Documente Academic
Documente Profesional
Documente Cultură
References:
Mats Abom et al, Sound and Vibration, KTH, Stockholm, 2006. S S Rao, Mechanical Vibration, (4th Edition) Pearson Education, Delhi, 2004. J S Rao and K Gupta, Theory and Practice of Mechanical Vibration, (2nd Edition) New Age International Publishers, New Delhi, 1999. de Silva, Vibration: Fundamentals and Practice, (2nd Edition) CRC Taylor & Francis, FL USA, 2007. Fahy, F.J. and Walker, J.G., Fundamentals of Noise and Vibration, E & FN, Spon, 1998
Indian Institute of Technology Roorkee
2/58
Contents:
Review of Vibration Fundamentals from a Practical Perspective. Structural Damping Expanded Understanding of Vibration Isolation. Sounds in Ducts. Industrial Noise and Vibration Control. Fluid Machine Noise and Vibration Control. Noise and Vibration in Pipes and Ducts. Vehicle Noise and Vibration Control. Active Noise and Vibration Control. Case Study. Indian Institute of Technology Roorkee
3/58
4/58
All mechanical systems composed of mass, stiffness and damping elements exhibit vibratory response when subject to timevarying disturbances. The prediction and control of these disturbances is fundamental to the design and operation of mechanical equipment.
Terminology
Mechanical system. A mechanical system is composed of distributed elements which exhibit characteristics of mass, elasticity and damping. Degrees of freedom. The number of degrees of freedom of a system is equal to the number of independent coordinate positions required to completely describe the motion of the system. System response. All mechanical systems exhibit some form of vibratory response when excited by either internal or external forces. This motion may be irregular or may repeat itself at regular intervals, in which case it is called periodic motion. Period. The period T is the time taken for one complete cycle of motion. Indian Institute of Technology Roorkee
6/58
Terminology
Harmonic motion is the simplest form of periodic motion whereby the actual or observed motion can be represented by oscillatory functions such as the sine and the cosine functions. Motion that can be described by a continuous sine or cosine function is called steady state. Frequency is the number of cycles per second (also called hertz) of the motion and is the reciprocal of the period. Therefore frequency is specified by
Examples of SDOF
Examples of SDOF
Translatory
Rotatory
Flexural
swinging
Single degree of freedom The common techniques for the analysis are The energy method, Newton's law of motion, The frequency response method The superposition theorem
1. 2. 3. 4.
F (t)
x(t)
m
dv
11/58
d 2 x (t ) dt
2
= F x ( x ( t ),
dx ( t ) , t) dt
(7)
Fx contains the spring force, the damper force, and external exciting force
Fx = x(t ) d v
dx(t ) + F (t ) dt
(8)
where m is mass of the body, is the spring constant, dv is the viscous damping coefficient, F(t) is the external excitation, x is the displacement of the mass, dx / dt its velocity, d 2x / dt2 its acceleration. These two equations lead to a second order linear differential equation with constant coefficients d 2 x(t ) dx(t ) 2 + 2 + 0 x(t ) = g (t ) (9) 2 dt
dt
12/58
0 = m
= d v 2m
g (t ) = F (t ) m
(10)
where 0 is the eigenfrequency of the system, and is the damping constant. The solution to the differential equation consists of both a homogeneous part xp(t) that corresponds to the homogeneous differential equation, i.e., with the right hand side equal to zero, and a particular solution xp(t) that corresponds to the non-homogeneous differential equation, i.e., with the right hand side non-zero.
x(t ) = x h (t ) + x p (t )
(11)
Because the system is linear, its particular solution, when the exciting force is described by the rotating vector Eq.(12), represents an oscillation at the excitation frequency, but with a different phase and amplitude. A reasonable assumption for xp is given by Eq.(13),
13/58
g (t ) = ge it
x p (t ) = x p e i e it = x p e it
2 2 x p e it + i 2 x p e it + 0 x p e it = ge it
The phase and magnitude of the complex amplitude
(12) (13)
That assumed form, substituted into Eq.(9), provides the following result:
(14)
x p is given by
(15)
xp =
g
2 ( 0
) + i 2
2
x p = x p e i
Indian Institute of Technology Roorkee
(16)
14/58
xp =
g
2 ( 0
) + (2 )
2 2
(17)
= arctan
2 0
+ n ,
n = 0, 1, 2,
(18)
From Eqs.(10) and (15), it is apparent that for 0, the stiffness determines the displacement. Thus, the low frequency response is stiffness-controlled. On the other hand, for 0, the mass m determines the displacement response; the high frequency response, therefore, is mass-controlled. Finally, for 0, the value of the viscous damping coefficient d is decisive for the displacement; the response at frequencies around the natural frequency is therefore said to be damping-controlled.
