k 2  k3  NT1

I 23  k ( 2  3 )  c3
or I 23  c3  k3  k 2  0

 If desired, can be expressed by 1

2  1 / N

Mataram University Intelligent Mechanics Lab.