DYNAMIC VIBRATION ABSORBER

A Major Project report submitted to

Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal
towards partial fulfillment
of the degree of
Bachelor of Engineering
2012

Guided by : Submitted by :

Dr. R.K. Porwal Akshay Pratap Singh (AB 46005)

Department of Mechanical Engineering Deepak Sharma (AB 46012)
Jyoti Chouhan (AB 46022)
Kalpana Shankhwar (AB 46023)
Kuldeep Thakur (AB 46024)
Pragati Javre (AB 46032)
Vanya Pande (AB 46056)

Department of Mechanical Engineering

Shri Govindram Seksaria Institute of Technology and Science
23, Park Road, Indore (M.P.)

i
SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE
INDORE, M.P.

________________________________________________________________________

RECOMMENDATION
________________________________________________________________________
The major project report entitled “Dynamic Vibration Absorber” submitted by Akshay
Pratap Singh, Deepak Sharma, Jyoti Chouhan, Kalpana Shankhwar, Kuldeep
Thakur, Pragati Javre and Vanya Pande; students of B.E. Mechanical Final Year (VIII
sem) in session 2011-12, towards partial fulfilment of degree of Bachelor of
Engineering conducted by Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal, is a
satisfactory account of their work.

Dr. R.K. Porwal Dr. M.L. Jain

Project Guide Head of Department

Mechanical Engineering

Director

SGSITS, Indore

ii
SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE
INDORE, M.P.

________________________________________________________________________

CERTIFICATE
________________________________________________________________________
The major project report entitled “Dynamic Vibration Absorber” submitted by Akshay
Pratap Singh, Deepak Sharma, Jyoti Chouhan, Kalpana Shankhwar, Kuldeep
Thakur, Pragati Javre and Vanya Pande; students of B.E. Mechanical Final Year (VIII
sem) in session 2011-12, towards partial fulfilment of degree of Bachelor of
Engineering conducted by Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal, is a
satisfactory account of their work.

Internal Examiner External Examiner

Date: ……………… Date: ………………

iii
 ACKNOWLEDGEMENT

It is a duty to acknowledge all those people who have contributed in any way in the
accomplishment of a task; and it is with deep gratitude that we express our thanks here.

First and foremost, we thank our project guide Dr. R.K. Porwal for his complete support
throughout the course of the project, from preparation to final testing in both the phases.
Without his constant support and guidance, it would not have been possible to wrap up
the project.

We would also like to thank Dr. M.L. Jain, our Head of Department and his team for
their valuable inputs at the time of the first internal project progress evaluation.

We also thank our honourable director, Dr. Sudhir S. Bhadauria, for his continuous
cooperation and support to our department.

Last, but not the least, we thank our parents and friends, who have always encouraged and
supported us incessantly. It is because of them that we stand where we are.

Akshay Pratap Singh

Deepak Sharma
Jyoti Chouhan
Kalpana Shankhwar
Kuldeep Thakur
Pragati Javre
Vanya Pande

iv
 ABSTRACT

A Vibration Absorber is a simple yet important device employed in most of the

machineries that experience vibrations. During working, a machine may be subjected to
undesirable vibrations under various external excitations. To prevent resonance of the
machinery and consequent failure due to breakdown and severe damages owing to
harmful vibrations, the Dynamic vibration absorber is a necessity. It has the ability to
either absorb or transmit the vibrations elsewhere, hence significantly reducing the
vibrations of the machine to which it is coupled to, saving it from damage and preventing
loss in terms of performance, capital, additional maintenance and working hours.

An undamped Dynamic Vibration Absorber works by transmitting the vibrations to an

auxiliary system (usually comprising a spring-mass system) and thus bringing the main
system to rest. It is extremely effective for constant speed machineries.

Since our laboratory lacked any apparatus to observe the phenomenon of dynamic
vibration absorption, our project mainly dealt with the fabrication of such a system which
generates vibrations due unbalance force excitation along with a dynamic vibration
absorber and also to functionalize another apparatus subjected to base motion excitation
fabricated by our seniors and equip it with dynamic vibration absorber to understand and
observe the absorption of harmful vibrations of the concerned main machinery.

v
 CONTENTS
S. No. Chapter Page No.
1 Introduction 1-2

1.1 Preamble 1
1.2 Objective 1
1.3 Scope 1
1.4 Organisation of Report 2

2 Literature Review 3-12

2.1 Vibration and its Causes 3

2.2 Classification of Vibration 6
2.3 Resonance 7
2.4 Need to Study Vibration 7
2.5 Ways of Eliminating Vibrations 9

3 Problem Definition 13-14

3.1 The Problem 13

3.2 Object 13
3.3 Applicability of Dynamic Vibration 14
Absorber

4 Methodology 15-47

4.1 Problem Review 15

4.2 Dynamic Vibration Absorber 24
4.3 Collection of Data and Calculations 33
4.4 Fabrication Method 43
4.5 Testing and Modifications 45

5 Observations and statistics 48-54

5.1 Recording of Results and Specifications 48

5.2 Data Interpretation and Graphs 51

6 Results and Discussion 55-56

6.1 Interpretation of Results 55

6.2 Discussion and Fields of Application 55

7 Scope of future work 57

8 Appendices 58-60

9 References and Bibliography 61-62

0
 Chapter 1
INTRODUCTION

1.1 Preamble:
We continuously experience vibration in our day-to-day life: the reason why we can
hear is due to the ability of our ear drum to oscillate due to sound waves and transmit
those vibrations to our brain via the internal ear. Music instruments work on the
principle of vibration of strings or diaphragms. Earthquakes can be felt and recorded
because of the massive vibrations that are produced as a consequence. It can be safely
concluded that movement of constituent particles is the origination of vibration in a
material.

Similarly vibrations also exist in machineries. However, vibration in this case causes
wear and tear to the system. Also, resonance is induced on approaching the natural
frequency of vibration of the system which causes intense damage. Hence, the need
arises to eliminate or at least reduce the vibrations in a machine to a minimum. A
dynamic vibration absorber is such a device. An undamped dynamic vibration absorber
is basically a spring-mass system that transmits the vibration from the main system to an
auxiliary system, preventing damage of the main system.

Vibration being an important part of our curriculum, our laboratory lacked an apparatus
to enable us to observe and study the transmission and/or absorption of vibrations. Our
project deals with equipping our laboratory with a simple apparatus that will enable the
observation of dynamic vibration absorption and affect a better understanding of the
phenomenon.

1.2 Objective:
The primary objective of our project is to fabricate a machine subjected to unbalance
force excitation and functionalise a machine subjected to base motion excitation; and to
design and employ „Undamped Dynamic Vibration Absorbers‟ on these machines to
demonstrate complete absorption of vibrations of machines which run at constant speed.

1.3 Scope:

Scope of our project is limited to the laboratory only. Its sole purpose is to provide a
means of observing and appreciating the phenomenon of vibration absorption at a
collegiate level.

1
1.4 Organisation of Report:

Chapter 1
This chapter includes the preamble of the report that discusses the phenomenon of
vibration in our daily life, its detrimental effects on machineries and hence the need to
eliminate vibrations in machine systems.

Chapter 2
This chapter discusses the theory behind vibration, its causes, its effect with historical
examples, as well as vibration absorption and the basic concepts and formulae related to
it with their derivations.

Chapter 3
This chapter deals with the problem definition where the problem regarding an
undamped vibration absorber has been defined; the objective stated and discussed; and
the various applications of the system have been stated.

Chapter 4
This chapter has discussed in length and detail, the step by step procedure followed
during the working on the project beginning from selection of materials to fabrication,
from testing to observations to modifications incorporated in the design for a better
performance of the system.

Chapter 5

This chapter includes the observations and inferences taken from the practical
performed on the two setups with and without coupling of undamped dynamic vibration
absorber. Specifications and speed range of the machines in which vibration absorber is
effective are also defined.

