Mobility and Impedance Methods

Professor Mike Brennan

 Vibration control
Vibration Problem

Modelling
Understand problem (Mobility and
Impedance Methods)

Solve Problem Measurement

 Mobility and Impedance
• The response of a structure to a harmonic force can be expressed
in terms of its mobility or impedance
At frequency  the velocity can
F V be written in complex notation
v(t) = Vejt
General linear V is the complex amplitude.
system
Similarly for the force f(t) = Fejt

The mobility is defined as The impedance is defined as

V  j  F  j 
Mobility  Impedance 
F  j  V  j 

• If the force and velocity are at the same point this is a ‘point’ mobility
• If they are at different points it is a ‘transfer’ mobility

Note that both mobility and impedance are frequency domain quantities
 Frequency Response Functions (FRFs)

Acceleration Force
Accelerance = Apparent Mass =
Force Acceleration

Velocity Force
Mobility = Impedance =
Force Velocity

Displacement Force
Receptance = Dynamic Stiffness =
Force Displacement
 Mobility and Impedance Methods
• The total response of a set of coupled components can be expressed
in terms of the mobility of the individual components
• In the simplest case each component has two inputs (one at each end)
which permit coupling

F1 F2
General linear
system

V1 V2

• The two parameters at each input point are force, F, and velocity, V.
 Simple Idealised Elements
• Spring k
k F
f1 f2

x1 x2 x
So F  kX
f1  k  x1  x2  V KV
Because X  then F 
j j
f2  k  x2  x1 
So the impedance of a spring is
f1  f2 given by

• no mass F k
Zk  
• force passes through V j
it unattenuated
Note that the force is in quadrature with the
Assume f  Fe jt and x  Xe jt velocity. Thus a spring is a reactive
Also, block one end so that x2  0 element that does not dissipate energy
 Simple Idealised Elements
• Viscous damper c
F
c
f1 f2
V
v1 v2 So F  cV

f1  c v1  v 2  So the impedance of a damper is

f2  c v 2  v1  given by
f1  f2 F
Zc  c
V
• no mass or elasticity
• force passes through
it unattenuated Note that the force is in phase with the
velocity. Thus a damper is a resistive
Assume f  Fe jt and v  Ve jt element that dissipates energy

Also, block one end so that v 2  0

 Simple Idealised Elements
• Mass
F
f1 f2 m
m
X
x So F  mX
f1  f2  mx Because X  jV then F  jmV
f2  mx  f1
So the impedance of a mass is
given by
• rigid
• force does not pass F
Zm   j  m
through it unattenuated V

Assume f  Fe jt and x  Xe jt

Note that the force is in quadrature with the
Also, set one end to be free velocity. Thus a mass is a reactive
so that f2  0 element that does not dissipate energy
 Impedances of Simple Elements - Summary

k  jk
• Spring Zk   • Damper Zc  c • Mass Zm  jm
j 
Im

Log |impedance|
Zm
Zm
Zc Re Zc

Zk
Zk
Log frequency
 Mobilities of Simple Elements - Summary

j 1 1 j
• Spring Yk  • Damper Yc  • Mass m
Y  
k c jm m
Im

Log |mobility|
Yk
Yk
Yc Re Yc

|Ym|
Ym
Log frequency
 Examples of impedance / mobility
j
mass F  mX Z mass  j m Ymass 
m
 jk j
spring F  kX Z spring  Y spring 
 k
1
damper F  cX Z damper  c Y damper 
c
infinite beam Z beam  21
(  )j (1/)(2 EI) 1/ 4  A 3/ 4

infinite plate E
Z plate  8h 2
 2.3c L h 2
(   2)
121
Area A, second moment of area I, thickness h, Young’s modulus E, density , Poisson’s
ratio 
c L  E / 1
(  )2 11
 Notes on impedance / mobility
• Real part of point impedance (or mobility) is always
positive (dissipation). Imaginary part can be positive
(mass-like) or negative (spring-like).
• Infinite plate impedance is real and independent of
frequency (equivalent to a damper).

• Beam impedance has a damper part and a mass part,

both frequency dependent.

• Impedance/mobility of a finite structure tends to that

of the equivalent infinite structure at high frequency
and/or high damping.

