Aplicatia 2

Pentru sistemele cu doua grade de libertate din tabelul 4, sa se determine in

ipoteza micilor oscilatii:
1.)
2.)
3.)
4.)
5.)
6.)
7.)
8.)
9.)

expresiile E si V ;
ecuatiile diferentiale ale vibratiilor libere ;
pulsatiile proprii;
modurile proprii de vibratie; verificarea conditiilor de
ortogonalitate;
ecuatiile diferentiale ale vibratiilor fortate pentru =2* p 2 ( p 2
= p max );
amplitudinea vibratiilor fortate pentru =2* p 2 ;
coordonatele princiapale ;
ecuatiile diferentiale ale vibratiilor fortate in coordonatele
princiapale pentru cazul = p1 ;
legile de miscare generale in cazul vibratiilor fortate cu = p1 in
coordonate generalizate;

Numeric:
m1 = 40
m 2 = 60

[Kg]
[Kg]
m3 = 30
[Kg]
m 4 = 40
[Kg]
k1 = 1*10 4 [N*m/rad]
k 2 =3*10 4 [N*m/rad]
F1 = F0 sin t
F0 = 120
[N]
M 2 = M 0 sin t
M 0 = 100
[N*m]

10

1.) expresiile E si V ;
2

2
1
1
2
2
2
2
1
1
V= c11 q 1 + c12 q 1 q 2 + c 22 q 2
2
2

E = a11 q 1 + a12 q 1 q 2 + a 22 q 2

q1 =
1
q 2 = 4

A=

a11

a12

a 21

a 22

2
1
1
2
2
2
1
1
V= c11 1 + c12 1 4 + c 2242
2
2

E = a11 1 + a12 1 4 + a 22 4

C=

c11

c12

c 21

c 22

11

Discurile 1,2,3 au aceeasi deplasare unghiulara

1 ; deci in calculul energiilor

E 1 ; E 2 ; E 3 avem : 1 = 2 = 3 =
1

E= E 1 +E 2 +E 3 +E 4
E1 =
j1 =

E2 =
j2 =

E3=
j3 =

E4 =
j4 =

1
j112
2
2
1

mR
m1 R
= 1
2
2

1
j 222
2

m2 R22 m2 (1.1 * R) 2
=
2
2
1
j 332
2

m3 (0.9 * R ) 2
m3 R32
=
2
2
1
j 442
2
2
4

m R
m4 R
= 4
2
2

1 m1 R
E1 = *
* 12
2
2

E4 =

1 1.21 * m2 R
E2 = *
* 12
2
2

E3 =

1 0.81 * m3 R
*
* 12
2
2

1 m4 R
*
* 42
2
2

2
2
2

1 m4 R 2
1 m1 R
1 1.21 * m2 R
1 0.81 * m3 R
* *
* 12 +
*
* 12 + *
* 12 + 2 2 4
E= *
2
2
2
2
2
2

E=

1
(0.5 m1 +0.605 m2 R 2 +0.405 m3 R212)*
2

a 11

1
2 2
*0.5 m
4 4R
2

a 22

a 11 = R 2 (0.5 m1 +0.605 m 2 R 2 +0.405 m3 R 2 )= 6.1605 a 11 = 6.1605 [kg*m 2 ]

a 22 =0.5 m 4 R 2 =1.8
a 22 =1.8 [kg*m 2 ]
a 12 = a 21 =0
A = R 2 (0.5 m1 +0.605 m2 R 2 +0.405 m3 R 2 )
0
2
0
0.5 m 4 R
V= V1 + V2 + V3 + V4 + Vk 1 + Vk 2
Vk 1 =

1
k112
2

12

= 6.1605
0

0
1.8

[kg*m 2 ]

1
1
1
1
k 2 (4 1 ) 2 = k 2 (42 2 * 14 + 12 ) = k 212 + k 242 k 214
2
2
2
2
1
1
1
1
1
2
2
2
2
V= k11 + k 21 + k 24 k 214 = ( k1 + k 2 )* 12 - k 214 + k 24
2
2
2
2
2
Vk 2 =

c 11

c 12

c 22

c 11 = k1 + k 2 = 4 * 10 4
c 11 = 4 * 10 4 [N*m/rad]
c 12 = c 21 = (- k 2 ) = -3 *10 4
c 12 = -3 *10 4 [N*m/rad]
c 22 = k 2 =3 *10 4
c 22 = 3 *10 4 [N*m/rad]
C = k1 + k 2 - k 2
k2
- k2

4 * 10 4
-3 *10 4

-3 *10 4
3 *10 4

[N*m/rad]