15/58
x p ( ) x p ( = 0)
1
(19)
(1 ( 0 ) 2 ) 2 + 4( 0 ) 2 ( 0 ) 2
16/58
F 2 (t) m2
d v3
17/58
m1
d 2 x1 (t) dt
2
20
m2
d 2 x2 (t) dt
2
21
18/58
m1
d 2 x1 (t ) dt 2
+ d 1
dx1 (t ) dx (t ) dx (t ) + d 2 1 2 + dt dt dt
24
25
Matrix and vector notation can be incorporated into Eqs. (24) and (25), which is useful for generalizing to an arbitrary number of degrees-offreedom.
19/58
r r r dx [M] 2 + [D] + [K ] x = F dt dt
where
r d 2x
26
m1 [M ] = 0
0 m2
d 2 d 2 + d 3 2 2 +3
27 28
[D] =
d 1 + d 2 d 2
[K ] =
1 + 2 2
29 30
x (t ) r x (t ) = 1 x 2 (t )
20/58
r F (t ) F (t ) = 1 31 F 2 (t ) Once again, let the excitation forces and the particular solutions be expressed by rotating vectors F1 (t ) = F1eit 32
F2 (t ) = F2 e it
33 34 35
x1p(t) =x1peit
x 2p (t ) = x 2p e it
Putting (32,33,34,35) into (26) gives
{ }
{ }
{ }{}
36
21/58
Solving to the homogeneous equations with the force vector set equal to zero leads to the systems eigenfrequencies. Setting, moreover, the damping matrix equal to zero, in order to obtain the undamped eigenfrequencies, the latter are found to be real. Damping, on the other hand, brings about complex-valued eigenfrequencies; the complex values contain information on both the undamped eigenfrequencies and the system damping. The eigenfrequencies 1 and 2 are given by the homogeneous equation
37
The condition for the existence of solutions to Eq. (37) is that the system determinant is identically zero, i.e.,
det( 2 [M ] + [K ] ) = 0
38
22/58
For a two degree-of-freedom system, Eq. (38) has two solutions corresponding to two eigenfrequencies. A system with n degrees-offreedom has n eigenfrequencies. The eigenfrequencies of the two degreeof-freedom system are
1,2 =
1 + 2 2 +3
2m1 + 2m2
(1 +2 )2 (2 +3 )2
2 4m1
2 4m2
2 2 1 2 13 23
2m1m2
39
From linear algebra, it is known that there is an eigenvector corresponding to each eigenvalue (eigenfrequency). These eigenvectors are mutually independent (orthogonal), and contain information on how the system oscillates in the vicinity of their respective eigenfrequencies. The mode shapes, x1 and x2, are obtained by substituting the eigenfrequencies, i.e., the solutions of Eq. (38), into Eq. (37), yielding
23/58
40
41
24/58
2
m1
n+1
m2 d v2
mn
d v1
x 1 (t)
x 2 (t)
d vn+1 x n (t)
25/58
m1
d 2 x1 ( t ) dt 2
+ d 1
dx 1 ( t ) dx ( t ) dx 2 ( t ) + d 2 1 dt dt + dt
+ 1 x1 (t ) + 2 ( x1 (t ) x 2 (t ) ) = F1 (t )
42
m2
d 2 x 2 (t ) dt 2
dx (t ) dx (t ) dx (t ) dx (t ) d 2 1 2 + d 3 2 3 dt dt dt dt
2 ( x1 (t ) x2 (t )) + 3 ( x2 (t ) x3 (t )) = F2 (t ),
mn1 d 2 xn1(t) dt2 dx (t) dx (t) dx (t) dx (t) dn1 n2 n1 + dn n1 n dt dt dt dt
43
26/58
mn
x n (t )
2
dt
+ d n +1
dx n ( t ) dx n ( t ) dx n 1 ( t ) + + d n dt dt dt
+ n+1 x n (t ) + n ( x n (t ) x n 1 (t ) ) = Fn (t ). 45
The mass matrix, damping matrix, and stiffness matrix, respectively, become
m1 0 [M ] = M 0 0 m2 0 L L 0 O 0 0 M 0 mn
46
27/58
d 1 + d 2 d 2 0 [D] =
1 + 2 2 0 [K ] =
d 2
d 2 + d 3 d 3 d 3 0
dn1 dn1 + dn 0 dn
0 n 1 0
dn dn + dn+1
n n + n +1
47
0 3 0
2 +3 3
48
n 1 + n n
28/58
where non-zero elements not shown in the equations are marked with a , and zero-valued elements are marked with a . One can even allow masses to be coupled in parallel, as in Figure 6.