12
 Connecting Simple Elements
• Adding Elements in Parallel
Mass-less
Rigid link
F

V
k c

• Same velocity F1  Z1V F2  Z2V

• Shared force F  F1  F2

F  Z1  Z2 V
N
Ztotal   Z j
j 1
 Connecting Simple Elements
• Adding Elements in Series

F k c
V

V1 V2

• Same force V1  Y1F V2  Y2F

• Shared velocity V  V1  V2

V  Y1  Y2 F
N
Ytotal  Y j
j 1
 Connecting Simple Elements
• Adding Elements in Parallel

• Impedances • Mobilities
N N
1 1
Ztotal   Z j 
j 1 Ytotal j 1 Y j

• Example - SDOF System Mass-less

Rigid link
F F

k
m

c
V  V
m k c
Note that this representation
indicates that one end of the
mass is connected to an
inertial reference point (F=0)
 Connecting Simple Elements
• Adding Elements in Parallel

F F  Fm  Fk  Fc

V Fm Fk Fc • Point Impedance
m k c k
Z11  jm  c
j

• Point Mobility
1
At low frequency stiffness dominates Y11 
k
jm  c
At resonance damping dominates j
j
At high frequency mass dominates 
k   2 m  j c
 Frequency Response Functions
F
• Point Mobility
V Fm Fk Fc   0.01
m

Log |mobility|
k c
  0.1
Stiffness
line Mass line

• Point Impedance
Log |impedance|

Log frequency
Stiffness Mass line
line
  0.1

  0.01

Log frequency
 Connecting Simple Elements
• Adding Elements in Series

• Impedances • Mobilities
N N
1 1
 Ytotal  Y j
Ztotal j 1 Z j j 1

• Example F k c
m
V

• Point Mobility • Point Impedance

1
j 1 1 Z11 
Y11    j 1 1
k c jm  
k c jm
 Connecting Simple Elements
• Adding Elements in Series
F k c
m
V

• Point mobility

Log |mobility|
j line1
Mass 1
Y11    Stiffness
k c jm line
At low frequency mass dominates

At resonance damping dominates

1
At high frequency stiffness dominates c

Log frequency
 Adding a Combination of Parallel and Series Elements

• Example - SDOF System

m

k
m

c
 k c
V
V
F
F

Log |impedance|
1
Ztotal  mass
 1   1  stiffness line line
Z Z Z 
 m  k c 

Damping line

Log frequency
E.L.Hixson, Chapter 10 in Shock and Vibration Handbook
 Coupling Together Complex
Arbitrary Systems
F1 F2
General linear
system

V1 V2

• An arbitrary system having only two inputs can be represented using

the sign convention shown in the figure above (F1 and F2 both act on
the element).

• When the system is not a simple mass, spring or damper it is necessary

to assign both point and transfer mobilities to a system to define
completely the inter-relationship between both inputs.
 Mobility Method
F1 F2
General linear
system

V1 V2

• The equations describing the system are given by

V1  Y11F1  Y12F2
V2  Y21F1  Y22F2
which can be written in matrix form as
V1  Y11 Y12   F1 
    
V2  Y21 Y22  F2 
Mobility matrix
or v  Yf
 Mobility Method
V1  Y11 Y12   F1  Y11 and Y22 are point mobilities, which
     relate the velocity at the point of excitation
V2  Y21 Y22  F2  to the force applied. They are defined as
V1 V2
Y11  Y22 
F1 F 0 F2 F1 0
2

Force applied Point 2 Force applied Point 1

at point 1 Is free at point 2 Is free

Y12 and Y21 are transfer mobilities, which relate the velocity at the point
of some remote point to the force applied. They are defined as

V1 V2
Y12  Y21 
F2 F1 0
F1 F2 0
 Mobility Method
Notes

• For a linear system Y12  Y21 because of reciprocity

• If the system is symmetric then Y11  Y22

• These mobilities are found by allowing one input to be free

• The mobility formulation is most useful in experimental work as the

point and transfer mobilities are easily measured

• Re{Y11} and Re{Y22} must be positive

 Impedance Method
F1 F2
General linear
system

V1 V2

• The equations describing the system are given by

F1  Z11V1  Z12V2
F2  Z21V1  Z22V2
which can be written in matrix form as
 F1   Z11 Z12  V1 
    
F2  Z21 Z22  V2 
Impedance matrix
or f  Zv
 Impedance Method
 F1   Z11 Z12  V1  Z11 and Z22 are point impedances, which
     relate the velocity at the point of excitation
F2  Z21 Z22  V2  to the force applied. They are defined as
F1 F2
Z11  Z22 
V1 V 0 V2 V 0
2 1

Force applied Point 2 Force applied Point 1

at point 1 Is fixed at point 2 Is fixed

Z12 and Z21 are transfer impedances, which relate the velocity at the point
of some remote point to the force applied. They are defined as

F1 F2
Z12  Z21 
V2 V 0 V1 V 0
1 2
 Impedance Method
Notes

• For a linear system Z12  Z21 because of reciprocity

• If the system is symmetric then Z11  Z22

• These impedances are found by fixing all points except one

• The impedance formulation is most useful for theoretical formulation

and when experimentally working on light structures when blocking is
possible

• Re{Z11} and Re{Z22} must be positive

Impedance and Mobility matrices for simple elements

Spring
k  1 1 Yk is not defined as the element is massless,
Zk 
j  1 1  and the mobilities are infinite if one input
is free

Damper
 1 1 Yc is not defined as the element is massless,
Zc  c  
 1 1  and the mobilities are infinite if one input
is free

