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, 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 $ill
!ibrate at
,
_
,
_
2
2
2
2
2
2 2
1 1
n
o
n
n
o
n
o
K
F
m
F
m
F
x
(!
7otes; <ole of
n
i(e( the system follo$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
,
= 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
= 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
&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
,
_
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
(!
$here
2
1
d n
&damped nat#ral fre/#ency' (!
This leads to atten#ating oscillations at
d
1
+
]
may be represented as Dsin , phase shiftE
( ) & ' cos
n
t
d
x t Ce t
(!
T$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
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
(
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 &
'
+ncl#des the #ndamped analysis from earlier &e/( 12' $ith
0
Most common engineering application is to red#ce or limit the amplit#de of
!ibration from an applied force( *or
st
X X
?1,
m#st be J
2
for an
#ndamped system(
*or finite !al#es of
*or
&
',
0
( Characterised by lo$ mass eg( spring on its o$n(
.t high
,
o
1I0 &o#t of phase'( Mass dominates(