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2 Free Vibration
Undamped Free Vibration; Viscously Damped Free Vibration;
Coulomb Damped Free Vibration
3 Response to Harmonic and Periodic Excitations
Harmonic Vibration of Undamped Systems; Harmonic Vibration with
Viscous Damping; Response to Vibration Generator; Resonance;
Natural Frequency and Damping from Harmonic Tests; Force
Transmission and Vibration Isolation; Response to Ground Motion
and Vibration Isolation; Vibration-Measuring Instruments; Energy
Dissipated in Viscous Damping; Equivalent Viscous Damping
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THEORY OF VIBRATION
Essential characteristics of a vibrating system:
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THEORY OF VIBRATION
Definitions
Free Vibration a system put out of its equilibrium
position and vibrates under the action of forces
inherent in the system, and in the absence of external
forces, is under free vibration.
Forced Vibration a vibration that takes place under
the action of external forces is called forced vibration.
Degree of Freedom (DOF) the number of degree of
freedom is equal to the number of independent coordinates
necessary to describe the motion of a system.
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=
= velocity response
y (t) =
= acceleration response
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System description
m = mass or inertia property, assumed to be concentrated on the block
(point mass)
k = stiffness property; the force required to give mass a unit displacement,
its unit is force/length
c = damping coefficient; property of the system that retards the motion of
the system (e.g. friction)
P(t) = force function, externally applied
*Note that m, c, and k are inherent properties of the system
TYPES OF VIBRATION
A.
B.
C.
D.
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,
0: 0
Let
DEM
0
!
0
0
$ %&' ( '#)
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$ %&' ( '#)
0 $ %&'0 ( '#)0 *
$ '#) ( %&'
0 $ '#)0 ( %&'0 +*
$ *
( +* /
* %&'
?
2
* cos
2
* cos 2
* %&'
56
+*
!.
56
'#)
+*
sin
[Eq. 1]
2
sin 2
'#)
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!.
* %&'
56
'#)
7
!.
or
2/7
[Eq. 2]
Structure
Response
Harmonic
Depends on u0 and v0
Initial displacement, u0
Initial velocity, v0
9 9 0
u (t ) = A cos t + B sin t
= k m
where
T=
= C cos(t )
A = u0 , B = v0
C = A2 + B 2 , = tan 1 (B A)
1
=
f 2
When an undamped SDOF system is subjected to initial displacement u0 and/or velocity v0, the
T = 21 k m
system will oscillate in a sinusoidal pattern with a period equal to
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% 0
[Eq. 3]
For the D.E.M. of the type given by [Eq. 3]. The form of the
solution is of the type:
$: ;
The first and second derivative with respect to time are:
or
$<: ;
$<! : ;
$<! : ; % $<: ; $: ; 0
$: ; <! %< 0
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%<
0
or
<
%
%
2
%
2
4
%
<>
2
%
2
%
<!
2
%
2
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!
>
i.e.,
!
>
<> and <! are both real and negative numbers. The solution
(or response equation) will be:
$: ;A (: ;
[Eq. 4]
CASE 2: If
!
i.e.,
?
!
$: ; (: ;
[Eq. 5]
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CASE 3: If
!
<
i.e.,
!
<
%
% !
!
<!
#
2
2
These are non-repeated, imaginary roots.
CASE 3 (contd)
The corresponding solution has the form:
?
: C! [$%&' !
%
2
('#) !
%
2
[Eq. 6]
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Define:
? !
!
1 !
[Eq. 7]
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MEASUREMENT OF DAMPING
V
VW>
VW!
Let
= ratio of 2 successive amplitudes of the same sign
NO
P QRS
P Q R(SOTK )
: JUK
(a constant)
MEASUREMENT OF DAMPING
: JUK
!.
X) 7 J
Y
!.
>W
or
Z W[.
Z W[.
or
!. if damping is small
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1
2 j
ln
ui
ui + j
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Example
Solution
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po
_ <&'#)
<&'#)
? ;
; particular solution
;j
(J C )
Transient part
(0)
;
j >C
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(Eq. 8) becomes:
()
;j
['#) '#)]
where
If we define:
(>C )
rs
tu
swx
v
(Eq. 9)
Frequency Ratio
where
y*
If > 1
1
['#) '#)]
(1 ! )
When = 1, ()
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Note: =
Damping ratio
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>
>C
sin
where
y* ;j
where
Rd =
u0
1
=
(u st )0 1 2
0o <
= o
180 >
For <
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or: !
~
[Eq. 10]
1 %&'
yV?
where (1 %&')
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Impulse = Pt
~
~
(from +)
_
'#)
or
~
J '#)( )
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2 !
;j
'#)
p = posint
General Solution: y = yc + yp
? (t) = : C Csin(d t - )
Transient response
Steady-state response
(t ) = A sin ( t ) = p0 Rd sin ( t )
uypp(t)
k
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: 2 !
~
'#)
2! (1 ! )
(1
!)
where: J
The term in brackets [ ] is the transient part which fades in time. The rest of
the equation is the steady-state response.
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j
;j/
>
>C!)!W(!
Phase lag
tanC>
!
>C!
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C
'#) ( )q
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