2

Uni versidad Simn Bolvar Vibraciones Mecnicas: Teora & Medicin

Euro Casanova, ene 2012
Sist. masa-resorte-amortiguador de 1GDL
( ) ( ) ( ) ) (t t t t
f x k x c x m = + + & & &
( ) 0 0
v x = &
( ) 0 0
x x =
Ec. de mov.:
Cond. i ni ci al es
Resp. libre:
F(t) constante:
) (t
f
m
k
e e p . .
c
) (t
x
( )
k
f
x
t p
0
=
( ) ( )
[ ] ) ( ) ( ) (
2 2

+ = + = =

t Cos B A t BSen t ACos e x x
d d d
t
t h t
n
2
1 =
n d
m
k
n
=
( ) ( ) ( ) t p t h t
x x x + =
( ) 0
f f
t
=
F(t) armnica:
( )
) (
) , (
0

= t Sen G
k
f
x
r t p ( )
) (
0
t Sen f f
t
= 2 2 2
) , (
) 2 ( ) 1 (
1
r r
G
r

+
=
n
r

=

2
1
1
2
r
r
tg

( )
0 =
t
f
( ) ( ) ( ) t p t h t
x x x + =
n
m
c

2
=
Formulario I
k
mg
s
=
Frecuenci a
natural
Factor de
amorti guaci n
Defl exi n estti ca
del resorte
( ) ( ) ( ) ) (
1
2
2
t m t n t n t
f x x x = + + & & &
( ) 0 0
v x = &
( ) 0 0
x x =
Cond. i ni ci al es
0
x A =
d
n
x v
B

0 0
+
=
[ ]
A
B
tg
1
=
Frecuenci a natural
amort i guada
Desfasaj e

n
n
x
x
Ln 2
1
2
2
2
1

=
Decrement o
l ogart mi co
d
d
T

2
=
Factor de
ampl i fi caci n
Defl exi n esttica del
resorte ante la fuerza f
o
Desfasaj e con
la excitacin
Rel aci n de
frecuenci as
( )
) (
2
0
t Sen e m f
t
= ( )
) (
) , (
2 0

= t Sen G r
m
e m
x
r t p
( )
) (
2
0
t Sen mz f
t
= ( )
) (
) , (
2
0

= t Sen G r z x
r t p
Desbal ance:
Movimiento de la base:
Fuerza transmitida a la base:
( ) ( )
) ( = + = t Sen f kx x c f
tr t p t p tr
&
2
) , ( 0
) 2 ( 1 r G f f
r tr

+ =
2
) , (
2 2
0
) 2 ( 1 ) ( r G r e m f
r n tr


+ =
EDO de 2do orden, lineal, no homognea
3
Uni versidad Simn Bolvar Vibraciones Mecnicas: Teora & Medicin
Euro Casanova, ene 2012
Formulario II
0 0.5 1 1.5 2 2.5 3 3.5 4
0
20
40
60
80
100
120
140
160
180

=

2
1
1
2
r
r
tg

r
=0.001
=0.1
=0.2
=0.3
=0.5
=0.7
=1
0 0.5 1 1.5 2 2.5 3 3.5 4
0
1
2
3
4
5
6
) , (
2
r
G r
( ) ( )
2 2
2
2
2
2 1 r r
r
G r
+
=
r
=0.001
=0.1
=0.2
=0.3
=0.5
=0.7
=1
0 0.5 1 1.5 2 2.5 3 3.5 4
0
1
2
3
4
5
6
0
f
f
tr
( )
( ) ( )
2 2
2
2
0 2 1
2 1
r r
r
f
f
tr

+
+
=
r
=0.001
=0.1
=0.2
=0.3
=0.5
=0.7
=1
0 0.5 1 1.5 2 2.5 3 3.5 4
0
1
2
3
4
5
6
2
n
tr
Me
f