Chapter 6

This chapter covers the final results interpreted as the verification of the phenomenon of
absorption of vibrations using dynamic vibration absorber and its practical applications.

Chapter 7

This chapter gives light on the possibilities of future work to explore new applications of
Dynamic Vibration Absorber.

Towards the very end, a list of various references that were studied and followed is
provided.

2
 Chapter 2

LITERATURE REVIEW

2.1 Vibration and its Causes:

The term ‘Vibration’ refers to repeated oscillations of a body about its mean equilibrium
position due to disturbance. These oscillations may be periodic such as the motion of a
pendulum or random such as the movement of a tire on a gravel road. Further a periodic
vibration may be harmonic or non-harmonic in nature.
2.1.1 Vibration
The essential condition to have vibration in a body is that, it must possess ‘mass’ and
‘elasticity’. From energy conservation point of view, in a vibration motion there is a
continuous conversion of „kinetic energy into potential energy‟ or „potential energy
into kinetic energy‟ of the body. Mass is a necessary parameter for kinetic energy and
elasticity is responsible for storing the elastic energy of deformation (potential
energy) in the system to bring it back to mean equilibrium position.
A simple spring-mass vibrating system is shown in fig. 2.1

Fig. 2.1 [1]

Where,
m = mass ; k = stiffness of spring ;
X = maximum displacement of mass from mean equilibrium position
(amplitude).
= time period for one oscillation.
When periodic motion of vibrating mass is such that its acceleration is proportional to
displacement & always directed to mean equilibrium position, it is called ‘Simple
harmonic motion’ (SHM).

3
SHM can be represented by a displacement sine wave as shown in fig. 2.2

X
x
Ɵ

Fig. 2.2

In simple harmonic motion parameters are given by:

Displacement ;
Velocity ̇ ( )

Acceleration ̈ ( );

Fig. 2.3 SHM parameters

4
 Mostly, vibration in a machine or in a structure is „undesirable’ as it causes loss of
performance, discomfort, danger and destruction. For example:
 Building oscillation caused by earthquake and wind flow.
 Collapse of bridges due to wind induced vibration.
 Oscillations endured by a passenger as a car rides over a bumpy road.
 Excessive mechanical vibrations in an engine, etc.

But vibration is occasionally ‘desirable’ for some constructive purposes also. Such as
we can hear because our ear drum can oscillate, our heart beat is also an oscillation.
Some examples of constructive applications of vibrations are :
 In vibratory conveyers and soil compactors.
 In musical instruments for generation of sound.
 Mechanical shakers for mixing of things.
 Vibratory sieves for sorting objects by size, etc.

2.1.2 Common Causes of Vibration [2]

Vibration can result from a number of conditions, acting alone or in combination.
Sometimes vibration problems might be caused by auxiliary equipment, not just the
primary equipment. Some of the main reasons are given here :

 Imbalance:
A “heavy spot” in a rotating component will cause vibration when the unbalanced
weight rotates around the machine‟s axis, creating a centrifugal force. Imbalance
can be caused by manufacturing defects (machining errors, casting flaws) or
maintenance issues (deformed or dirty fan blades, missing balance weights). As
machine speed increases the effects of imbalance become greater. Imbalance can
severely reduce bearing life as well as cause undue machine vibration.
 Misalignment or Shaft Run-out:
Vibration can result when machine shafts are out of line. Angular misalignment
occurs when the axes of (for example) a motor and pump are not parallel. When
the axes are parallel but not exactly aligned, the condition is known as parallel
misalignment. Misalignment can be caused during assembly or develop over time,
due to thermal expansion, components shifting or improper reassembly after
maintenance. The resulting vibration can be radial or axial (in line with the axis of
the machine) or both.
 Wear:
As components such as ball or roller bearings, drive belts or gears become worn,
they might cause vibration. When a roller bearing race becomes pitted, for
instance, the bearing rollers will cause a vibration each time they travel over the

5
 damaged area. A gear tooth that is heavily chipped or worn, or a drive belt that is
breaking down, can also produce vibration.
 Looseness:
Vibration that might otherwise go unnoticed can become obvious and destructive
if the component that is vibrating has loose bearings or is loosely attached to its
mounts. Such looseness might or might not be caused by the underlying vibration.
Whatever its cause, looseness can allow any vibration present to cause damage,
such as further bearing wear, wear and fatigue in equipment mounts and other
components.
 Wind Induced Vibrations:
In case of sky scraper buildings and large bridges, wind blowing around can cause
them to vibrate. After a certain speed of wind, the eddy frequency of wind induced
disturbance nearly reaches the natural frequency of the structure resulting in
violent vibrations and sometimes structural failure.

2.2 Classification of Vibration:

Vibration

linear non-linear

same as
descendants
free forced of "linear"

same as
damped undamped descendants
of "free"

same as
descendants of
single dof multi dof continuous "damped"

6
2.3 Resonance:
‘Resonance’ is a phenomenon of continuous build up of higher and higher amplitude of
vibration. It is destructive form of vibration, when amplitude of oscillations is so high that
failure of the machine or structure takes place due to these uncontrolled vibrations.
To understand the „resonance‟ consider spring and mass as energy storage elements. Here
mass stores ‘kinetic energy’ and the spring stores ‘potential energy’. When mass-spring
system has no external force acting on it they transfer energy back and forth at a rate
equal to their natural frequency. In other words, if energy is to be efficiently pumped into
both the mass and spring the energy source needs to feed the energy in at a rate equal to
the natural frequency. Periodic excitation optimally transfers to the system the energy of
vibration and stores it there. Because of this repeated storage and additional energy input
the system swings ever more strongly, until its load limit is exceeded. Applying a force to
the mass and spring is similar to pushing a child on swing; you need to push the swing at
the correct moment if you want it to get higher and higher. As in the case of the swing,
the force applied does not necessarily have to be high to get large motions; the pushes just
need to keep adding energy into the system.

2.4 Need to Study Vibrations:

It is not difficult to observe that vibrations exist everywhere in our daily life. We speak
because of larynges can vibrate, we hear because our ear drum can vibrate. When we ride
on a motorbike or in a car it shakes partly due to uneven road and partly due to vibrations
from engine. Speakers and musical instruments generate sound due to vibration. Human
discomfort and fatigue is another important consideration which requires engineers to
study human response to vibrations. In mechanics and construction a resonance
disaster describes the destruction of a building or a technical mechanism by induced
vibrations at the system's resonance frequency, which causes it to oscillate. Usually the
best way to decrease such destructive incidents is to consider the possible effects of
vibration on the system at its designing stage and accordingly modify the parent design of
system. On the other hand one field of interest may be to explore new ideas that use
vibration for some constructive and useful applications.

Some important features that make study of vibrations essential are:

 To verify that vibrations do not exceed the material fatigue limit hence to reduce
excessive deflection and failure of machines and structures.
 To verify that physical activities do not harm or cause any discomfort to human body
by controlling unwanted noise and uncomfortable motion.
 To improve performance efficiency of a certain machinery or process by suppressing
vibrations.
 To make diagnosis of machinery by condition monitoring, fault diagnosis and
prognosis.

7
 To plan maintenance on machines by making decisions of maintenance activity
schedule.
 To construct or verify computer models of structures in a view to dampen or isolate
vibration sources by system parameter identification and model updating.
 Vibration is studied to stimulate earthquake for geological research and conduct
studies in design of important structures such as nuclear reactor.

