Le3 VT23

SD2150 Experimental Structure Dynamics
Ulf Carlsson* SCI Teknisk mekanik, KTH
*
ulfc@kth.se
This lecture
• Short recapitulation of preparation

• Feedback on preparation
• Questions on preparation?
• Recapitulation Calculation examples …
• Excitation, response and coupling “points”
• Vibration – Acoustic models
• Transfer path analysis – Mechanical power flow
Linear model of an active system
What if system is excited with internal sources? Active system!
Fˆ1  eit Internal & external sources
vˆ1  eit Total response – Superposition (linear system)

Fˆ2  eit
vˆ ( f )  vˆ S ( f )  H( f )  Fˆ ( f )
vˆ2  e it
vˆm  e it
System coupling with frequency response function models
Generalisation: Coupled active systems
^
𝐹 1𝑒
𝑖𝜔𝑡
1 1 ^ 3 𝑒𝑖 𝜔 𝑡
𝑣
^ 1 𝑒𝑖 𝜔 𝑡
𝑣 4 3
2 H1 2 H2
5
3 ^
𝐹 3𝑒
𝑖 𝜔𝑡
Known system parameters and excitation forces Linear system of equations

Feedback on preparation
https://forms.gle/yCqzNUHfFUgdVfyDA
Feedback on preparation
Which of the following statements regarding linear systems are true?
An active system is a system equipped with a vibration cancellation device.
The total rms response of an active system is the "linear" sum of the active and passive contributions.
Phase matters when active and passive contributions contribute at the same sinusoidal frequency.
An "ideal" coupling assumes no rotational degrees are involved.
In an ideal coupling the cut forces are a zero system (force balance).
A coupled system's governing equations are the equations for the isolated systems and the coupling
conditions.
Key concepts
• Linear system
• Frequency response function
• Complex quantity (acceleration, force, sound pressure etc)
• Passive system – Active system
• Coupling conditions
Example 1: Plate with mounted machine and external excitation
aS+ a1
A1
Suppose,
F(t) = 10,0∙sin(2p35t) N, F
aS(35 Hz) = 0,50∙sin(2p35t - p/2) m/s2 aS+ a1
A1
A1(35 Hz) = 0,075-i∙0,075 (m/s2)/N
Suppose,
F(t) = 10,0∙sin(2p35t) N, F
aS(35 Hz) = 0,50∙sin(2p35t - p/2) m/s2 aS+ a1
A1
A1(35 Hz) = 0,075-i∙0,075 (m/s2)/N
Task:
Calculate the rms vibration velocity at the response point. All other frequencies
can be considered negligible.
Method
Linear FRF model active system,
aS+ a1
A1
Method
Linear FRF model active system, aˆ ( f )  aˆ S ( f )  A1 ( f )  Fˆ ( f )
F
aS+ a1
A1
Method
Fˆ  10, 0 N F
aS+ a1
A1
Method
Fˆ  10, 0 N F
aˆ S  0,50  e  i 2 m/s2 aS+ a1
A1
Method
Fˆ  10, 0 N F
aˆ S  0,50  e  i 2 m/s2 aS+ a1
A1
Complex acceleration ampl
Method
Fˆ  10, 0 N F
aˆ S  0,50  e  i 2 m/s2 aS+ a1
A1
A1  0, 075  i  0, 075 (m/s2)/N
Method
Fˆ  10, 0 N F
aˆ S  0,50  e  i 2 m/s2 aS+ a1
A1
A1  0, 075  i  0, 075 (m/s2)/N
aˆ  aˆ S  A1  Fˆ  0,50  e  i 2  (0, 075  i  0, 075) 10, 0  0, 75  i 1, 25 m/s2

Method
Fˆ  10, 0 N F
aˆ S  0,50  e  i 2 m/s2 aS+ a1
A1
A1  0, 075  i  0, 075 (m/s2)/N
aˆ  aˆ S  A1  Fˆ  0,50  e  i 2  (0, 075  i  0, 075) 10, 0  0, 75  i 1, 25 m/s2

Method
Fˆ  10, 0 N F
aˆ S  0,50  e  i 2 m/s2 aS+ a1
A1
A1  0, 075  i  0, 075 (m/s2)/N
aˆ  aˆ S  A1  Fˆ  0,50  e  i 2  (0, 075  i  0, 075) 10, 0  0, 75  i 1, 25 m/s2