2
F 2 (t)
4
m2
F 1 (t)
dv2
F 4 (t)
x 2 (t)
6
m4 dv6 x 4 (t)
m1 dv1
F 3 (t)
dv4
m3
x 1 (t)
dv3
dv5
x 3 (t)
29/58
dx ( t ) dx 3 ( t ) + d 3 1 dt dt + 1 x 1 ( t ) + 2 ( x 1 ( t ) x 2 ( t ) ) +
+ 3 ( x1 (t ) x 3 (t ) ) = F1 (t ),
49
m2
d 2 x 2 (t ) dt 2
dx (t ) dx (t ) dx (t ) dx (t ) d 2 1 2 + d 4 2 4 dt dt dt dt
2 ( x1 (t ) x 2 (t )) + 4 ( x 2 (t ) x 4 (t )) = F2 (t ),
50
30/58
m3
d 2 x 3 (t ) dt 2
dx ( t ) dx 4 ( t ) dx ( t ) dx 3 ( t ) + d 5 3 d 3 1 dt dt dt dt
3 ( x1 (t ) x 3 (t )) + 5 ( x 3 (t ) x 4 (t )) = F3 (t ),
51
dx 4 ( t ) dx 2 ( t ) d 2 x 4 (t ) dx 4 ( t ) + d 6 + d 4 m4 dt dt dt dt 2
dx (t ) dx 3 (t ) + d 5 4 dt dt + 6 x 5 (t ) + 4 ( x 4 (t ) x 2 (t ) ) +
+ 5 ( x 4 (t ) x 3 (t ) ) = F4 (t ).
52
31/58
The mass matrix, damping matrix and stiffness matrix, respectively, become
m1 0 [M ] = 0 0 0 m2 0 0 0 0 m3 0 m4 0 0 0
53
0 d 2 d 3 d1 + d 2 + d 3 0 d 2 d 4 d 2 + d 4 [D] = 0 d 3 d 5 d 3 + d 5 d 4 d 5 0 d 4 + d 5 + d 6
54
1 + 2 + 3 2 [K ] = 3 0
3 0
2 + 4
0 4
3 +5 5
4 5 4 +5 + 6 0
55
32/58
The general principle for generating these matrices, for systems in which the directions of forces and velocities are defined as in figures 5 and 6, can be summarized in the following way: (i) the mass matrix is diagonal. (ii) a diagonal element in the stiffness or damping matrix is the sum of the spring rates or damping coefficients, respectively, of all springs / dampers connected to the mass indicated by the row number of the element. (iii) an off-diagonal element at a specific row and column position in the stiffness or damping matrix has the opposite (negative) of the value of the spring rate or damping coefficient, respectively, for the connection between the mass indicated by the row number and that indicated by the column number.
33/58
Based upon the observation that mechanical systems respond harmonically in freemotion, the solution of equation can be assumed to be of the form given b equation Therefore we assume that the actual motion can be described as where Ar and A are real amplitudes of motion. Substitution of equation differentiating with respect to time and eliminating common terms, provides a relation for the frequency ton at which the system will naturally vibrate.
34/58
35/58
All vibrations in realistic systems occur with some form of damping mechanism, where the energy of vibration is dissipated during a cycle of motion. The simplest form of damping is when the resisting force associated with the damping is proportional to, and acts in an opposite direction to, the velocity of the element. Thus the damping force is specified by where C is the damping coefficient. SDOF system with this form of damping which is called viscous damping.
36/58
37/58
Inclusion of damping into the relationship for the forced response modifies the resulting amplitude to
38/58
Noise and Vibration Control The corresponding phase response is plotted in Fig. For very light damping the phase of the displacement response relative to the excitation force of the system flips through nearly a 180 phase change as the excitation frequency is increased through the resonance frequency.
39/58
40/58
41/58
42/58
43/58
44/58
Spring (K)
Consider a massless spring element of lumped stiffness k , as shown in Figure One end of the spring is fixed and the other end is free. A force f is applied at the free end
By hookes law
45/58
46/58
47/58
48/58
As is clear from the figure, the total deflection produced in the unstrained spring , work done is
49/58
50/58
Noise and Vibration Control Method Based on Newton's Second Law of Motion
The rate of change of momentum is proportional to the impressed force and takes place in the direction in which the force acts
51/58
Rayleigh's Method
Since the sum of kinetic and potential energies always constant it follows from the energy method that the potential energy is maximum when the kinetic energy is zero and conversely when the kinetic energy is maximum, the potential energy must be zero.
52/58
53/58
54/58
LAGRANGE'S EQUATIONS
No vibrations discussion is complete without a discussion of Lagrange's equations. All of you have already taken a dynamics class or two, which in the vast majority of cases has involved Newtonian mechanics.
55/58
LAGRANGE'S EQUATIONS
LAGRANGE'S EQUATIONS is giving by
56/58
LAGRANGE'S EQUATIONS
where KE and PE are the system kinetic and potential energies, respectively, and L is called the Lagrangian
57/58
Thank you