Failure of Tacoma Bridge (1940) [3]

Collapse of Nimitz freeway in an earthquake, 1989 [5]

Some of the accidents happened in past resulting from mechanical failure due to vibration
are following :

 Failure of Tacoma Narrows Bridge on 7 Nov 1940 due to wind induced vibrations. [3]
 Broughton Suspension Bridge collapsed on 12 April 1831 reportedly owing to a
mechanical resonance induced by troops marching over the bridge in step. [4]
 Collapse of Nimitz freeway in an earthquake in Oakland, 1989. [5]
 Collapse of-Königs Wusterhausen Central Tower. [5]
 Resonance of the-Millenium Bridge. [5]

8
2.5 Ways of Reducing/Eliminating Vibrations : [6]
Vibration control implies limiting the vibratory amplitudes within permissible limits by
suppressing cause of vibration. In system designing point of view the best way to control
vibrations would be rectification of design/manufacturing processes to eliminate possible
causes of vibration. In a machine or structure when vibration amplitudes are beyond
permissible limits, vibration control can be achieved by following methods :

 Avoiding resonance.
 Balancing or control of excitation forces.
 Adequate damping.
 Vibration isolation.
 Absorption of vibration using vibration absorber.

2.5.1 Avoiding Resonance

The natural frequency of a system is defined as the frequency at which it freely keeps
on vibrating without any external energy input. When frequency of any external
energy input to the system matches with the natural frequency of the system then the
amplitude of vibration goes on increasing. Therefore if the frequency of external
excitation is kept away from system‟s natural frequency by choosing system
parameters such that its natural frequency lies far away from

k
√

m F sin ωt

Fig. 2.4 Avoiding resonance

frequency of excitation force or system is operated at lower or higher side of its
natural frequency then vibration amplitude will not build up. This is called „detuning‟.

2.5.2 Balancing or Control of Excitation Forces

In rotating type of machines like turbines, motors, I.C. engines centrifugal force due
to unbalance is a common cause of harmonic vibration. Practically all newly
machined parts are non symmetrical due to blow holes in castings, uneven number
and position of bolt holes, parts fitted off-centre, machined diameters eccentric to the
bearing locations etc. The vibration due to unbalance can be controlled by

9
 incorporating a balancing mass opposite to unbalance mass which nullifies the effect
of centrifugal force and thus controls undesirable vibration of machine.

Unbalance mass „U‟ is counter Counteracting mass „C‟ is provided

balanced by mass „C‟ for balancing of single cylinder engine

Fig. 2.5, Balancing

2.5.3 Adequate Damping

The dissipation of energy of system‟s vibration is known as ‘damping’. Damping

effect is basically an inertia property of system elements. Damping reduces the
amplitude of vibrations in a system. It may be due to the friction between moving
surfaces, intermolecular resistance of material in deformation or it may also be due to
change in physical state of any element. The elements which are used to absorb the
energy of vibration are called damping elements and they are widely used to control
vibration within permissible limits. Damping effect is linearly related to the velocity
of the oscillations. This restriction leads to a „linear differential equation‟ of motion,
and a simple analytic solution.

Passive, semi-active, and active control methods can be used for vibration damping.
The traditional „passive‟ damping methods include the use of visco-elastic, viscous,
and friction dampers, as well as tuned mass dampers for vibration. ‘Active’ damping
involves the use of actuators (e.g. motors) along with sensors and controllers (analog
or digital) to produce an actuation with the right timing to counteract the resonant
oscillation.

10
 c

m m

Active fluidic damper

Representation of damped system

Viscous damping Damped door closer

Fig. 2.6 damping

2.5.4 Vibration Isolation

Vibration isolation seeks to reduce the vibration level in one or several selected areas.
The idea is to hinder the spread of vibrations along the path from the source to the
receiver. A vibration isolation problem is often schematically described by division
into substructures: a source structure which is coupled to a receiver structure.
Vibration isolation is yet another substructure incorporated between the two
structures. The objective of vibration isolation is to reduce the vibrations in some
specific portion of the receiver structure. It can be provided in a machine by use of
metallic springs, elastomeric mounts, resilient pads and inertia blocks.

Vibration isolated foundation with Inertia block for vibration isolation

floor plate
Fig. 2.7 Vibration Isolation

11
2.5.5 Absorption of Vibration Using Vibration Absorber

A „Dynamic vibration absorber‟ (DVA) is a device that consists of an auxiliary mass

attached to a vibrating system, in order to reduce the vibration amplitude of the
system. The auxiliary mass is attached to the system by means of a spring, usually in
parallel combination with a damper. Its mass is relatively small in comparison with
the mass of the vibrating system. The basic principle of operation of a DVA is to
generate vibration out-of-phase (opposite to) with the vibrating system, thereby
applying a counteracting force, resulting in reduction of the vibration amplitude of the
vibrating system.

Fig. 2.8, Dynamic vibration absorber [7]

12
 Chapter 3
PROBLEM DEFINITION

3.1 Problem Statement:

Many machines run at constant speed and they may be subjected to external excitation
force or motion (base excitation) due to unbalance force, misalignment or looseness
because of some manufacturing defect or worn out parts in long operational period. When
machine‟s operating speed matches with frequency of excitation resonant vibrations will
be produced. This external energy input restricts the speed range of operation of the
machine, as it can‟t be operated at a speed which corresponds to machine‟s natural
frequency.

3.2 Object:
To fabricate and functionalize machines, one of which is subjected to unbalance force
excitation and the other one is subjected to base motion excitation and to design &
employ „Undamped dynamic vibration absorbers‟ on these machines to demonstrate
complete absorption of vibrations of machines which run at constant speed.

To operate the machine at a speed which coincides with its natural frequency or near to it,
without affecting its performance an „undamped dynamic vibration absorber‟ can be
coupled with the machine. Tuned undamped dynamic vibration absorbers are extremely
effective for constant speed machines but they can lose their effectiveness outside a
certain range of speed of the machine. The coupled system will have two new natural
frequencies which may fall outside the desirable speed range of operation of the machine.

13
3.3 Applicability of Dynamic Vibration Absorber: [8]
Dynamic vibration absorbers can be employed in machines with or without the use of
damping elements; and accordingly, they are classified as „Damped dynamic vibration
absorbers‟ (DDVA) and „Undamped dynamic vibration absorbers‟ (UDVA).

 UDVAs are mostly applicable without dampers in constant speed machines, such as
turbine in a power plant, compressor, electric motor, generator etc.
 DDVAs find their application mostly in variable speed machines, such as pumps,
engines etc. to suppress their vibrations, but they can also be effectively employed
with constant speed machines to achieve a wider range of speed in which machine‟s
vibrations can be absorbed.
 In case of DDVAs, as the viscous damping is increased, wider speed range of
vibration absorption is obtained but along with it amount of absorption reduces.
 Recently DDVAs employed for defence mechanism against earthquakes. Much work
has been directed towards the use of DVAs attached to building structures to counter
seismic movements and wind forces. In recent studies, interest has also been focused
on the use of feedback and feed forward control systems, and the synthesis of DVAs
for multiple-degree-of-freedom systems.

14
 Chapter 4
METHODOLOGY

4.1 Problem Review:

With the wide use of variable frequency drives, it is becoming more difficult to design
mechanical systems free from natural frequencies within operating speed range. If such
an occurrence is allowed in the field, a resulting resonance condition threatens to
significantly impact performance and longevity of the equipment.

Since machines are made up of metallic parts, they have mass and elasticity both. Further
if a machine contains any rotating of moving member; it is subjected to forces which vary
periodically with time. These forces may or may not be harmonic in nature and result into
„Forced- vibrations‟ in those machines. An electric motor or any other device with a rotor
as its working component is called „rotating machine‟. The machine is said to have
unbalance when the centre of gravity of the rotor does not coincide with the axis of
rotation.

