525307: Mechanical Vibrations

Textbook: Singiresu S.Rao: Mechanical Vibration, SI

Edition, Pearson,2018

Recommended reading :
Daniel J.Inman:Vibration with Control,Second Edition, Wiley,2017
Alok Sinha: Vibration of Mechanical Systems, Cambridge, 2010.
Kelly S. Graham: Mechanical Vibrations Theory and Application,
CENGAGE Learning, 2012.

k #✗ CN
fm ) 2

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What is the importance of
studying
Mechanical Vibration ?

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Industry 4.0 as p art of a digitize d e c onomy

4
From the first to the fourth industrial revolution

4. Industrial revolution
Based on cyber-physical-
systems

3. Industrial revolution
Through the use of electronics
and IT further progression in
autonomous production

2. Industrial revolution
Introducing mass production

Level of complexity
lines powered by electric5
energy

1. Industrial revolution
Introducing mechanical
production machines powered
by water and steam
Industry 1.0 Industry 2.0 Industry 3.0 Industry 4.0
End of the Beginning of the Beginning of the Today
18th century. 20th century 70th
Source: DFKI/Bauer IAO
Maintenance
Model using
Big Data and
AI
Mechanical Vibrations

Degree of Freedom (DOF)

Simple Mechanical Vibration Model as Spring-Mass-Damper
Model
Relationship between Displacement, Velocity and Acceleration
Representations of harmonic motion, Frequency and phase
Classification of mechanical vibration

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Mechanical Vibrations

Free & Force Vibration

Single Degree of Freedom(SDOF) & Multi-Degree of
Freedom(MDOF)
Rotating unbalance, Misalignment
Vibration Analysis
Time waveform, Frequency waveform
Resonance, Natural frequencies, Mode shapes
Vibration Control
Isolator, Absorber 8
The Simple Harmonic Oscillator

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Base Excitation of
SDOF

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Dynamic vibration absorber

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Vibration Ch ara cteristics
of a Spring

M e c h a ni c a l Vi br a ti o ns

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Fundamental Torsional
Mode of a Valve
Support Stand

M e c h a ni c a l Vi br a ti o ns

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Deflected Elastomer
Shock Isolation

M e c h a ni c a l Vi br a ti o ns

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Structural Vibration

M e c h a ni c a l Vi br a ti o ns

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Me chanic al Dyna mic Syste ms

Vibrations are oscillations in mechanical dynamic systems

Discrete System (Lumped System)- Systems with a
finite number of degrees of freedom are called discrete
or lumped parameter systems
Continuous System (Distributed System)- Systems with
an infinite number of degrees of freedom are called
continuous or distributed systems.
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 Degree of Freedom (DOF)

Sin gl e d e gr e e o f fr e e d o m syst e m

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 Degree of Freedom (DOF)

Two d e gre e of fre e dom syste m

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 Degree of Freedom (DOF)

Infinite num b er of d e gre e of fre e dom syste m

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 Classific ation of vibration motion
Free Vibration
Forced Vibration
Undamped Vibration ระบบ ไ การ ญเ ย งาน
ผล

Damped Vibration
Linear Vibration
Nonlinear Vibration
Deterministic Vibration
Random Vibration 20
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 Vibration Analysis Procedure
4 ตอน

Mathematical Modeling น แบบกลอง

Derivation of Governing Equations ส างสมการ
Solution of Governing Equations
}
Interpretation of the Results แปรผล เ ด
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นี้
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 Me chanic al Dyna mic Systems

Translational Mechanical System การเค อน

☒งาน

Rotational Mechanical System การเค อน เ ง

ม

Mechanical Linkages
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Me chanic al Dyna mic Systems

Tr a nsl a tio n a l
Lin e a r M o tio n

Ro t a tio n a l
Ro t a tio n a l M o tio n
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 Mathe m atic al Mod eling of
Me chanic al Dyna mic Syste ms

Component of linear mechanical system

Instead potential energy by spring แทนเพลง ก วย สป ง
Instead loss energy by damper แทนการ ญเ ย
ห ง วย danper

Instead kinetic energy by mass or inertia

แทน พ งงานจล วย มวล
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ศั
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น์
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สี
Mathe m atic al Mod eling of
Me chanic al Dyna mic Syste ms

Springs Elements
Damping Elements
Mass or Inertia Elements

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 Spring Elements

Lin e a r s prin g is a ty p e o f m e c h a ni c a l link th a t is g e n e r a lly

a ssu m e d t o h a v e n e g lig i b le m a ss a n d d a m p in g
S prin g for c e is g iv e n b y:

F kx
F = s prin g f or c e ,
k = s prin g stiffn e ss or s prin g c o nst a nt, a n d
x = d e f orm a tio n (d is p l a c e m e nt o f o n e e n d with r e s p e c t t o th e o th e r)
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Spring Ele m ents

W ork d o n e (U) in d e f ormin g a s prin g or th e str a in (p o t e nti a l)

e n e r g y is g iv e n b y:
1 2
U kx
2
Wh e n a n in c r e m e nt a l f or c e F is a d d e d t o F:
F F F ( x* x)
dF
F ( x* ) ( x)
dx x*

