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MECH2200/2210 Dynamics and Orbital Mechanics

Department of Mechanical Engineering,


The ni!ersity of "#eensland
VIBRATIONS
Common engineering phenomenon concerned $ith linear displacement% ang#lar
rotation% deflection &bending' of components(
)implest system is 1 DO* in!ol!ing 1 displacement(
+n general, m#lti DO* $ill
apply% b#t 1 DO* is a
basic , #sef#l analytical
tool
)ingle $heel on car - 1DO*
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
Free Vibration
.fter displacement, system oscillates before ret#rning to the e/#ilibri#m position in
absence of imposed e0ternal forces% eg( car o!er single b#mp
Forced Vibration
Motion contin#o#sly e0cited by dist#rbing force% e0ternal or d#e to system dynamics%
eg( car o#t of balance
Damping
+n all engineering applications, some forces resist motion &mechanical , fl#id friction'
mechanism for energy losses
*riction al$ays opposes motion(

Fdx is al$ays %!e


May be deliberately ind#ced% eg( shoc1ers
Damping is generally proportional to
v x,
(
(
x k F
D

&!isco#s damping, con!enient sign change%
(
x
goes 2!e'
3inear and non%linear systems consider !ibration $hen restoring force 4
displacement(
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
E0ample of a linear system
% simple spring
This is applicable to many systems% o#r
analysis is restricted to linear 2 !ery #sef#l(
E0amples of non%linear systems
% .ir spring
T R V P
isothermal
V
V P
P
o o

% O!erload springs on a 56D only contact at high load 2 large displacement
m
k
n

MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
Single degree of freedom linear analysis
7e$ton8s 3a$
(( (
x m x c x k F
x k x c x m t F
o
+ +
( ((
cos
(!
FR"" VIBRATION
#ase $% ndamped, free !ibration & 0 c , 0 F '
0
((
+ x k x m
x x x
m
k
x
n
2
((
0
((
+ + (!
$here fre/#ency nat#ral
m
k
n

opposes
displacement
opposes
motion
forcing term inertia damping spring stiffness
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
6e $o#ld e0pect a simple harmonic motion &acceleration 4 displacement' to prod#ce
an oscillatory sol#tion(
t B t A x
n n
cos sin +
t B t A x
n n n n
sin cos
(

t B t A x
n n n n
cos sin
((
2 2

satisfies &9' choose ., : to match bo#ndary conditions &starting !al#es'
t x t x x
n n o n
o sin cos
( (

+f it is 1no$n that at 0 t ,
o
x x
and
o
x x
( (

, then
n
o x
A

and
o
x B
(
f#ll sol#tion for
x
is
t x t
x
x
n o n
n
o

cos sin
(
+
(!
E0amples;
1( !ibration of a car
2( !ibration of a bed
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
FOR#"D VIBRATION
ndamped
t F F
o
cos
&
n

in general'
t F x k x m
o
cos
((
+
)ol#tion has 2 parts complementary &<H) = 0' % nat#ral fre/#ency
partic#lar &response to forcing'
t
m
F
x x
o
n
cos
((
2
+ (!
The main p#rpose of this analysis is to get the long%term &steady' response to forcing
inp#t( The )HM component $ill damp o#t any$ay( E!ent#ally, the system $ill
!ibrate at

need to find amplit#de


eg( !ibration of engine on mo#nts
.ss#me form
t x x
p
cos
t x x sin
(

t x x cos
((
2

( )
2 2
2 2
cos
cos cos cos



+
n
o
n
t x
t
m
F
t x t x
( )

,
_

,
_


2
2
2
2
2
2 2
1 1
n
o
n
n
o
n
o
K
F
m
F
m
F
x


(!
7otes; <ole of
n

% nat#ral fre/#ency of #ndamped system


.s
n

,
x
>resonance8 occ#rs( 6hen this happens, energy inp#t is at
all times adding to nat#ral motion &s$ing'( This $ill increase #ntil something
brea1s or non%linearities occ#r &eg s#spension hits stops'( +n practice, there
$ill al$ays be damping $hich stops

&11'
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
#ase $& *or
n
<<
,
K
F
x
o

i(e( the system follo$s a >static8 response, in phase $ith inp#t &eg( car going #p hill'
#ase $' *or
n
>>
,
2 2
2

m
F
K
F
x
o
n
o

i(e( o#tp#t is atten#ated from static
deflection by
2

m
F
o
and in!erted
o#t of phase

#ase $( +f

K
F
o
st

static deflection, then


2
1
1
st
n
x


,
= magnification factor
!ery important for engineering design(
eg( roc1ets
$ant to ma1e s#re
n

of any !ibration
modes ?? lo$est e0citing fre/#ency

MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
<esonance occ#rs $hen
n

&forcing fre/#ency = nat#ral fre/#ency'
*ree !ibration $ill occ#r at nat#ral fre/#ency if de!ice accelerates rapidly
thro#gh
n