Many systems, such as an internal combustion engine; a turbine in a power plant, operate
at constant angular speeds. There is always a possibility that the frequency of excitation
due to unbalance may match the natural frequency of the machine (main system). In such
a case resonance will occur resulting in undesirable and harmful vibrations and loss of
performance. This also limits the speed domain of a machine such that „it can‟t be
operated at a particular speed which is close to resonant speed though at that particular
speed the performance of machine may be high.‟

On the other hand there are a number of practical situations in which the dynamic system
is excited due to the motion of the base. A vehicle moving on a wavy road, a locomotive
running on a rail track with gaps between the adjacent rails, a panel of measuring
instruments subjected to excitation from the vibrating structure etc. In such cases also
there is a chance of resonance to occur when the frequency of base excitation matches
with the natural frequency of the machine.

Therefore some viable solution to this problem is needed, which can eliminate or reduce
the harmful and intolerable vibrations of machine so that it can perform as expected.

15
 Fig. 4.1 A rotating machine Fig. 4.2 An automobile on a wavy road
(force excitation problem) [1] (base excitation problem) [1]

Referring to fig. 4.1 (force excitation problem), let „M‟ be the total mass of the machine
including the rotor and let „m×e‟ represents the amount of unbalance. Assuming that the
machine is constrained to move in vertical direction, main system has only 1 degree of
freedom (dof). The unbalance mass „m‟ revolves with angular velocity „ω‟ in counter
clockwise direction. Then „(M-m)‟ will be the non-rotating mass of the machine.

Let „x‟ be the displacement of the non-rotating mass from static equilibrium position.
Here „k‟ is the combined stiffness of spring, and „c‟ is the damping coefficient of damper.

Thus displacement of the unbalance mass „m‟ in vertical direction is given by,

„x + e sin ωt‟.

Writing the equation of motion for above system:

( )̈ (̈ ω ω) ̇

̈ ̇ ...(1)

In eq.1 „ ‟ shows the centrifugal force due to rotation of unbalance mass. For a
constant speed this excitation force is also constant, writing it „ ‟

̈ ̇ ω

16
This is a 2nd order, linear non-homogeneous differential equation of motion with constant
coefficient. The complete solution of this differential equation consists of two parts, thus:

...(2)

The complementary function „ ‟ is the solution of corresponding homogeneous equation:

̈ ̇
ω
(ω ) ...(3)

The part of the equation given by eq.3 dies out with time, therefore it is not considered in
the solution here.

Using the method of undetermined coefficients to find out the particular solution „ ‟ of
the eq.1:

Let, ω ω ...(4)

Then,

̇ ω ω ω ω

̈ ω ω ω ω

Substituting in eq. 1, we get:

( ω ω ) ω ( ω ω ) ω ω ...(5)

Comparing coefficients of sine and cosine terms on both sides,

( ω ) ( ω)

( ω) ( ω )

Solving for A and B:

( )
;
( ) ( )

( )
;
( ) ( )

17
Putting in eq.4, we get:

*( ) + ...(6)
( ) ( )

Defining:

( ω )
;
√( ω ) ( ω)

ω
√( ω ) ( ω)

ω
( ω )

Eq.6 can be re-written as:

( ) ...(7)

Where,

...(8)
√( ) ( )

X is the amplitude of steady state response and is the phase lag of „ ‟ with respect to
excitation force „ ‟.

Dividing the numerator and denominator on the right hand side of eq.8 :

√( ) ( ) √( ) ( )

Where, , is the deflection under static load .

, is the excitation frequency to natural frequency ratio.

Rewriting above equation:

...(9)
√( ) ( )

Here „K‟ is called the „Amplitude ratio‟ or „Amplification factor‟.

18
Now from eq. 7, we can write,

(ω )

( ) (ω )

Or,

ω
( ) (ω ) ...(10)

Multiplying and dividing the right hand side by „M‟ in eq. (10) :

( )( ) ω (ω )

ω
( ) (ω ) (ω )

( )( ) (ω ) ...(11)

Therefore from eq. 11, the amplitude of steady state response:

( )

...(12)

From eq.9,

...(13)
√( ) ( )

19
Fig. 4.4 shows the variation of the non-dimensional ratio (MX/me) versus the frequency
ratio r. It follows form eq.(13) that as r→0, (MX/me) →0 for all values of .

Fig. 4.3 „Amplitude ratio v/s Frequency ratio‟ [1]

Fig. 4.4 „Non-dimensional ratio (MX/me) v/s Frequency ratio‟ [1]

20
As it is clear from above figure,

At r =1, ⁄ ;

Thus if ; ⁄

This is the condition of Resonance

Now analyzing the problem of Base excitation referring to Fig. 4.2 & 4.5

Fig. 4.5 System subjected to base excitation [1]

In this problem, let „m‟ be the sprung mass (mass of the vehicle), „k‟ being the combined
stiffness of the spring, and „c‟ being the damping coefficient of the damper.

Let the base is given a harmonic base excitation motion due to waviness
of the road. Due to this „ ‟ being the motion of main mass „m‟.

There are two aspects of base excitation motion :

 The absolute motion of the mass.

 Relative motion between mass and base.

Assuming ; the relative motion between mass and base is given by :

; And ̇ ̇ ̇;

Applying Newton‟s second law to the free body diagram of the mass „m‟ we have:

̈ (̇ ̇ ) ( )

21
Rearranging the equation, we have

̈ ̇ ̇ ...(14)

Assuming the base excitation to be harmonic, of the form: we have,

Substituting these values, the above equation of motion becomes

̈ ̇ ( )

Let, and and substituting in above equation, we have

̈ ̇ ( ) ...(15)

Where:
⁄ ;
And √ ( )

Which simplifies to
;
and √ ( )

Substituting for A in above equation, we have

̈ ̇ √ ( ) ( ) ...(16)

Or
̈ ̇ ( ) ...(17)

Where,
√ ( )

The steady state response may be expressed as:

( ) ( )

22
Which on simplification becomes

√ ( ) ( )

Thus, the steady state amplitude is

√ ( )
√( ) ( )

Hence, the motion transmissibility ratio (T.R.) is given by

√ ( )
...(18)
√( ) ( )
Transmissibility Ratio
(T.R.)

Frequency Ratio „r‟

Fig. 4.6 Transmissibility v/s Frequency ratio curve for different values of damping
factor [1]

From fig. 4.6, it is clear that when the frequency ratio r = 1; i.e. frequency of external
excitation matches with natural frequency of the system ; the motion
transmissibility ratio (T.R.) is governed by damping factor .

When = 0, the T.R. approaches to a very large value, which is the undesirable condition
of resonance.

23
As a solution to such problems of Force excitation and Base excitation, an arrangement
can be applied to main machine which absorbs all of its undesirable vibrations
particularly at the speed which matches with resonance frequency and also greatly
reduces the extent of harmful vibrations of the machine in a particular speed domain.
Such a concept is the “Dynamic Vibration Absorber.”

4.2 Dynamic Vibration Absorber:

Traditional treatment methods that involve structural modifications are often time
consuming and expensive. One possible solution is an installation of a „Dynamic
vibration absorber‟ (DVA). It has certain advantages over other methods of vibration
suppression. It is external to the machine structure, so no re-installation of equipment is
necessary. Unlike with structural modifications, when the final effect is unknown until
mass-elastic properties of the machine components have been modified, a DVA can be
designed and tested before installation. It can be adjusted in the lab environment with
predictable field results.

4.2.1 History:
The dynamic vibration absorber was invented in 1909 by ‘Hermann Frahm’ (US
Patent #989958, issued in 1911), and since then it has been successfully used to
suppress wind-induced vibration and seismic response in buildings. Characteristics of
DVA were studied in depth by Den Hartog. Work on DVAs was undertaken
rigorously during the development of helicopter rotor blades after 1963 (Flannelly,
1963; Jones, 1971), and more recently for the defence mechanism against
earthquakes. In the industry, it has been primarily used to suppress vibration caused
by a resonance condition in machinery.