1 d 2F 27
( x) 2 ...
2! dx 2 x*
Spring Ele m ents

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 Spring Ele m ents

St a ti c d e fl e c ti o n o f a b e a m a t th e fr e e e n d is g iv e n b y:
Wl 3
st
3EI

W 3EI
S prin g C o nst a nt is g iv e n b y: k
st l3

W = m g is th e w ei g ht o f th e m a ss m ,
E = Y o u n g ’s M o d ulus, a n d
I = m o m e nt o f in erti a o f cross-s e c ti o n o f b e a m 29
 Spring Ele m ents
C o m bin a ti o n o f Sprin gs:
1) S prin gs in p a r a ll el – if w e h a v e n s prin g c o nst a nts k 1 , k 2 , …, k n in p a r a ll el ,
th e n th e e q uiv a l e nt s prin g c o nst a nt k e q is:
W k
st 1 k
st 2 k
st eq

keq k1 k2

keq k1 k2 ... kn 30
 1 1 1 1
...
Spring Ele m ents keq k1 k2 kn

C o m bin a ti o n o f Sprin gs:

2) S prin gs in s eri es – if w e h a v e n s prin g c o nst a nts k 1 , k 2 , …, k n in s eri es ,
th e n th e e q uiv a l e nt s prin g c o nst a nt k e q is:
W k
1 1 k
2 2

W keq st keq 1 2

keq st keq st
1 and 2
k1 k2 st 1 2

1 1 1
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keq k1 k2
 Mass or Inertia Ele m ents
Usi n g m a th e m a ti c a l m o d e l to r e pr es e nt th e a c tu a l m e c h a ni c a l syst e m
In fi g ur e b e l o w , th e m a ss a n d d a m p i n g of th e b e a m c a n b e disr e g a r d e d ; th e
syst e m c a n thus b e m o d e l e d a s a s pri n g-m a ss syst e m a s sh o w n.

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 Mass or Inertia Ele m ents

C o m bin a ti o n o f M a ss es
Assu m e th a t th e m a ss o f th e
fr a m e is n e gli gi bl e c o m p a r e d t o
th e m a ss es o f th e flo ors. Th e
m a ss es o f v a ri o us flo or l e v els
r e pr es e nt th e m a ss el e m e nts,
a n d th e el a sti citi es o f th e
v erti c a l m e m b ers d e n o t e th e
s prin g el e m e nts.

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 Mass or Inertia Ele m ents
C a s e 1: Tr a nsl a ti o n a l M a ss es C o nn e c t e d b y a Ri gi d B a r
จารณา
ดN

l2 l3
V elo citi es o f m a ss es c a n b e e xpr ess e d a s: x2 x1 ; x3 x1
l1 l1 34
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✗ -
_ ความ
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 Mass or Inertia Ele m ents
C a s e 1: Tr a nsl a ti o n a l M a ss es C o nn e c t e d b y a Ri gi d B a r

xeq x1

By e q u a tin g th e kin e ti c e n erg y o f th e syst e m:

1 1 1 1
m1 x12 m2 x22 m3 x32 meq xeq2
2 2 2 2
2 2
l2 l3
meq m1 m2 m3
l1 l1 35
 Mass or Inertia Ele m ents

C a s e 2: Tr a nsl a ti o n a l a n d Ro t a ti o n a l M a ss es C o u pl e d To g e th er
1. E q uiv a l e nt tr a nsl a ti o n a l m a ss:
Kin e ti c e n erg y o f th e t w o m a ss es is giv e n b y: x
เ น ม R
1 2 1 2
T mx J0
2 2
Kin e ti c e n erg y o f th e e q uiv a l e nt m a ss is giv e n b y:

1
Teq meq xeq 2 36
2
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 Mass or Inertia Ele m ents
C ase 2: Tr a nsl a ti o n a l a n d Ro t a ti o n a l M a ss es C o u pl e d To g e th er
1 1 2 1
meq xeq 2 mx J0 2

2 2 2 x
2
1 2 1 x R
mx J0
2 2 R
m e q = sin g le e q uiv a le nt tr a nsl a tio n a l m a ss xeq x
x = tr a nsl a tio n a l v e lo c ity
= ro t a tio n a l v e lo c ity
J0 = m a ss m o m e nt o f in e rti a 37
J e q = sin g le e q uiv a le nt ro t a tio n a l m a ss
 Mass or Inertia Ele m ents
C ase 2: Tr a nsl a ti o n a l a n d Ro t a ti o n a l M a ss es C o u pl e d To g e th er

1 1 2 1
meq xeq 2 mx J0 2
x
2 2 2
2 R
1 2 1 x
mx J0
2 2 R
1 2 J0
x m
2 R2 E q uiv a l e nt tr a nsl a ti o n a l m a ss xeq x
J0
meq m 38
R2
 Mass or Inertia Ele m ents
C ase 2: Tr a nsl a ti o n a l a n d Ro t a ti o n a l M a ss es C o u pl e d To g e th er