Complex vibration velocity,
aS+ a1
A1
aˆ ( f )
vˆ ( f ) 
i
F
aS+ a1
A1
aˆ ( f )
vˆ ( f ) 
i
aˆ 0, 75  i 1, 25 F
ˆv   
i 2 f i 2 35 aS+ a1
A1
aˆ ( f )
vˆ ( f ) 
i
aˆ 0, 75  i 1, 25 F
ˆv   
i 2 f i 2 35 aS+ a1
A1
aˆ ( f )
vˆ ( f ) 
i
aˆ 0, 75  i 1, 25 F
ˆv   
i 2 f i 2 35 aS+ a1
A1
 0, 0057  i  0, 0034 m/s
aˆ ( f )
vˆ ( f ) 
i
aˆ 0, 75  i 1, 25 F
ˆv   
i 2 f i 2 35 aS+ a1
A1
 0, 0057  i  0, 0034 m/s
Root mean square
v  vˆ 2  vˆ 2  0, 0057  i  0, 0034 2  0, 0047 m/s

aˆ ( f )
vˆ ( f ) 
i
aˆ 0, 75  i 1, 25 F
ˆv   
i 2 f i 2 35 aS+ a1
A1
 0, 0057  i  0, 0034 m/s
Root mean square
v  vˆ 2  vˆ 2  0, 0057  i  0, 0034 2  0, 0047 m/s

aˆ ( f )
vˆ ( f ) 
i
aˆ 0, 75  i 1, 25 F
ˆv   
i 2 f i 2 35 aS+ a1
A1
 0, 0057  i  0, 0034 m/s
Root mean square
v  vˆ 2  vˆ 2  0, 0057  i  0, 0034 2  0, 0047 m/s

Linear model of a coupled system
Example 2: Two coupled systems with internal source and external excitation
Task:
Calculate the rms vibration acceleration at point 4. All contributions from other
frequencies are negligible. Fˆ1  eit
1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
2
Data:
Fˆ1  20 N, aˆS ,1  0,5  i 0,5 m/s2, aˆS ,2  0, 2  i 0,5 m/s2
Source data
Fˆ1  eit
1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
2
Data:
Fˆ1  20 N, aˆS ,1  0,5  i 0,5 m/s2, aˆS ,2  0, 2  i 0,5 m/s2
A1,11  0, 015  ei 2 (m/s2)/N
A1,12  A1,21  0, 010  e i 3
(m/s )/N
2 Fˆ1  eit
A1,22  0, 050  ei5 6 (m/s2)/N

FRF 1 aˆ4  eit
A2,33  0, 075  ei3 2 (m/s2)/N aˆ1  eit
4
A2,34  A2,43  0, 050  ei 2 3 (m/s2)/N A1 3 A2

2
A2,44  0,10  e  i3 2 (m/s2)/N
Governing equations:
aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

System 1
aˆ2  aˆ S ,2  A1,21  Fˆ1  A1,22  Fˆ2
Fˆ1  eit
1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
2
aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

System 1
aˆ2  aˆ S ,2  A1,21  Fˆ1  A1,22  Fˆ2
Fˆ1  eit
aˆ3  0  A2,33  Fˆ3  A2,34  0
System 2
aˆ4  0  A2,43  Fˆ3  A2,44  0 1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
2
aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

System 1
aˆ2  aˆ S ,2  A1,21  Fˆ1  A1,22  Fˆ2
Fˆ1  eit
aˆ3  0  A2,33  Fˆ3  A2,34  0
System 2
aˆ4  0  A2,43  Fˆ3  A2,44  0 1 aˆ4  eit
4
aˆ1  eit
aˆ2  aˆ3 A1 3 A2
Coupling 2
Fˆ2  Fˆ3
Governing equations simplified:
aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

aˆ2  aˆ S ,2  A1,21  Fˆ1  A1,22  Fˆ2
Fˆ1  eit
â2  A2,33  Fˆ2 (1)
â4  A2,43  Fˆ2 (2) 1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
2
Governing equations simplified:
aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