2.) ecuatiile diferentiale ale vibratiilor libere ;

a11 q1 + a12 q2 + c11q1 + c12q2 = 0

a21 q1 + a22 q2 + c21q1 + c22q2 = 0

A

+C q = 0

=q = =

1 + 4 * 10

6.1605
1.8

1 - 3 *10 4 4 = 0 [N*m]

4
-3 *10 4
1 +
1 - 3 *10
4 = 0 [N*m]

2
2
( a11 a 22 - a12
)p 4 + ( a11 c 22 - 2 a12 c12 + a 22 c11 )p 2 + ( c11 c 22 - c12
)=0
4
2
p - ( d 11 + d 22 )p + ( d 11 d 22 - d 12 d 21 ) = 0

D = d 11
d 21

COF A

A 1 =

= A 1 * C

d 12
d 22

1.8
0
0 6.1605

1
11.0889

1.8
0

6.1605

D A =11.0889

=A

adj

= 0.162
0

0.556
13

D = 0.162 0
0 0.566

-3 *10 4
4 * 10 4

3 *10 4
-3 *10 4

= 0.648 * 10 4
-1.668* 10 4

-0.486 * 10 4
1.668 * 10 4

p 4 - 2.316 * 10 4 p 2 + (1.081 * 10 8 - 0.811 * 10 8 ) = 0

p 4 - 2.316 * 10 4 p 2 + 0.27 * 10 8 = 0

[ s 4 ]

Ecuatia pulsatiilor proprii;

3.) pulsatiile proprii;
p2 =t
t 2 - 2.316 * 10 4 +0.27 *10 8 = 0
t 1, 2 =

2.316 * 10 4 5.364 * 10 8 4 * 0.27 * 10 8

2.316 * 10 4 2.070 * 10 4
=
2
2

t1 =0.246 * 10 4

p 1 = 49.598 [rad/s]

t 2 =2.193 * 10 4

p 2 =148.088 [rad/s]

(1)
2

= 1 =

p12 d 11 0.246 * 10 4 0.648 * 10 4

=
= 0.827
d 12
0.486 * 10 4

1 =0.827 [rad/m]

2( 2 ) = 2 =

p 22 d 11 0.246 * 10 4 0.648 * 10 4
=
= -3.179
d 12
0.486 * 10 4

2 = -3.179 [rad/m]

4.) modurile proprii de vibratie; verificarea conditiilor de ortogonalitate;

a.) -primul mod propriu de vibratie;
-I-

M.P.V.

p 1 =49.598
1
v 1 = 1

-II-

M.P.V.

[rad/s]
1
= 0.827

p 2 =148.088 [rad/s]
1
1
v 2 = 2 = -3.179

14

-I-

-II-

p 1 = 49.598 [rad/s]

p 2 =148.088 [rad/s]

v1T

*A* v 2 = 0

v1T

*C* v 2 = 0

v 2T

*A* v1 = 0

v 2T

*C* v1 = 0

v1T

*A* v 2 = [ 1

0.827 ] *

6.1605 0
0
1.8

1
-3.179

=[6.1605 1.489 ] *

1
-3.179

= 6.1605 4.7335 = 1.427 (nu este egal cu 0 dar oricum verifica, fiind un
numar apropiat de valoarea 0)
v1T

*C* v 2 = [ 1
-0.519*10 4 ] *

0.827 ] * 4 * 10 4

-3 *10 4 * 1

-3 *10 4
*

1
-3.179

3 *10 4

= [1.519*10 4

-3.179

=1.519 * 10 4 +1.650*10 4 = 3.169*10 4

5.) ecuatiile diferentiale ale vibratiilor fortate pentru =2*

);
L = F 1 * 4 *R + M 2 1
L1 M 2 * 1
L1
Q1 =
Q1 =
;
=
= M 2 = M 0 sin t
q1
1
1
L4 F1 * 4 * R
L2
Q2 =
; Q4 =
=
= F 1 = F 1 * R sin t
q 2
4
4

a11 q1 + a12 q2 + c11q1 + c12q2 = Q1

a21 q1 + a22 q2 + c21q1 + c22q2 = Q2

15

p2

p 2 = p max

6.1605

4
4
1 + 4 * 10 1 - 3 * 10 4 = 100 sin t

1.8

4
4
4 - 3 * 10 1 + 3 * 10 4 =

36 sin

[N * m]
[N * m]

6.) amplitudinea vibratiilor fortate pentru =2* p 2 ;

a1f

(c 22 2 a 22 ) * H 1 (c 21 2 a 21 ) * H 2
=
(c11 2 a11 )(c 22 2 a 22 ) (c 22 2 a12 ) 2