4.2.2 Concept:
In its simplest form, a DVA is a small vibratory system consisting „a spring and a
mass‟ often called an ‘Auxiliary system’ which is coupled to a machine or structure
called ‘Main system’, so as to control its vibrations. The components of the auxiliary
system are so selected that its natural frequency is tuned to match the natural
frequency of the machine it is installed on. Because of this tuning DVA exerts a force
on the main system that is equal and opposite of the excitation force, canceling
vibration at the resonant frequency.

24
 The concept of DVA can be implemented to both Force excitation and Base excitation
problems successfully. Let us first analyze the concept of DVA pertaining to a
rotating machine subjected to a periodic unbalance force of excitation.

 Force Excitation:
For force excitation problem, a simple DVA and its equivalent system with free body
diagram [1] are shown in fig. 4.7

Fig 4.7

(a) Main system coupled with DVA (b) Free body diagram

In the above system:

= mass of the main system;

= mass of the auxiliary system;

= stiffness of spring of main system;

= stiffness of spring of auxiliary system;

= excitation force;

= displacement of main system;

= displacement of auxiliary system;

For analysis, assuming >

Writing the differential equations of motion:

̈ ( )

25
And ̈ ( )

Rearranging these equations,

̈ ( ) ...(19)

̈ ...(20)

For steady state solution, assuming solutions:

and

Then,

̈ and ̈

Substituting in eq. 19 and 20:

*( ) +

* ( ) +

Or

( ) ...(21)

( ) ...(22)

Solving for A & B

( )

And ;

Where, represents the frequency equation:

*( ) + …(23)

26
Dividing eq.(23) by , we get

( ) {( ) } ...(24)

In eq.(24), the natural frequency of main system is √ ; and the natural

frequency of the auxiliary system is √ ; therefore this equation can be

re-written as :

( ) ( ) [( )( ) ( ) ] ...(25)

For a tuned system

Further, as ,

letting the mass ratio = reduces eq.(25) to

( ) ( ) ...(26)

This is a parabolic equation and the resonance frequencies of the tuned absorber
system can be obtained from the roots of this equation.

( ) √( ) ...(27)

27
Fig 4.8 shows the „effect of mass ratio on the spread of frequency ratio‟, which
decides the working range of the DVA and gives two new natural frequencies of
the composite system.

1.8
1.6
1.4
Frequency ratio 'r'

1.2
1
0.8
0.6
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1 1.2
Mass ratio µ

Fig. 4.8 „Effect of mass ratio on the spread of frequency ratio‟

As we have seen that, the steady state amplitude of the main system is,

( )

Thus for A = 0; (for complete absorption of vibration of main system)

√ ;

which is the natural frequency of tuned auxiliary system.

Let the amplitude of static deflection of the main system under static load

is,

28
 To write the Amplitude ratios of main system and auxiliary system in non-
dimensional form, dividing numerator and denominators of A and B by :

( )

Or

( )
...(28)
( ) ( )

And

...(29)
( ) ( )

Eq. (28) & (29) represent the amplification factor of vibrations of

the main system ( )

and auxiliary system ( ) respectively.

 Base Excitation:
Now let us analyze the concept of DVA pertaining to a problem of Base excitation.

A concept model of base excitation system coupled with DVA is shown in figure
below:

Let a periodic motion y = Y sin ωt, is applied on the base, due to which the main mass
and auxiliary mass start to vibrate with displacements say and
respectively at the frequency of forced excitation motion „ω‟.

29
 ( )

( )

( )

Fig. 4.9

(a) Main system coupled with DVA (b) Free body diagram

In the above system :

= mass of the main system;

= mass of the auxiliary system;

= stiffness of spring of main system;

= stiffness of spring of auxiliary system;

= excitation base motion;

y = displacement of the base

= displacement of main system;

= displacement of auxiliary system;

For analysis, let us assume:

and

Writing the differential equations of motion with the help of free body diagrams;

̈ ( ) ( ) ...(30)

And ̈ ( )

Rearranging,

̈ ( )

30
 ̈

Now let us assume the solution to above equations is:

and

Then, ̈

And ̈

Substituting these values in above equations, we get:

*( ) + ...(31)

* ( ) +

Or

( ) ...(32)

( ) ...(33)

Above equations are the same as eq. (21) & (22), which have been solved earlier.

Therefore we can conclude that all the solution of force transfer problem and
motion transfer problem due to external excitation are same.

Thus, steady state amplitude of masses „ ‟ and „ ‟ are given by A & B

respectively.

( )

And

And amplitude ratios of main and auxiliary systems are given by eq. (28) & (29),

( )
...(28)
( ) ( )

And ...(29)
( ) ( )

31
Now plotting these amplitude ratios with frequency ratios, we get following trends
as shown in fig 4.10 (a) and (b).

r
(a) For main system

r
(b) For auxiliary system

Fig. 4.10 Amplitude ratio v/s frequency ratio [1]

32
4.3 Collection of Technical Data and Calculations:
This project work covers two types of machine setups. A machine for demonstration of
„absorption of vibrations of a system subjected to force excitation using DVA‟ was
fabricated and a machine subjected to base motion excitation for the same purpose was
functionalized for “Vibration and noise control laboratory” of Mechanical engineering
department.

4.3.1 Setup for machine subjected to Force excitation

For fabrication of the Force excitation setup, following components were used-

 AC/DC electric motor, rated speed 4000 RPM

 A disc with arrangement of increasing/decreasing unbalance mass
 Auto transformer to control speed of motor
 Wooden platform for machine
 Wooden base of (36×30) cm for clamping the motor
 Main system springs (×4) each of stiffness = /4
 Auxiliary (system) mass and spring
 Steel pipes to provide bearing surface to restrict DoFs of wooden base

The working principle of DVA pertaining to force excitation setup has been
explained earlier.

From fig. 4.8 the effect of mass ratio on the spread of frequency ratios is clear,
which gives new natural frequencies of the 2 dof system.

Let us first calculate the parameters of the Main system:

Main mass = (mass of motor + mass of wooden base + mass of rotor + mass of
clamping accessories.)

= (1.742 + 1.468 + 0.108 + 0.145) kg

= 3.463 kg.

Now, stiffness of the main spring can be obtained by plotting „load deflection
curve‟ of the spring.

This is done by progressively hanging weights on spring and measuring its length
(deflection).

33
 Load vs deflection curve
3000

2500

2000
load (gm)

1500

1000

500

0
58 60 62 64 66 68 70 72
length of spring (mm)

Fig. 4.11

Stiffness of the spring

( )
( )

Since main mass is supported by 4 such springs therefore,

Stiffness of main spring

34
Now calculating the natural frequency of Main system:

Therefore, speed of the motor

At the speed of 500 rpm of motor, main system will be in resonating condition. To
keep the main system from harmful vibrations it is to be coupled with the
auxiliary system.

35
 Now calculating parameters of the Auxiliary system :

Stiffness of the auxiliary spring can be obtained in similar manner by plotting

„load – deflection curve‟ for the spring shown in graph below:

Load vs deflection curve

3500

3000

2500

2000
load (gm)

1500

1000

500

0
136 138 140 142 144 146 148
length of spring (mm)

Fig. 4.12

Stiffness of the spring

( )
( )

Stiffness of auxiliary spring ;

36
For a tuned DAV, natural frequency of the auxiliary system must match the
natural frequency of main system.

√ √

Auxiliary mass

Now, let us find the spread of frequency ratios which gives two new natural
frequencies of the coupled system and it also gives the speed range of working of
DVA.