<esonance may not ha!e time to start% eg( $heel $obbles


*or connected net$or1 of rigid bodies, n#mber of n

= no( DO*
7on%rigid elastic system has n#mber of fre/#encies% eg( di!ing board
Energy
t x x cos
t x x v sin
(

@inetic energy
t x m T
2 2 2
sin
2
1

more energy needed to e0cite higher

&high

!ibration is less
important'
for gi!en energy T, amplit#des at higher

$ill be less
DA)*"D+ FR"" VIBRATION c + F,
0
( ((
+ + kx x c x m
let
t
e A x

,
t
e A x


(
,
t
e A x

2
((

!isco#s damping
)teady position
E0pected sol#tion
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
6ant to find
( ) 0
2
+ + A e k c m
t
>characteristic e/#ation8
The t$o roots are;
m
k
m
c
m
c
m
m k c c

,
_

2 2
2 , 1
2 2 2
5
(!
0
2
+ +
m
k
m
c

<esponse depends on roots of the characteristic e/#ation(


#ritical damping
Critical damping is defined as being $hen
m
k
m
c

,
_

2
2
0( The characteristic
e/#ation has t$o e/#al, negati!e roots

m
c
c
2
&

c
c
critical damping coefficient'
and
2
2
2
n
c
m
k
m
c

,
_

m k m c
n c
2 2
(!
.t this condition, t$o real roots are
n
m
m k

2
2
2 1
&#ndamped nat#ral fre/#ency'
m
k

t
o
t n
e x e A x



(!
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
<esponse is non%!ibratory(
E0ponentially decays to Aero in
minim#m amo#nt of time(
Critical damping is the target
condition for many designs
% eg( the car $heels
.s critical damping is a common design obBecti!e, it is con!enient to define a
>damping ratio8


c
c
c

damping coefficient
eom
0
(
2
((
2
+ + x x x
n n

<oots can be e0pressed as;

1
2
2 , 1
t
n n
(!
t
e A x
2 , 1


(!
Type of sol#tion $ill depend on damping ratio

(
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
O!er damped
1 >
,
c
c c >
(
e/( &1C' has 2 #ne/#al, %!e real roots(
t t
e B e A x
2 1

+
$ith ., : depending on bo#ndary conditions
t t
e B e A x
2
2
1
1
(
+
7ot normally achie!ed &or desired' in passi!e mechanical systems(
7on%!ibratory motion, decays to 0 as 0 t
eg( car o!erdamped%
after step inp#t stays
lo$(
O!er damped car $heel e0ample;
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
Critically damped
1
,
c
c c
(
*rom e/(&1C'
n n
t 0
&2 e/#al, real roots'
)ol#tion of this e/#ation has the form;
( )
t
n
e Bt A x

+
(!
<esponse is non%!ibratory( E0ponentially decays to Aero in minim#m amo#nt of time(
(
x

( ) ( ) [ ] t B A B e t B A e e B
n
t t
n
t
n n n
+ +



((
x

( ) [ ]
t
n n
t
n
n n
e B t B A B e



+

( ) [ ] B t B A e
n
t
n
n
2 +



Car e0ample;
( !
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
nder damped
1 <
,
c
c c <
(
CE;
0
(
2
((
2
+ + x x x
n n

,
n
k
m
,
c
c
c

1,2
2
1
n n
t
*or
1 <
, only imaginary roots e0ist &comple0 conB#gate pairs'
1,2
2
1
n n
t , $ith i j
1,2 n d
j t
(!
$here
2
1
d n

&damped nat#ral fre/#ency' (!
This leads to atten#ating oscillations at
d

% most common passi!e system(


The sol#tion is of the form
( ) ( )
1 2
n d n d
j j
t t
x A e A e
+
+
sin cos
n
t
d d
x e A t B t

1
+
]
may be represented as Dsin , phase shiftE
( ) & ' cos
n
t
d
x t Ce t

(!
T$o coefficients
, C
are to be fo#nd from initial conditions and parameters
n d
,
are to be fo#nd from 1no$n physical properties
c m k , ,
(
Oscillations at
d