aˆ2  aˆ S ,2  A1,21  Fˆ1  A1,22  Fˆ2
Fˆ1  eit
â2  A2,33  Fˆ2 (1)
â4  A2,43  Fˆ2 (2) 1 aˆ4  eit
4
aˆ1  eit
ˆ A1,12 A1 3 A2
or aˆ1  aˆS ,1  A1,11  F1   aˆ2 (3) 2
A2,33
A
ˆa2  aˆS ,2  A1,21  Fˆ1  1,22  aˆ2 (4)
A2,33
Solve equation (4) for a2
A A1,22
aˆ2  aˆS ,2  A1,21  Fˆ1  1,22  aˆ2 (1  )  aˆ2  aˆS ,2  A1,21  Fˆ1
A2,33 A2,33
Fˆ1  eit
1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
2
A A1,22
A2,33 A2,33
or Fˆ1  eit
A2,33 A1,21 A2,33
aˆ2   aˆ S ,2   Fˆ1
A2,33  A1,22 A2,33  A1,22 1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
2
A A1,22
A2,33 A2,33
or Fˆ1  eit
A2,33 A1,21 A2,33
aˆ2   aˆ S ,2   Fˆ1
A2,33  A1,22 A2,33  A1,22 1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
Eqs (1) and (2) gives, 2
A2,43 A2,43 A1,21 A2,43 ˆ
aˆ4    aˆ2    aˆ S ,2   F1
A2,33 A2,33  A1,22 A2,33  A1,22
A A1,22
A2,33 A2,33
or Fˆ1  eit
A2,33 A1,21 A2,33
aˆ2   aˆ S ,2   Fˆ1
A2,33  A1,22 A2,33  A1,22 1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
Eqs (1) and (2) gives, 2
A2,43 A2,43 A1,21 A2,43 ˆ
aˆ4    aˆ2    aˆ S ,2   F1
A2,33 A2,33  A1,22 A2,33  A1,22
With numerical values
A2,43 A1,21 A2,43 ˆ
aˆ4    aˆ S ,2   F1  0,3077  i  0,1334
A2,33  A1,22 A2,33  A1,22
Fˆ1  eit
1 aˆ4  eit
4
aˆ1  eit
A1 3 A2
2
A2,43 A1,21 A2,43 ˆ
aˆ4    aˆ S ,2   F1  0,3077  i  0,1334
A2,33  A1,22 A2,33  A1,22
Fˆ1  eit
Rms acceleration is,
1 aˆ4  eit
4
aˆ1  eit
aˆ4 0,3077  i  0,1334 A1 3 A2
a4    0, 24 m/s2 2
2 2
A2,43 A1,21 A2,43 ˆ
aˆ4    aˆ S ,2   F1  0,3077  i  0,1334
A2,33  A1,22 A2,33  A1,22
Fˆ1  eit
1 aˆ4  eit
4
aˆ1  eit
aˆ4 0,3077  i  0,1334 A1 3 A2
a4    0, 24 m/s2 2
2 2
A2,43 A1,21 A2,43 ˆ
aˆ4    aˆ S ,2   F1  0,3077  i  0,1334
A2,33  A1,22 A2,33  A1,22
Fˆ1  eit
1 aˆ4  eit
4
aˆ1  eit
aˆ4 0,3077  i  0,1334 A1 3 A2
a4    0, 24 m/s2 2
2 2
THE END
Point concept …
What is a “point”?
Point concept …
What is a “point”? Sufficiently “small” region

What is sufficiently small?
Point concept …

So small that the point value is representative for the field in the region
Point concept …

a(x, y)
Point concept …

In practice: Small enough compared to a wavelength

Point concept …

In practice: Small enough compared to a wavelength
Point degrees of freedom:

• Translation and
• rotation
Structure Borne Sound – FRF model
Vibration energy transmitted from source to acoustic noise at

receiver
Noise
problem
Transmission
Shaft Engine

receiver
Efficient noise control
measures require Noise
problem
• Source ranking
Transmission
Shaft Engine

receiver
Efficient noise control
measures require Noise
problem
• Source ranking
• Path ranking Transmission
Shaft Engine
FRF model of a vibroacoustic system
Source Transmission system Receiver
AS AT
a S1
p1
FC1
AS FC 2 AT pm
a S1
FCm
p1
FC1 H pF
AS FC 2 AT pm
a S1
FCm
p1
FC1 H pF
AS FC 2 AT pm
a S1
FRF matrix F p
FCm
Governing equations
a1  a S  A S  F1
a 2  AT  F2
Governing equations
Acceleration at a1  a S  A S  F1
coupling points a 2  AT  F2
Governing equations
Acceleration at a1  a S  A S  F1 Force at
coupling points coupling points
a 2  AT  F2
Governing equations
a1  a S  A S  F1
a 2  AT  F2
F1  F2  FC
a1  a 2
Governing equations
a1  a S  A S  F1
a 2  AT  F2
Force balance F1  F2  FC
a1  a 2
Governing equations
a1  a S  A S  F1
a 2  AT  F2
Force balance F1  F2  FC
a1  a 2 Continuity in acceleration
Solve linear system of equations for coupling forces
a1  a S  A S  F1
a 2  AT  F2
F1  F2  FC
a1  a 2
Solve linear system of equations for coupling forces and insert