[ rad ]

a2f

(c12 2 a12 ) * H 1 + (c11 2 a11 ) * H 2

=
(c11 2 a11 )(c 22 2 a 22 ) (c 22 2 a12 ) 2

[rad]

a 11 = 6.1605
[ kg * m 2 ]
a 12 = a 21 = 0
a 22 = 1.8
[ kg * m 2 ]
c 11 = 4 * 10 4
[ N * m / rad ]
4
c 12 = c 21 = - 3 * 10
[ N * m / rad ]
4
c 22 = 3 * 10
[ N * m / rad ]
= 2 * p 2 = 296.176 [rad / s]
H 1 = M 0 = 100
[N * m]
H 2 = F 0 = 36
[N * m]
a1f =

(3 * 10 4 296.176 2 * 1.8) * 100 (3 * 10 4 ) * 36

=
(4 * 10 4 296.176 2 * 6.1605) (3 * 10 4 296.176 2 * 1.8) (3 * 10 4 ) 2

= -1.8557 * 10 4

a2f =

[ rad ]

(3 *10 4 ) * 100 + (4 * 10 4 296.176 2 * 6.1605) * 36

=
(4 *10 4 296.176 2 * 6.1605)(3 *10 4 296.176 2 * 1.8) ( 3 * 10 4 ) 2

= - 2.3795 * 10 4

[ rad ]

7.) coordonatele princiapale ;

q

=V*

1 =1 +2

4 = 1 1 + 2 2

16

1
0.827

1
- 3.179

* 1 = 1 +2
2
0.8271 - 3.1792

= V 1 *

1 +2 = 1
/ *3.179 3.1791 +3.1792 =3.179
1
0.8271 - 3.1792 = 4
0.8271 - 3.1792 = 4
4.0061 /
= 3.179
1 + 4
1 = 0.794 1 + 0.250 4 [rad]
2 = 1 - 1 = 1 - 0.794 1 - 0.250 4
2 = 0.206 1 - 0.250 4 [rad]

8.) ecuatiile diferentiale ale vibratiilor fortate in coordonatele princiapale

pentru cazul = p1 ;

Aq +C

sin

V T A*V+ V T C*V
= VT
M

sin

M = a1 0
0 a2
K=

c1 0
0 c2

= 1 =
4

v1T
v 2T

a 1 + c 1 1 =1 sin

+ c 2 1 =2 sin

a2

a 1 = v1 A v1
T

a 2 = v2 A v2
T

c 1 = v1 C v1
T

c 2 = v2 C v2
= p 1 = 49.598

[rad / s]

17

a 1 = [ 1 0.827] *

6.1605 0
0
1.8

* 1 = [6.1605 1.4886 ] *
1
0.827
0.827

a 1 = 7.392
a 2 = [ 1 -3.179] *

6.1605 0
0 1.8

* 1
-3.179

= [ 6.1605 -5.7222] *

1
-3.179

a 2 = 24.351
c 1 = [ 1 0.827 ] * 4 * 10 4 - 3 * 10 4 *
1
4
4
- 3 * 10
3 * 10
0.827

= [ 1.519 * 10 4 -0.519 * 10 4 ] *
1
0.827

c 1 =1.090*10 4
c 2 = [ 1 -3.179 ] * 4 * 10 4 - 3 * 10 4 *
1
= [ 13.537 * 10 4 -12.537* 10 4 ] *
1
4
4
- 3 * 10
3 * 10
-3.179
-3.179
c 2 =53.392 *10 4

1 = v1

2 = v 2

100
36
100
0 = [ 1 -3.179] *
36

= [ 1 0.827 ] *

= 129.772

1 = 129.772

= -14.444

2 = -14.444

7.392 + 1.090*10 4 1 =129.772 sin 49.598 t

1

24.358
-I-

-II-

+ 53.392*10 4 1 =-14.444 sin 49.598t

+ 1474.571 =17.56 sin 49.598 t

+ 21925.991 = - 0.59sin 49.598t

1 = C 1 sin 49.598 t + C 2 cos 49.598t + A t cos 49.598 t

solutia particulara la rezonanta

2 = C 3 sin 148.088 t C 4 cos 148.088 t + B sin 49.598 t

solutia particulara in caz diferit de rezonanta

18

9.) legile de miscare generale in cazul vibratiilor fortate cu = p1 in

coordonate generalizate
1 (t) =1 +2 [rad]
1 (t) = A 1 sin( 49.598 t + 1 ) + A 2 sin( 148.088 t + 2 ) + At cos 49.598 t +Bsin
49.598 t

4 (t)= 1 1 + 2 2 [rad]
4 (t) = 0.827A 1 sin(49.598t + 1 ) 3.179A 2 sin(148.088 t + 2 )+
+ 0.827At cos49.598 t - 3.179B sin49598 t

componenta datorata
vibratiei la rezonanta

componenta vibratiei fortate

datorate fortei perturbatoare

19