, $ith e0ponential decay


n d
<
% !isco#s damping slo$s motion
do$n(
To sol!e for
, C
, $e need t$o conditions% eg( 0 t ,
o
x x
,
o
x x
( (


or 0 t ,
o
x x
,
t
,

x x
etc(
( ) cos
n
t
d
x Ce t


MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
( ) ( )
{ ( ) ( ) }
(
cos sin
cos sin
n n
n
t t
n d d d
t
n d d d
dx
x Ce t C e t
dt
Ce t t





+
(!
e0ample; #nderdamped $heel
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
Obser!ation of the rate of decay of >pea1s8 may be #sed to estimate damping ratio

*rom &22' ( ) & ' cos
n
t
d
x t Ce t


Fea1s occ#r after a cycle so that
2
2
d
d
T T


&period'
.fter
n
periods t nT
{ }
& '
2
& ' cos & '
& '
&as cos terms are e/#al'
& '
& ' 2 2
ln from &21'
& '
1
n
n
t nT
d
nT
n n
d
x t nT Ce t nT
x t
e
x t nT
x t n
nT n
x t nT





+
+ +

+
_


+
,
Gi!en the magnit#de of
x
at 2 matched points on different cycles &
n
apart', damping
ratio may be fo#nd(
May #se any corresponding points b#t it is sensible to #se pea1s &most acc#rate'
no phase to $orry abo#t
ma0 displacement
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
*or the special case $hen 1 n &2 s#ccessi!e pea1s'
2
& ' 2
ln
& '
1
n
x t
T
x t T

_


+
,

(!
$here logarithmic decrement
2 2
5



+
*or !ery lightly damped systems
2
1 - 0 <<
2
(!
*or car $heel e0ample;
d

=21(CH r/s,
n

=2H r/s,

=0(H
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
DA)*"D+ FOR#"D VIBRATION c + F
7eed f#ll e/#ation of motion
(( (
cos
o
F t mx c x k x + +
from &I'
0, 0 F c
)ol#tion consists of s#perimposed steady state ,
transient sol#tions(
)teady state sol#tion &i(e( $hat happens $hen
starting process dies do$n' is of most
engineering interest st#dy that(
eg( accelerate thro#gh $heel $obble% essential
difference2 $ill oscillate at

, not
n

or
d

(
Many techni/#es ha!e been de!eloped to sol!e
the e/#ation eg( 3aplace transforms %Math(

O#tp#t has the form;
cos& ' x X t
$ith
( )
( )
{ }
1/ 2
2
2
2
o
F
X
k m c

+
and
(!
1
2
tan
c
k m


,
i(e( system $ill oscillate at the dri!ing fre/#ency

, $ith displacement pea1 X and


phase shift

(
forcing inp#t inertia damping spring stiffness
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
Critical parameters are;
damping ratio
c
c
c

and fre/#ency ratio
forcing fre/#ency
nat#ral fre/#ency
n


noting that
2 2
c
c c
c c c
c km
k c k c k


gi!es
( )
( )
{ }
1/ 2
2
2
2
1 2
o
F k
X

+
and
(!
1
2
2
tan
1

,
phase response
7oting that the static displacement &

=0' has the !al#e of


st o
X F k
(
<atio of dynamic to static deflection &amplit#de response' is gi!en by
( )
( )
( )
{ }
1/ 2
2
2
2
1
1 2
st o
X X
X F k


+
(!
from &15'
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
E0ample
. platform of mass 1H0 1g has an item of rotating machinery mo#nted on it,
pro!iding an o#t of balance force created by a H1g mass, mo#nted H0 mm off the a0is
of rotation, C00 rpm( The platform is s#pported on a spring%damper system( +t is
re/#ired that the pea1 deflection of the table is to be 1mm( *ind the spring and
damping parameters needed to achie!e this for &i'
0
&ii'
0(2H
MECH2200/2210 Dynamics and Orbital Mechanics
Department of Mechanical Engineering,
The ni!ersity of "#eensland
-eneral comments
)ol#tion for a !isco#sly damped, forced oscillating system for any !al#e of
damping &thro#gh

' and fre/#ency &thro#gh

'
+ncl#des the #ndamped analysis from earlier &e/( 12' $ith
0
Most common engineering application is to red#ce or limit the amplit#de of
!ibration from an applied force( *or
st
X X
?1,

m#st be J
2
for an
#ndamped system(
*or finite !al#es of

, this occ#rs at lo$er

*or

1, all fre/#encies are atten#ated


.s a general design r#le% design the system for a lo$er
n

than the lo$est


fre/#ency of the e0pected load(
. system is said to be in >resonance8 if
n

(
.t lo$

&

',
0
( Characterised by lo$ mass eg( spring on its o$n(
.t high

,
o
1I0 &o#t of phase'( Mass dominates(

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