result into …
a1  a S  A S  F1
a 2  AT  F2
F1  F2  FC
a1  a 2
p  H pF  FC

result into F to p relation yields the sound pressure at receiver,
p   H pF  ( A S  AT ) 1  a S

p   H pF  ( A S  AT ) 1  a S
FRF source acc to p: HpaS


p   H pF  ( A S  AT ) 1  a S
What conditions gives strong sound?


p   H pF  ( A S  AT ) 1  a S
The sound pressure p is large at frequencies for which

• HpF is large – resonant path between coupling and receiver

p   H pF  ( A S  AT ) 1  a S

• (AS + AT)-1 is large

p   H pF  ( A S  AT ) 1  a S

• (AS + AT)-1 is large or AS ≈ -AT ie “impedance matching”

p   H pF  ( A S  AT ) 1  a S

• Both HpF∙and (AS+AT)-1 is large

p   H pF  ( A S  AT ) 1  a S

• Both HpF∙and (AS+AT)-1 is large ie resonant system
Structure Borne Sound – Demonstration
Vibration source on table … Estimate sound pressure level at

receiver

receiver
Required model data
• Source coupling point accelerance matrix AS
• Source acceleration strength aS

receiver
Required model data
• Transmission system accelerance matrix AT

receiver
Required model data
• Transmission system accelerance matrix AT
• FRF coupling force to sound pressure HpF
Source model data: Accelerance matrix AS measured

Source model data: Accelerance matrix AS measured

30
25
Accelerance/(m/s2)/N
2
0
15
10
0
0 200 400 600 800 1000 120 1400 160 180 200
0
Frequency/Hz 0 0 0
Source model data: Source acceleration strength aS measured

Source model data: Source acceleration strength aS measured

0.25
0.2
2)
0.15
Acceleration/(m/s
0.1
0.05
0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Frequency/Hz
Transmission structure model data: Accelerance matrix AT measured

Transmission structure model data: Accelerance matrix AT measured

70
0
60
0
50
0
mag(AR)/((m/s2)/N)
40
0
30
0
200
10
0
0
0 20 40 60 80 1000 120 140 160 180 200
0 0 0 0 Frequency/Hz
0 0 0 0 0
Frequency response function model data: FRF matrix HpF measured

Frequency response function model data: FRF matrix HpF measured

10
mag(FRF)/(Pa/N)
5
0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Frequency/Hz
Measure sound pressure in receiver point

Measure sound pressure in receiver point

0.03
0.025
0.02
Sound pressure/Pa
0.015
0.01
0.005
0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Frequency/Hz
Structure Borne Sound – measured/estimated sound
90
80
70 Estimated – Green
Sound pressure level/dB
60
50 Measured – Blue
40
30
20
10
0
100 200 300 400 500 600 700 800 900 1000
Frequency/Hz
90
Impedance matching
80
70 Estimated – Green
60
40
30
20
10
0
100 200 300 400 500 600 700 800 900 1000
Frequency/Hz
90
80
70
Transmitting structure resonance Estimated – Green
60
40
30
20
10
0
100 200 300 400 500 600 700 800 900 1000
Frequency/Hz
90
80
70 ≈ 15 dB ! Estimated – Green
60
40
30
20
10
0
100 200 300 400 500 600 700 800 900 1000
Frequency/Hz
FRF matrix models and Transfer Path Analysis
How much energy is transmitted between the subsystems?

Which paths are the most important?

Known state at a point We can calculate the dynamic power flow

Complex quantities
1
WC ( f )   Re(FC  v*C )
2

Complex quantities
1
WC ( f )   Re(FC  v*C )
2
Time averaged power flow


Complex quantities FC and vC

1
WC ( f )   Re(FC  v*C )
2
Fourier coefficients FC and vC
WC ( f )  2  Re(FC  v*C )
Mechanical power flow via coupling points …
F1 Fn WC1 v1
H1 WC 2
v S1 H2
WCk
vm
Complex power – Real part … imaginary part …?