Mass ratio

From eq. (26),

( ) ( )

Putting the value of:

( ) ( )

( ) ( )

On solving above eq. it gives two values of new frequency ratios,

37
Upper natural frequency of the system as a whole :

= 70 rad/s

Lower natural frequency of the system as a whole:

= 39.16 rad/s

The practical results of absorption of vibrations of the main system subjected to

unbalance force excitation by transferring its vibrations to auxiliary system are
shown in fig. 5.1 (a) & (b).

Force excitation setup

38
4.3.2 Setup for machine subjected to Base excitation
For functionalizing the Base excitation setup, components that were used are –

 AC Synchronous motor 2600 RPM

 Variable speed drive with cone pulley arrangement
 Eccentric cam for generation of base excitation motion
 Main (system) mass and spring
 Auxiliary (system) mass and spring

The working principle of DVA is explained earlier.

From fig. 4.8 the effect of mass ratio on the spread of frequency ratios is clear,
which gives new natural frequencies of the 2-DoF systems.

Using eq. (26):

( ) ( )

For simplicity,

taking the mass ratio ;

( ) ( )

( ) ( )

On solving the above eq. it gives two values of new frequency ratios,

Limiting speeds achieved through variable speed drive after speed reduction are,

Maximum speed = 800 rpm;

Minimum speed = 300 rpm;

A combination of mass and spring properties would be suitable for use if natural
frequency of the Main system made of them lies in between the above speed
range.

39
Taking main spring with stiffness from „load v/s deflection curve‟ as shown in graph:

Load vs deflection curve

1600

1400

1200

1000
load (gm)

800

600

400

200

0
50 55 60 65 70 75 80
length of spring (mm)

Fig. 4.13

Stiffness of the spring

( )

For main mass, arbitrarily choosing

40
Checking for the natural frequency,

Therefore speed

which is in the speed range and therefore suitable for use on this setup.

Since we used mass ratio µ =1; therefore the auxiliary mass and spring will also
have same properties as that of main system‟s.

Thus,

Now it is clear from fig.8 and eq.28 that when this auxiliary system is attached to
the main system, it will completely absorb the vibrations of main system at its
natural frequency.

The combined natural frequency of the 2-DoF system is now shifted to upper and
lower frequencies from the natural frequency of main system. Those new natural
frequencies are given by frequency ratios .

Upper natural frequency of the system as a whole:

41
Lower natural frequency of the system as a whole:

The practical results of absorption of vibrations of the main system by transferring

its vibrations to auxiliary system are shown in fig. 5.2 (a) & (b).

Base Excitation setup

42
4.4 Fabrication Method:
Following steps were followed for fabrication of setup for force excitation and the
vibration absorber:

4.4.1 Selection of Motor

Selection of a small sized, low hp motor whose speed can be varied by varying
voltage supply. The motor that was used has following specifications

 Type – AC/DC (universal)

 Rated speed = 4000 rpm
 Voltage supply = 220 V
 Current = 0.5 A
 Mass = 1.742 kg
 Diameter = 10 cm; length = 20 cm.

4.4.2 Determining the Minimum Motor Speed

With the help of auto-transformer available in the laboratory minimum speed of
motor was checked by varying supply voltage. Minimum speed of motor was
found to be 300 rpm.

4.4.3 Wooden Base and Unbalance Disc

A wooden base for clamping the motor and an unbalance disc were purchased in
which amount of unbalance can be varied by increasing no. of nuts. Motor was
centrally located on wooden base and clamped with nut-bolts.

4.4.4 Purchase of Springs

Now any combination of mass and spring would be useful if the natural frequency
of the system made of them lies in speed range 300-4000rpm. Since main mass
would be including motor, rotor, base etc ( ) adopting the speed range
of 400-3000 rpm for ease, some springs of certain stiffness were purchased.

4.4.5 Determining the Spring Stiffness

To check the stiffness of springs, each spring was loaded progressively and
change in length was recorded. Now plotting „load v/s deflection curve‟ which is a
straight line stiffness was obtained by slope of the line.

 Stiffness of one of the main springs = 2373.4 N/m

 Stiffness of auxiliary spring = 3270 N/m

43
4.4.6 Calculation of Main Mass
Now total main mass was obtained by adding all sprung mass

Main mass = (mass of motor + mass of wooden base + mass of rotor + mass of
clamping accessories).

It was found to be = 3.463 kg.

4.4.7 Selection of Number of Springs

Selection of no. of main springs would perform two tasks. Firstly, it would decide
the combined stiffness of main spring in parallel arrangement; and secondly these
springs would support the wooden base on which motor has been clamped.

 No. of springs used = 4

 Combined stiffness of main spring .

4.4.8 Calculation of Natural Frequency of Main System

Natural frequency of the main system was calculated and checked whether it lies
in the adopted speed range otherwise no. of springs had to be changed.

 Natural frequency , @ N = 500 rpm.

4.4.9 Arrangement of the Wooden Base

A wooden platform was arranged the top plate of which has a circular hole large
enough to allow free movement of auxiliary mass across it, and that would support
motor base by 4 main springs.

4.4.10 Mounting of Motor

Wooden platform and motor base were connected together by 4 main springs
using nut-bolts.

4.4.11 Preparation of Auxiliary Mass

Since auxiliary spring (stiffness = 3270 N/m) has been already purchased, an
auxiliary mass was prepared with a hook welded on its top such that the
natural frequency of auxiliary system matches with the natural frequency of main
system, making it a tuned vibration absorber.

 Material used- Mild steel ( )

 Auxiliary mass

4.4.12 Mounting of Unbalance Disc

Unbalance disc was tightened on the motor shaft.

44
4.4.13 Arrangement of Auxiliary System
Motor base, auxiliary spring and mass were provided with end hooks to couple &
decouple main system and auxiliary system at will.

This completes the fabrication process of force excitation setup coupled with Dynamic
vibration absorber.

4.5 Testing and Modifications:

When both the machines are ready, the following testing procedure was conformed to:

4.5.1 Testing of force excitation setup

 Note down the specifications of machine, e.g. stiffness of main spring, main
mass (including rotor), unbalance mass etc. and calculate the natural frequency
of main system thus find speed of motor at natural frequency.
 Weight the auxiliary mass and find stiffness of auxiliary spring by plotting
„load deflection curve‟.
 Pick unbalance disk and load some known unbalance mass on it by applying
nuts on the bolt provided on disk.
 Mount this unbalance disk on motor shaft by screw and connect motor to auto
transformer.
 Set the auto transformer to zero voltage supply and switch it on.
 Now slowly increase the voltage supply from auto transformer so that motor
starts to rotate. Speed of motor increases as the supply voltage increases.
 Set the voltage supply to a certain value and measure the speed of motor using
tachometer.
 At some particular speed of motor the vibration amplitude of main system will
be highest. Set the voltage supply to a certain value where maximum
amplitude of vibration is observed.
 Now machine (main system) is operating at a speed that corresponds to its
natural frequency. Couple the auxiliary spring and mass with the main system
and observe the absorption of vibrations.
 Calculate natural frequency shifts using formula and obtain two new speeds of
motor which correspond to 2 new natural frequencies of the 2 dof system
(main system coupled with auxiliary system).

45
  Set voltage supply to a value that corresponds to speed of motor at new natural
frequencies of 2 dof system, observe the vibration amplitude and interpret
results by graphs of „vibration amplitude v/s frequency ratio.‟

4.5.2 Precautions
 Check for all fasteners are tight, and ensure there is no loose joint anywhere.
 Before switching on the auto transformer set it to zero voltage supply, then
progressively increase supply voltage.
 Tight the screw which holds unbalance disk on motor shaft firmly, otherwise
at higher speeds it may be thrown away.
 Calibrate auto transformer for motor speed also, since it would be difficult to
measure motor speed when it is vibrating.