( )
( ) ( )
2 2
2
2
2
2
2 1
2 1
r r
r
r
me
f
n
tr

+
+
=
r
=0.001
=0.1
=0.2
=0.3
=0.5
=0.7
=1
Fuerza transmitida a la base:
Factor de amplificacin
F(t) = f
0
Desfasaje
Factor de amplificacin
F(t) depende de
2
0 0.5 1 1.5 2 2.5 3 3.5 4
0
1
2
3
4
5
6
) , ( r
G
( ) ( )
2 2
2
) (
2 1
1
r r
G
r
+
=
r
=0.001
=0.1
=0.2
=0.3
=0.5
=0.7
=1
F(t) depende de
2
F(t) = f
0
4
Uni versidad Simn Bolvar Vibraciones Mecnicas: Teora & Medicin
Euro Casanova, ene 2012
F(t) peridica:
( )
( )
j j
j
r
j
t p
t j Sen G
k
f
k
f
x
j

+ =

=1
) , (
*
*
0
2
( )
( )
j
j
j t
t j Sen f
f
f + =

=1
*
*
0
2
2 2 2
) , (
) 2 ( ) 1 (
1
j j
r
r r
G
j

+
=
n
j
j
r

=

2
1
1
2
j
j
j
r
r
tg

F(t) genrica:
( ) ( ) ( )
( ) ( )

+
+ + =

t Sen
x v
t Cos x e d h f x
d
d
n
d
t
t
t
t
n

0 0
0
0
( ) ( ) ( ) t p t h t
x x x + =
( )
( ) t Sen e
m
h
d
t
d
t
n

=
1
Formulario III
Rel . Frecuenci a
para armnico j
T
2
=
Factor de ampli fi caci n
para armnico j
Desfasaj e para
armnico j
( ) ( )
2 2
* S
j
C
j j
f f f + =

=

S
j
C
j
j
f
f
tg
1

( )
( )dt t j Sen f
T
f
T
t
S
j
=

0
2
( )
( )dt t j Cos f
T
f
T
t
C
j
=

0
2
Integral de Duhamel
Respuesta debida a las cond. i ni ci al es Funci n respuesta
i mpul si va uni tari a
) (t
f
t 0
0
f
( )
[ ] ) ( 1
0
t Cos
k
f
x
n t
=
0 =
) (t
f
t 0
0
f
0
t
( )
( ) [ ] ) ( 1
0
0
t t Cos
k
f
x
n t
=
0 =
) (t
f
0
0
f
0
t
t
( )
[ ] ) ( 1
0
t Cos
k
f
x
n t
=
( )
( ) [ ] ) ( ) (
0
0
t Cos t t Cos
k
f
x
n n t
=
0
0 t t <
0 > t
0
t t >
) (t
f
t 0
0
f
0
t
( )

= ) (
1
0 0
0
t Sen
t t
t
k
f
x
n
n
t

0 > t
0
t t >
0 =
0 =
5
Uni versidad Simn Bolvar Vibraciones Mecnicas: Teora & Medicin
Euro Casanova, ene 2012
Formulario IV
Ecuaci n de movimiento para un sistema lineal
( ) ( ) ( ) ( ) t t t t
f Kx x C x M = + + & & &
( ) ( )
0 Kx x M = +
t t
& &
[ ] 0 M K =
2

N j L 1 =
[ ]
N
L
2 1
=
( ) ( ) t t
p x =
( ) ( )
0 p K p M = +
t t
& &

= =
N
T

O
1
M M

= =
N
T

O
1
K K
[ ] 0 M K =
1
x
j
x
N
x
j
m N
m
1
m
L
L
Sistema de N GDL
( ) 0 0
v x = &
( ) 0 0
x x = Cond. i ni ci al es
Sist. de N EDO de 2do orden,
acoplado, li neal, no homogneo
NxN
M M =
NxN
K K =
NxN
C C =
Resp. libre no
amortiguada:
( )
0 f =
t Sol uci n
propuest a:
0 C =
( )
t i
t
e

x =
2
=
Problema de autovalores y aut ovect ores de dimensin N en la forma generalizada
En general:
T
M M =
T
K K =
T
C C = Note que:
1 Nx
f f =
1 Nx
x x =
[ ] 0 det = M K
Slo tiene solucin no
trivial si se cumple:
Esto produce un polinomio en de grado N, cuyas races son los autovalores
1
,
2
,
N
N j
L L
2 1
[ ] 0 M K =
j j

