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Week 15 Vibration
Week 15 Vibration
SYSTEM
INTRODUCTION
Systems that require two independent coordinates to
describe their motion;
Two masses in the system X two possible types of motion of
each mass.
Example: motor pump system.
There are two equations of motion for a 2DOF system,
one for each mass (more precisely, for each DOF).
They are generally in the form of couple differential
equation that is, each equation involves all the
coordinates.
EQUATION OF MOTION FOR FORCED VIBRATION
Considera viscously damped two degree of
freedom spring-mass system, shown in Fig.5.3.
4
m1x1 (c1 c2 ) x1 c2 x2 (k1 k2 ) x1 k2 x2 F1 (5.1)
m2 x2 c2 x1 (c2 c3 ) x2 k2 x1 (k2 k3 ) x2 F2 (5.2)
k1 k 2 k 2
5
[k ]
k 2 k 2 k 3
7
m1x1 (t ) (k1 k2 ) x1 (t ) k2 x2 (t ) 0 (5.4)
m2 x2 (t ) k2 x1 (t ) (k 2 k3 ) x2 (t ) 0 (5.5)
x1 (t ) X 1 cos(t )
x2 (t ) X 2 cos(t ) (5.6)
FREE VIBRATION ANALYSIS OF AN UNDAMPED
SYSTEM
Substituting into Eqs.(5.4) and (5.5),
m (k k )X k X cos(t ) 0
2
8
1 1 2 1 2 2
k X m (k k )X cos(t ) 0
2 1 2
2
2 3 2 (5.7)
m 1
2
(k1 k2 ) X 1 k2 X 2 0
k2 X 1 m2 (k2 k3 ) X 2 0
2
(5.8)
FREE VIBRATION ANALYSIS OF AN UNDAMPED
SYSTEM
which represent two simultaneous homogenous
algebraic equations in the unknown X1 and X2. For
trivial solution, i.e., X1 = X2 = 0, there is no
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solution. For a nontrivial solution, the determinant
of the coefficients of X1 and X2 must be zero:
m1 2 (k1 k 2 ) k 2
det 0
k 2 2
m1 (k1 k 2 )
or
(m1m2 ) (k1 k2 )m2 (k2 k3 )m1
4
(k1 k2 )( k2 k3 ) k22 0 (5.9)
FREE VIBRATION ANALYSIS OF AN UNDAMPED
SYSTEM
which is called the frequency or characteristic
equation. Hence the roots are:
1 (k1 k 2 )m2 (k 2 k3 )m1
,
2
1
2
2
2 m1m2
1 (k1 k 2 )m2 (k 2 k3 )m1
2
2 m1m2
1/ 2
(k1 k 2 )( k 2 k3 ) k
2
4 2
(5.10)
m1m2
The roots are called natural frequencies of the
system.
10
FREE VIBRATION ANALYSIS OF AN UNDAMPED
SYSTEM
To determine the values of X1 and X2, given ratio
X 2(1) m112 (k1 k 2 ) k2
r1 (1)
11
X1 k2 m212 (k 2 k3 )
X 2( 2) m122 (k1 k 2 ) k2
r2 ( 2) (5.11)
X1 k2 m222 (k 2 k3 )
12
(1)
1 x (1)
(t )
1 cos(1t 1 )
X (1)
13
x(t ) c1 x1 (t ) c2 x2 (t ) (5.14)
Thus the components of the vector can be
expressed as
x1 (t ) x1(1) (t ) x1( 2) (t ) X 1(1) cos(1t 1 ) X 1( 2 ) cos(2t 2 )
x2 (t ) x2(1) (t ) x2( 2) (t )
r1 X 1(1) cos(1t 1 ) r2 X 1( 2) cos(2t 2 ) (5.15)
X (1)
X (1)
cos 1 X
2 (1)
sin 1
2 1/ 2
15
1 1 1
16
= 10, m2 = 1 and c1 = c2 = c3 = 0 for the initial
conditions x1 (0) 1, x1 (0) x2 (0) x2 (0).