4.5.3 Modifications
When the machine was run first it was found that vibrations due to unbalancing
force were occurring in horizontal plane also. It was due to the fact that motor was
centrally clamped to wooden base and plane of rotation of unbalance mass was
located at some distance from clamping, therefore unbalance force was generating
a moment on wooden base resulting in horizontal oscillations of it. Since we have
adopted single degree of freedom system, main system has to be made to vibrate
in one direction only (1-DoF).

To ensure vibrations of the main system would be in vertical plane only, some
bearing surfaces were provided in the form of motion blocking rods clamped to
wooden platform surrounding motor base and preventing vibration in horizontal
plane.

46
4.5.4 Testing of Base excitation setup

 Note down the specifications of machine, e.g. minimum and maximum speed
available.

 Ensure for the variable speed drive that belt is tight enough on cones to avoid
mutual slipping.

 Weight main and auxiliary mass. Also obtain stiffness of main and auxiliary
spring by plotting load v/s deflection curve.

 Calculate natural frequency of the main system (mass & spring) and
corresponding speed of rotation after reduction through variable drive.

 Connect motor to power supply and note down the speed available after
reduction of speed through variable drive at the suspension end of cam motion
generator.

 Suspend main spring & mass at the suspension end of cam motion generator,
and vary the frequency of excitation (speed) by shifting of belt on variable
drive and observe the vibration amplitude of main system.

 Set the speed of drive at which the vibration amplitude of main system is
maximum. At this speed the machine is operating at its natural frequency.

 Now couple the main system with auxiliary system (mass & spring) and
observe vibrations of the system as a whole.

 Calculate natural frequency shifts using formula. Vary the frequency of

excitation (speed) to lower and upper side and observe the vibration
amplitude. Interpret results by graphs of „vibration amplitude v/s frequency
ratio.‟

4.5.5 Precautions
 Clean cone surfaces to avoid slipping of belt on them.
 Tight the transmission belt so that it may not slip during operation.
 Do not shift the belt when machine is not running.

47
 Chapter 5
OBSERVATIONS & STATISTICS

5.1 Recording of Test Results and Specifications:

To demonstrate the vibration absorption of main systems subjected to unbalance force
excitation and base motion excitation respectively, when these systems were tested and
coupled with undamped dynamic vibration absorbers the experimental results obtained
from both machines are tabulated in following tables.

5.1.1 Specifications for Force excitation setup

Frequency ratio is defined earlier as ratio of operation excitation frequency to the natural
frequency of the system. During testing of the machine following specifications were
concluded;

 Natural frequency of the main system 52.36 rad/s. @ 500 rpm.

 Maximum speed range of motor = 400-3000 rpm
 Range of frequency ratio „r‟ = 0 to 3
 Increment in frequency ratio = + 0.1
 Mass ratio µ = 0.35
 Natural frequency shifts : r = 0.7 and 1.3
 Main spring stiffness = 9493.6 N/m
 Auxiliary spring stiffness = 3270 N/m
 Auxiliary mass = 1.2 kg

5.1.2 Specifications for Base motion excitation setup

During testing of the machine following specifications were concluded ;

 Natural frequency of the main system 55.80 rad/s. @ 533 rpm.

 Maximum speed range of variable speed drive = 800 rpm
 Range of frequency ratio „r‟ = 0 to 3
 Increment in frequency ratio = + 0.1
 Mass ratio µ = 1
 Natural frequency shifts : r = 0.6 and 1.6
 Main mass = 350 gm
 Main spring stiffness = 1090 N/m

48
Frequency ratio Amplitude ratio of Amplitude ratio of auxoliary
'r' main system 'A/Xst' system 'B/Xst'
0 1 1
0.1 1.0137 1.024
0.2 1.0577 1.1018
0.3 1.1424 1.2553
0.4 1.2931 1.5394
0.5 1.5789 2.1053
0.6 2.2567 3.5261
0.7 5.7562 11.287
0.8 3.8136 10.593
0.9 0.76799 4.042
1 0 2.8571
1.1 0.55351 2.6357
1.2 1.4175 3.2216
1.3 5.9792 8.6655
1.4 4.0747 4.2445
1.5 1.6129 1.2903
1.6 1.0146 0.65036
1.7 0.73811 0.39053
1.8 0.57678 0.25749
1.9 0.47039 0.18023
2 0.39474 0.13158
2.1 0.33814 0.099161
2.2 0.29422 0.076619
2.3 0.25917 0.060413
2.4 0.2306 0.048446
2.5 0.2069 0.039409
2.6 0.18694 0.032455
2.7 0.16994 0.027018
2.8 0.15531 0.022706
2.9 0.1426 0.019244
3 0.13147 0.016434

Table 5.1, Matlab simulation “Response of Main system & auxiliary system coupled
together against Frequency ratio” when subjected to Unbalance force excitation.

49
Frequency ratio Amplitude ratio of Amplitude ratio of auxiliary
'r' main system 'A/Xst' system 'B/Xst'
0 1 1
0.1 1.0205 1.0308
0.2 1.0889 1.1343
0.3 1.2329 1.3548
0.4 1.5396 1.8328
0.5 2.4 3.2
0.6 12.903 20.161
0.7 2.2184 4.3497
0.8 0.70533 1.9592
0.9 0.24551 1.2922
1 0 1
1.1 0.18012 0.85771
1.2 0.35302 0.80231
1.3 0.56842 0.82379
1.4 0.9245 0.96302
1.5 1.8182 1.4545
1.6 12.342 7.9114
1.7 2.7709 1.4661
1.8 1.2601 0.56256
1.9 0.81509 0.3123
2 0.6 0.2
2.1 0.47242 0.13854
2.2 0.38766 0.10095
2.3 0.32713 0.076254
2.4 0.2817 0.05918
2.5 0.24633 0.046921
2.6 0.21804 0.037854
2.7 0.19489 0.030985
2.8 0.17563 0.025677
2.9 0.15936 0.021506
3 0.14545 0.018182

Table 5.2, Matlab simulation “Response of Main system & auxiliary system coupled
together against Frequency ratio” when subjected to Base motion excitation.

50
5.2 Data Interpretation and Graphs:
Now to interpret the results obtained from testing of both machines, system‟s response as
a function of frequency ratio are plotted in the following figures.

5.2.1 Force excitation setup

Fig. 5.1 shows the transmission of vibration to main system and its absorption by the
auxiliary system having tolerable amplitude of vibrations having mass ratio µ=0.35, for
unbalance force excitation setup.

 Referring to table 5.1 and fig. 5.1 following conclusions can be stated regarding
Force excitation setup:
 When main system is not coupled with the auxiliary system, resonance occurs at a
motor speed of 500 rpm which corresponds to the natural frequency of the system
at r = 1.
 On coupling the main system with the auxiliary system, vibration amplitude „A‟
of main system reduces to zero at the same speed (r =1), and auxiliary system
vibrates with maximum vibration amplitude ratio of 2.857.
 On varying the operation speed of the machine i.e. changing the frequency ratio
„r‟ on higher or lower sides vibration transmissibility of main system increases
and it reaches a value twice of steady state amplitude at frequency ratios r = 0.85
& 1.25.
 The coupled system (2 DoF system) has two new natural frequencies at which
vibration amplitudes exceed tolerable limits. These natural frequencies
corresponds to frequency ratios r = 0.7 & 1.3

51
 Amplitude ratio vs Frequency ratio curve for 'Main mass'
5

3
A/Xst

0
0 0.5 1 1.5 2 2.5 3
Frequency Ratio 'r'

Amplitude ratio vs Frequency ratio curve for 'Auxiliary mass'

8

5
B/Xst

0
0 0.5 1 1.5 2 2.5 3
Frequency Ratio 'r'

Fig. 5.1 System Response v/s Frequency Ratio Curves for Force Excitation Setup

52
5.2.2 Base motion excitation setup
Fig. 5.2 shows the transmission of vibration to main system and its absorption by
the auxiliary system having tolerable amplitude of vibrations having mass ratio
µ=1, for base motion excitation setup.