1 2 1 2 1
J eq mx J0 2 x
2 2 2 R
1 2 1 2
m R J0
2 2
1 2 2
mR J 0 E q uiv a l e nt ro t a ti o n a l m a ss eq
2
J eq J0 mR 2
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 Da m ping Ele m ents

เค อน บน ของ เหลว
/แ
Viscous Da mping:
D a m pin g for c e is pro p orti o n a l t o th e v elo city o f th e m a ss in a flui d
m e d iu m su c h a s a ir, w a t er, g a s, a n d o il.
เค อน น แ ง ศตรง าม บความ เ ว
C oulomb or Dry Friction Da mping: การ บน

D a m pin g for c e is c o nst a nt in m a g nitu d e b ut o p p osit e in d ir e c ti o n t o

th a t o f th e m o ti o n o f th e m a ss b e t w e e n d ry surf a c es
M aterial or Solid or Hysteretic Da mping:
En erg y is a bsorb e d or d issi p a t e d b y m a t eri a l d urin g d e form a ti o n
d u e t o fri c ti o n b e t w e e n int ern a l pl a n es

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 Da m ping Ele m ents
She ar Stress ( ) d e v elo p e d in th e flui d l a y er a t a d ist a n c e y
fro m th e fix e d pl a t e is:

du
¥
"

dy

w h er e d u / d y = v / h is th e v elo city gr a d i e nt
- a bso lut e vis c osity
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 Da m ping Ele m ents
She ar or Resisting Forc e (F) d e v elo p e d a t th e b o tt o m surf a c e o f
th e m o vin g pl a t e is:
Av
F A cv
h
w h er e A is th e surf a c e a r e a o f th e m o vin g pl a t e .

Wh er e A is th e surf a c e a r e a o f th e m o vin g
pl a t e a n d c A is th e d a m pin g c o nst a nt
h
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Me chanic al Dyna mic Syste ms

Translational motion
Force, Displacement, Velocity, Acceleration
Rotational motion
Torque, Angular displacement, Angular velocity,
Angular acceleration

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Deriv ation of G overning Equations

N e w t o n ’s l a ws
C o nse rv a tio n o f e n e rg y prin c ip l e
L a gr a n g e ’s e q u a tio ns
D ’ Al e m b e rt’s prin c ip l e

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Ele m ents of Me chanic al Syste ms

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Ele m ents of Me chanic al Syste ms
Systems of units

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M athe m atic al Mod el of Motorc y cle Syste m
(Strut d esign)

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 Mathe m atic al Mod el of Motorcy cle Syste m
(Strut d esign)
Sin g le - d e gr e e o f fr e e d o m m o d e l

keq kt , k r , k s equivalent stiffness.

ceq cs , cr equivalent damping constant.
คน บ อ
r r
meq mr , mv , mw equivalent mass
1

r rider ,t tires, s struts ,v vehicle body, w wheels, 48

ล้
ขั
 Mathe m atic al Mod el of Motorcy cle Syste m
(Strut d esign)
แยก มวล ห - ของ
คน + ตอ7

←
อง น อย ด

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r rider ,t tires, s struts ,v vehicle body, w wheels,
สุ
น้
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ต้
ท้
 Mathe m atic al Mod el of Motorcy cle Syste m
(Strut d esign)

โน ห า - ลง เ า น 2 DOF

r rider ,t tires, s struts ,v vehicle body, w wheels, 50

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Me chanic al Syste m

N e wt o n ’s s e c o n d l a w o f m o ti o n a s

F (t ) mx(t ) 51
Me chanic al Syste m

E q u a ti o n o f m o ti o n is

F (t ) cx(t ) kx(t ) mx(t )

or mx(t ) cx(t ) kx(t ) F (t )

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 Me chanic al Syste m: A c c elerom eter

FBD

K x(t ) y (t )

c x(t ) y (t )
N e wt o n ’s s e c o n d l a w o f m o ti o n a s

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F (t ) mx(t )
 Me chanic al Syste m: A c c elerom eter

FBD From FBD

K x(t ) y (t )
K x(t ) y (t ) c x(t ) y (t ) mx(t )

mx(t ) cx(t ) Kx(t ) cy (t ) Ky (t )

c x(t ) y (t )

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 ROTATIO NAL MECHANIC AL SYSTEM
TRANSFER FUN CTIO N
N e wt o n's l a w o f m o ti o n for ro t a ti o n a l m o ti o n st a t es th a t th e a lg e br a i c
su m o f m o m e nts or t orq u e a b o ut a fix e d a xis is e q u a l t o th e pro d u c t o f
th e in erti a a n d th e a n g ul a r a c c el er a ti o n a b o ut th e a xis, or

กฎ 2 T J

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 ROTATIO NAL MECHANIC AL SYSTEM
TRANSFER FUN CTIO N

E q u a ti o n o f ro t a ti o n a l m o ti o n is T J

T (t ) c (t ) K (t ) J (t ) 56
 D e gr e e of Fr e e d o m (D O F)
M athe m atic al Ty p es of v i br a ti o n m oti o n
Mo d elling of El e m e nts of M e c h a ni c a l syst e m
Me chanic al V i br a tio n a n a lysis pro c e d ur e
Dyna mic Syste ms M a th e m a ti c a l m o d e l

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