Conclusion:
We can calculate and compare the mechanical power transmitted via
the coupling points.
Vibration related comfort problem …
Vibration
problem
Transmission
Shaft Engine
• Identify possible sources
Vibration
problem
Transmission
Shaft Engine

• … transfer paths …
Vibration
problem
Transmission
Shaft Engine

Vibration
• Divide into subsystems problem
Subsystem 1: Engine + Transmission + Shaft


Vibration
• Divide into subsystems problem
• Determine subsystem
FRF models Subsystem 1: Engine + Transmission + Shaft
• Calculate state at couplings
• Calculate power flow
Structure Borne Sound – Discussion
Discussion – What are the problems to overcome?

• …
Noise
problem
Transmission
Shaft Engine
Structure Borne Sound – Task
Group task – Suggest model and a procedure to …

Find information relevant
to find efficient measures
to reduce the sound problem Noise
problem
Transmission
Shaft Engine
Group task – Suggest a model and a procedure to …

to reduce the sound problem
Group task – Suggest a model and a procedure to …

to reduce the sound problem
Resonant fields
Resonant fields are of great practical importance.

What is/characterizes a resonant field?

Le3 VT23

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SD2150 Experimental Structure Dynamics

Ulf Carlsson* SCI Teknisk mekanik, KTH

• Short recapitulation of preparation

Fˆ1  eit Internal & external sources

vˆ1  eit Total response – Superposition (linear system)

Generalisation: Coupled active systems

Known system parameters and excitation forces Linear system of equations

Which of the following statements regarding linear systems are true?

An active system is a system equipped with a vibration cancellation device.

An "ideal" coupling assumes no rotational degrees are involved.

• Frequency response function

• Complex quantity (acceleration, force, sound pressure etc)

• Passive system – Active system

aˆ  aˆ S  A1  Fˆ  0,50  e  i 2  (0, 075  i  0, 075) 10, 0  0, 75  i 1, 25 m/s2

aˆ  aˆ S  A1  Fˆ  0,50  e  i 2  (0, 075  i  0, 075) 10, 0  0, 75  i 1, 25 m/s2

aˆ  aˆ S  A1  Fˆ  0,50  e  i 2  (0, 075  i  0, 075) 10, 0  0, 75  i 1, 25 m/s2

Root mean square

v  vˆ 2  vˆ 2  0, 0057  i  0, 0034 2  0, 0047 m/s

Root mean square

v  vˆ 2  vˆ 2  0, 0057  i  0, 0034 2  0, 0047 m/s

Root mean square

v  vˆ 2  vˆ 2  0, 0057  i  0, 0034 2  0, 0047 m/s

A1,22  0, 050  ei5 6 (m/s2)/N

A2,34  A2,43  0, 050  ei 2 3 (m/s2)/N A1 3 A2

aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

aˆ1  aˆS ,1  A1,11  Fˆ1  A1,12  Fˆ2

What is a “point”? Sufficiently “small” region

What is a “point”? Sufficiently “small” region

What is a “point”? Sufficiently “small” region

What is a “point”? Sufficiently “small” region

In practice: Small enough compared to a wavelength

What is a “point”? Sufficiently “small” region

In practice: Small enough compared to a wavelength

Point degrees of freedom:

Vibration energy transmitted from source to acoustic noise at

Vibration energy transmitted from source to acoustic noise at

Vibration energy transmitted from source to acoustic noise at

FRF model of a vibroacoustic system

Source Transmission system Receiver

FRF model of a vibroacoustic system

Source Transmission system Receiver

FRF model of a vibroacoustic system

Source Transmission system Receiver

FRF model of a vibroacoustic system

Source Transmission system Receiver

Solve linear system of equations for coupling forces

Solve linear system of equations for coupling forces and insert

Solve linear system of equations for coupling forces and insert

Solve linear system of equations for coupling forces and insert

FRF source acc to p: HpaS

Solve linear system of equations for coupling forces and insert

What conditions gives strong sound?

Solve linear system of equations for coupling forces and insert

The sound pressure p is large at frequencies for which

Solve linear system of equations for coupling forces and insert

The sound pressure p is large at frequencies for which

Solve linear system of equations for coupling forces and insert

The sound pressure p is large at frequencies for which

Solve linear system of equations for coupling forces and insert

The sound pressure p is large at frequencies for which