Mass

j 1 1 Z m is not defined as a blocked output would

Ym  1 1 prevent motion
m  
Coupling together complex arbitrary systems

F1 F2 F3
I II

V1 V2 V3

System I System II

V1  Y11F1  Y12F2 V3  Y33F3

V2  Y21F1  Y22F2
Coupling together complex arbitrary systems
- series connection
Rigid link

F1 F2 F3
I II

V1 V2 V3

When rigidly connected F3  F2 (equilibrium of forces)

V3  V2 (continuity of motion)

System I System II

V1  Y11F1  Y12F2 V3  Y33F3

V2  Y21F1  Y22F2
 Coupling together complex arbitrary systems
- series connection
Rigid link

F1 F2 F3
I II

V1 V2 V3
Combining system equations gives the point and transfer mobilities of
the coupled system

V1 (Y21 )2 V2 Y12Y33
Point  Y11  Transfer 
F1 Y22  Y33 F1 Y22  Y33

The natural frequencies of the coupled system occur when ImY22  Y33   0
The imaginary components embody the reactive elements which can
equal zero
 Coupling together complex arbitrary systems
- parallel coupled system
For the uncoupled systems
F1
F1  Z11V1
I
F F2  Z22V2
V1 When the systems are joined
by a rigid link
F2
F  F1  F2
II
V  V1  V2
V
V2 F
so  Z11  Z22
V
The point mobility of the coupled system is given by
V 1 1
 
F Z11  Z22 1 Y11  1 Y22
 Vibration source characterisation
Thévenin equivalent system
• A vibration source connected to a load can be represented by a
blocked force Fb in parallel with an internal impedance Zi
connected to a load impedance Zl.
1
Fb Fl  Fb
Zi
Fl 1
Load Zl
Zl
Source
Zi

Fb
Vl 
Vl
Zi  Zl

Blocked force is the force generated by the source when it is connected to rigid load
 Vibration source characterisation
Norton equivalent system
• A vibration source connected to a load can be represented by the
free velocity of the source Vf in series with an internal impedance
Zi connected to a load impedance Zl.

Fl
Source Load
Zi Zl

Vf Vl

1 Zl
Vl  Vf Fl  Vf
Zl Zl
1 1
Zi Zi

Free velocity is the velocity of the source when the load is disconnected
 Vibration source characterisation
• Relationship between blocked force, free velocity and
internal impedance of the source
Thévenin equivalent system Norton equivalent system

Fb Zi
Vl  Vl  Vf
Zi  Zl Zi  Zl

Fb Vf
b
b Fb = Zi Vf Zi

Zi

Zl Zi Zl
Fl  Fb Fl  Vf
Zi  Zl Zi  Zl

• Similar equations involving mobilities.

 Reduction of a system to Thévenin and
Norton equivalent systems – example
F

c2 F
c1
F
Z2
k2 Fb b
k1 b Z1 b
Z2
m1 Z1
Z3
m3

Z1  Zm1  Zk 1  Zc1 Blocked Force

Z2  Zk 2  Zc 2 Z2
Fb  F
Z3  Zm3 Z1  Z2
Z3 is not included because its ends
are attached to two rigid walls
 Reduction of a system to Thévenin and
Norton equivalent systems – example
F

c2 F
c1
F
Z2
k2 Fb b
k1 b Z1 b
Z2
m1 Z1
Z3
m3

Free velocity
Z1 Z2
Fb b Internal impedance
Vf 
Zs Z3 1
Z s  Z3 
1/ Z1  1/ Z2
Source impedance
at connection point
 Reduction of a system to Thévenin and
Norton equivalent systems – example
F

c2 Fb
c1 Blocked Force
b
k2 Z2
k1 b Zs Fb  F
m1
Z1  Z2
m3 Vf
Zs
b Free velocity
Z1  Zm1  Zk 1  Zc1
Fb
Z2  Zk 2  Zc 2 Vf 
Zs
Z3  Zm3 Internal impedance
1
Z s  Z3 
1/ Z1  1/ Z2
 Summary

• Introduction to mobility and impedance

approach
• Lumped parameter systems
• Arbitrary systems
• Coupling of systems
• Source characterisation
 References
• E.L. Hixson, 1997. Shock and Vibration Handbook (Chapter 10),
edited by C.M. Harris, Third Edition, McGraw Hill. Mechanical
Impedance.
• R.E.D. Bishop and D.C. Johnson, 1960. The Mechanics of
Vibration, Cambridge University Press.
• L. Cremer, M. Heckl and E.E. Ungar, 1990, Structure-Borne
Sound, Springer-Verlag, Berlin-Heidelberg-New York.
• L.L. Beranek and I.L. Ver, 1992. Noise and Vibration Control
Engineering, John Wiley and Sons.
• F.J. Fahy and J.G. Walker, 2004, Advanced Applications in
Acoustics, Noise and Vibration, Spon Press (chapter 9 Mobility
and impedance methods in structural dynamics by P. Gardonio
and M.J. Brennan).