Los autovectores se
calculan a partir de:
Matriz modal :
Cambio de
coordenadas:
Amort i guaci n
proporci onal :
K M C + =

= =
N
T

O
1
C C
( ) ( ) t t
p x =
( ) ( ) ( )
0 p K p C p M = + +
t t t
& & &
Cambio de
coordenadas:
Sist. de N EDO de 2do orden,
desacopl ado, l ineal , no homogneo
Resp. libre amortiguada:
) ( 1 t
f ) (t j
f
) (t N
f
6
Uni versidad Simn Bolvar Vibraciones Mecnicas: Teora & Medicin
Euro Casanova, ene 2012
Formulario V
Exi sten N ecuaci ones
de la forma:
Sol uci n en las
coordenadas fsi cas:
Sol uci n:
Exci taci n
armni ca si mpl e:
Resp. libre amortiguada
(amortiguacin proporcional): ( ) ( ) t t
p x =
( ) ( ) ( )
0 p K p C p M = + +
t t t
& & &
( ) ( ) ( )
0 = + +
t j t j t j
p p p & & &
( ) ( ) ( )
0 2
2
= + +
t j t j j t
p p p & & &
( ) ( )
[ ] ) ( ) ( t Sen B t Cos A e p p
j j
j j
h
d j d j
t
t j t j


+ = =

2
1
j j d
j
=
j
j
j

=
j j
j
j

2
=
Frecuenci a propi a
del modo j
Factor de amortiguacin
del modo j
Frecuenci a propi a
amortiguada del modo j
0
1
) 0 (
Mx
T
j j j
j
p A

= = ( )
0 0
1
) 0 ( ) 0 (
x v M
j j
T
j
d
j j j j
j
j
d j
j
p p
B

+ =
+
=
&
( ) ( )
( ) [ ]

=

=
+ = = =
N
j
d j j
T
j d
T
j
t
j
N
j
t j j t h t h
t Sen t Cos e p
j
j
d j
j j
j h
1
0 0
1
0
1
1
) (
) ( ) (

x v M Mx p x
Sol uci n:
Resp. forazada amortiguada
(amortiguacin proporcional):
Exi sten N ecuaci ones
de la forma:
( ) ( ) t t
p x =
( ) ( ) ( ) ( ) t t t t
f p K p C p M = + + & & &
( ) ( ) ( )
*
) (
1
2
2
t j t j t j j t
f p p p
j

= + + & & &

( ) ( ) ( )
) ( 2
0
1
2
t Sen p p p
T
j t j t j j t
j
= + + f

& & &

( ) ( ) ( )
0 Kx x C x M = + +
t t t
& & &
( ) ( ) ( ) ( ) t t t t
f Kx x C x M = + + & & &

= =
*
) (
*
) ( 1
) (
) ( 1
t N
t
t
T
N
t
T
T
f
f
M M
f
f
f f
( ) ( ) ( ) t j t j t j
p h
p p p + =
( ) t j
p
p
depende de la forma de (i .e. armnica, peridica, impulsiva o genri ca)
*
) (t j
f
) (
0
t Sen = f f ) (
0
*
) (
t Sen f
T
j t j
= f
( )
) (
) , (
0
j r
j
T
j
t j
t Sen G p
j j p

=
f

=

2
1
1
2
j
j j
j
r
r
tg

( ) ( )
2
2
2
) , (
2 1
1
j j j
r
r r
G
j j

+
=
j
j
r

=
Sol uci n en las coordenadas fsi cas:
( ) ( )
=
= =
N
j
t j j t p t p
p
p
1
) (
p x
Sol uci n en las
coordenadas fsi cas:
( ) ( )
= =
= = =
N
j
j r
j
T
j
j
N
j
t j j t p t p
t Sen G p
j j p
1
) , (
0
1
) (
) (
) (

f
p x