or
10 2 35 5 X 1 0
(E.1)
-5 5 X 2 0
2
EXAMPLE 5.3 SOLUTION
By setting the determinant of the coefficient
matrix in Eq.(E.1) to zero, we obtain the
frequency equation,
10 85 150 0
4 2
(E.2)
from which the natural frequencies can be found
as 12 2.5, 22 6.0
1 1.5811, 2 2.4495 (E.3)
The normal modes (or eigenvectors) are given by
(1) X 1(1) 1 (1)
X (1) X 1 (E.4)
X 2 2
( 2) X 1( 2 ) 1 ( 2)
X ( 2) X 1 (E.5)
X 2 5 17
EXAMPLE 5.3 SOLUTION
The free vibration responses of the masses m1
and m2 are given by (see Eq.5.15):
x1 (t ) X 1(1) cos(1.5811t 1 ) X 1( 2) cos(2.4495t 2 )
18
(E.6)
x2 (t ) 2 X 1(1) cos(1.5811t 1 ) 5 X 1( 2) cos(2.4495t 2 ) (E.7)
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EXAMPLE 5.3 SOLUTION
20
TORSIONAL SYSTEM
J11 kt11 kt 2 ( 2 1 ) M t1
J k ( ) k M
2 2 t2 2 1 t3 2 t2
22
which upon rearrangement become
J11 (kt1 kt 2 )1 kt 2 2 M t1
J 22 kt 21 (kt 2 kt 3 ) 2 M t 2 (5.19)
For the free vibration analysis of the system,
Eq.(5.19) reduces to
Solution:
The differential equations of motion,
Eq.(5.20), reduce to (with kt3 = 0,
kt1 = kt2 = kt, J1 = J0 and J2 = 2J0):
kt kt
1 (5 17 ) and 2 (5 17 ) (E.4)
4J 0 4J 0
24
EXAMPLE 5.4 SOLUTION
The amplitude ratios are given by
(21) (5 17 )
r1 (1) 2
1
25
4
( 2)
(5 17 )
r2 2
2 (E.5)
( 2)
1 4
Equations (E.4) and (E.5) can also be obtained by
substituting the following in Eqs.(5.10) and (5.11).
k1 kt1 kt , k 2 kt 2 kt ,
m1 J1 J 0 , m2 J 2 2 J 0 and k3 0
COORDINATE COUPLING AND PRINCIPAL
COORDINATES
Generalized coordinates are sets of n coordinates
used to describe the configuration of the system.
•Equations of motion Using x(t) and θ(t).
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COORDINATE COUPLING AND PRINCIPAL
COORDINATES
From the free-body diagram shown in Fig.5.10a,
with the positive values of the motion variables
as indicated, the force equilibrium equation in
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the vertical direction can be written as
mx k1 ( x l1 ) k2 ( x l2 ) (5.21)
and the moment equation about C.G. can be
expressed as
J 0 k1 ( x l1 )l1 k 2 ( x l2 )l2 (5.22)
28
The lathe rotates in the vertical plane and has
vertical motion as well, unless k1l1 = k2l2. This is
known as elastic or static coupling.
•Equations of motion Using y(t) and θ(t).
From Fig.5.10b, the equations of motion for
translation and rotation can be written as
my k1 ( y l1 ) k2 ( y l2 ) me
COORDINATE COUPLING AND PRINCIPAL
COORDINATES
J P k1 ( y l1 )l1 k2 ( y l2 )l2 mey (5.24)
These equations can be rearranged and written
in matrix form as
m me y (k1 k 2 ) (k 2l2 k1l1) y 0
me 2
(5.25)
J P (k1l1 k 2l2 ) (k1l1 k 2l 2 ) 0
2
31
EXAMPLE 5.6 SOLUTION
Approach: Define two independent solutions as
principal coordinates and express them in terms
of the solutions x1(t) and x2(t).
The general motion of the system shown is
k 3k
x1 (t ) B1 cos
t 1 B2 cos t 2
m m
k 3k
x2 (t ) B1 cos t 1 B2 cos t 2 (E.1)
m m
k
q1 (t ) B1 cos t 1
m
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3k
q2 (t ) B2 cos t 2 (E.2)
m
Since the coordinates are harmonic functions,
their corresponding equations of motion can be
written as
k
q1 q1 0
m
3k
q2 q2 0 (E.3)
m
EXAMPLE 5.6 SOLUTION
From Eqs.(E.1) and (E.2), we can write
x1 (t ) q1 (t ) q2 (t )
34
x2 (t ) q1 (t ) q2 (t ) (E.4)
36
( m12 ic12 k12 ) (2 m22 ic22 k 22 ) X 2
2
F10
(5.30)
F20
37
Where,
39
EXAMPLE 5.8 SOLUTION
The equations of motion of the system can be
expressed as
Eq.(5.31) gives
41
2 2 2
kF10 kF10
X 2 ( ) (E.5)
(m 2k ) k
2 2 2
(m 2 3k )( m 2 k )