Referring to table 5.2 and fig. 5.2 following conclusions can be stated regarding
Base excitation setup:

 When main system is not coupled with the auxiliary system, resonance
occurs at a motor speed of 533 rpm which corresponds to the natural
frequency of the system at r = 1.
 On coupling the main system with the auxiliary system, vibration
amplitude „A‟ of main system reduces to zero at the same speed (r =1), and
auxiliary system vibrates with maximum vibration amplitude ratio of 1.
 On varying the operation speed of the machine i.e. changing the frequency
ratio „r‟ on higher or lower sides vibration transmissibility of main system
increases and it reaches a value twice of steady state amplitude at
frequency ratios r = 0.68 & 1.52
 The coupled system (2 DoF system) has two new natural frequencies at
which vibration amplitudes exceed tolerable limits. These natural
frequencies corresponds to frequency ratios r = 0.6 & 1.6
 Since we have taken a higher mass ratio in base excitation setup, therefore
we get a wider range of frequency ratio in which undamped dynamic
vibration absorber works effectively.

53
 Amplitude ratio vs Frequency ratio curve for 'Main mass'
10

6
A/Xst

0
0 0.5 1 1.5 2 2.5 3
Frequency Ratio 'r'

Amplitude ratio vs Frequency ratio curve for 'Auxiliary mass'

7

4
B/Xst

0
0 0.5 1 1.5 2 2.5 3
Frequency Ratio 'r'

Fig. 5.2 System Response v/s Frequency Ratio Curves for Base Excitation Setup

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 Chapter 6
RESULTS AND DISCUSSION

6.1 Interpretation of Results:

After performing tests on both the machines and taking out the experimental observations
following results were obtained:

 Undamped dynamic vibration absorber, when coupled to main system in „tuned‟

condition completely absorbs the vibration of main system at its natural
frequency.
 At an operating speed at lower or higher side of zero amplitude condition (r = 1),
vibration amplitude of the combined system increases and finally meets resonance
condition at lower & higher natural frequencies of the system as a whole.

New resonance frequencies of the combined system subjected to force excitation

New resonance frequencies of the combined system subjected to base excitation

 Undamped dynamic vibration absorbers are extremely effective for constant speed
machineries in a certain speed range. The spread of this working speed range
depends on the mass ratio of the system. As in the testing of force excitation
setup, working range of DVA is r = 0.82 to 1.25, for mass ratio µ = 0.35. Whereas
in testing of base excitation setup, working range of DVA was found to be r =
0.68 to 1.52
 Auxiliary mass vibrates with low amplitudes which are in tolerable limits
absorbing undesirable vibrations form main system.
 At an operating frequency away from natural frequency lower or higher side
vibration transmission problem is insignificant.

6.2 Discussion & Fields of Application:

As the working principle of Undamped dynamic vibration absorber suggests, it can be
applied to a machine or structure which is subjected to external excitation at a constant
frequency. The experimental results obtained from the machines on which work is done
verify the phenomenon of absorption of vibrations using DVA. Therefore the undamped
dynamic vibration absorber can be successfully employed in turbines & compressors of a
power plant, motor of flour mill, on bridges when tuned to its natural frequency so that

55
when excitation frequency due to passing of vehicles or troops matches with natural
frequency of the bridge so it should not collapse.

It should be noted that the use of DVA with machinery should not be viewed only as a fix
to a vibration problem. In some cases, when a machine structure has to be tall with a high
centre of gravity, a DVA can be designed to be built into a machine, very much like it
would be installed in a tall building. For example, heavy motors designed for vertical
installation often have their fundamental natural frequency (often called reed frequency)
just slightly above the operating speed. If such a motor is installed above a pump on a
pedestal, the system natural frequency can get dangerously close to the operating range,
causing a resonance. A DVA could be incorporated into the motor structure and tuned
appropriately to prevent resonance vibration. For this purpose an element of the motor
structure, such as a fan cover, may serve as an absorber mass if it is mounted to the motor
by elastic springs.

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 Chapter 7
SCOPE OF FUTURE WORK

This project work covers the utility of „Undamped Dynamic Vibration Absorber‟
(UDVA) in its simplest form which comprises of an auxiliary mass and a spring. UDVA
can be of some other forms also which depends on its application. Such as in a vertical
motor it can be a fan or flywheel connected through elastic spring, it can also be in the
form of an auxiliary mass with enclosed air or a beam of metallic strip as variable spring
element.

However, with incorporation of a damper in auxiliary system a better attenuation of

vibration in a wider range of excitation frequency can be achieved by selecting a damping
element with suitable damping coefficient. DVA‟s can be designed for tall buildings and
structures also in suitable form which will keep safe those structures from earthquake and
wind induced vibrations.

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 APPENDIX

1. Matlab program for „Response of Main system‟ in Force excitation setup :

>> r=0:0.1:3

>> x=(1-r.^2);

>> y=[(r.^4)-(2.35*(r.^2))+1];

>> a=(x./y)

>> b=(a.^2);

>> c=sqrt(b)

>> plot (r,c)

>> grid

2. Matlab program for „Response of Auxiliary system‟ in Force Excitation setup

>> r=0:0.1:3;

>> x=[(r.^4)-(2.35*(r.^2))+1];

>> y=(1./x)

>> m=(y.^2);

>> n=sqrt(m)

>> plot (r,n)

>> grid

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3. Matlab program for „Response of Main system‟ in Base excitation setup :

>> r=0:0.1:3;

>> x=(1-(r.^2));

>> y=[(r.^4)-(3*(r.^2))+1];

>> m=(x./y)

>> a=(m.^2);

>> b=sqrt(a)

>> plot (r,b)

>> grid

4. Matlab program for „Response of Auxiliary system‟ in Base excitation setup :

>> r=0:0.1:3;

>> x=[(r.^4)-(3*(r.^2))+1];

>> y=(1./x);

>> a=(y.^2)

>> b=sqrt(a)

>> plot (r,b)

>> grid

59
 REFERENCES

1. http://www. Googlebooks.com/Mechanical Vibrations and Noise Engineering by A.

G. Ambekar.
2. http://www.reliableplant.com/Read/24117/introduction-machinery-vibration
3. http://en.wikipedia.org/wiki/Tacoma_Narrows_Bridge_(1940)#Film_of_collapse
4. http://en.wikipedia.org/wiki/Broughton_Suspension_Bridge
5. http://en.wikipedia.org/wiki/Resonance_disaster#Resonance_disaster
6. Methods of Vibration control, Paper presentation iitd.
7. http://www.deicon.com/vib_categ.html
8. http://www.pump-zone.com/instrumentation/controls/dynamic-vibration -absorber
9. http://www.iitr.ac.in/outreach/web/CIRCIS/PG/NVH/Design_for_NVH_Lab_Experi
ment.pdf
10. http://en.wikipedia.org/wiki/Damping
11. http://www.iitr.ac.in/outreach/web/CIRCIS/UG/FSV/Vibration%20Isolation.pdf
12. http://www.universal-balancing.com/en/balancing-information/what-is-balancing
13. http://alexandria.tue.nl/repository/books/571783.pdf
14. http://www.acs.psu.edu/drussell/Demos/absorber/DynamicAbsorber.html
15. http://digital.library.adelaide.edu.au/dspace/bitstream/2440/37922/1/02whole.pdf

60
 BIBLIOGRAPHY

1. “Mechanical Vibrations and Noise Engineering” - A. G. Ambekar.

2. “Mechanical Vibartions” - Den Hartog, J.P. (1985).
3. “Introductory course on Theory and practices of Mechanical Vibration”- J.S. Rao
and K. Gupta, New Age Publishers.

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