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College of Engineering
Mechanical Engineering Department
Vibration Laboratory
Experiments of
Mechanical
Vibration
Laboratory
Prepared by
Mr. Jaafar Khalaf Ali
Introduction
This booklet is dedicated for those student having mechanical vibration courses in their
studies including, but not limited to, students of the Fourth stage in the Department of
Mechanical Engineering. It contains several experiments to help in understanding and
testing some vibration applications starting from the simplest oscillatory motion
represented by the simple pendulum, moving through mass-spring system, torsional
undamped and damped vibration, forced vibration, two-degree of freedom system and
finally whirling of shafts and Dunkerley's Equation.
Based on the guides and catalogues provided by the TecQuipment (TQ) Company,
manufacturer of experimental devices, and also some other theoretical references, the
provided experiments were prepared carefully to ensure simplicity and avoid confusion.
Some misprints in the equations mentioned in TQ guides were avoided by returning to
textbooks and derivation of these equations from basic concepts.
Regards
Preparation Staff
The rod/string/cable on which the bob is swinging is massless and always remains taut.
Motion occurs in a plane.
l
(1)
l + g = 0
mg sin
n =
2
= 2
g
l
mg
or in other words;
g
l
, hence
(2)
l
g
Where n is the natural frequency in rad/sec and is the time of one cycle (period) in seconds.
From the above equations, it is clear that the natural frequency is a function of the string length
and does not depend on the mass of the pendulum. From eqs (2), one can find g as follows:
l
g = 4 2 2
(3)
Pendulum Accessory B1
Wooden ball
Steel ball
15
22
30
.
.
(1)
x
F
Force
2. Apparatus
C1
Spring
Slide
gauge
C3
C2
0.0
0.0
800
1200
1600
..
3600
4000
x
(4)
m
From the constructed table, we can obtain a relation between g and k using the mean values
of deflection and mass;
x
g=k
(5)
m
Part B: Oscillatory Motion
mg = k x g = k
1) Record the mass of the spring and the mass of the platform C3.
2) With only platform C3 attached to the spring, pull down the compound and release it to
introduce oscillatory motion. Measure the time required by 20 oscillations.
3) Add masses incrementally keeping in mind that the mass of the platform C3 should be
considered, and measure the time of 20 oscillations. Record your readings as shown in
the following table;
Mass (gr)
1585
2385
-
Time of 30 Oscillations
(6)
By linear curve fitting between the mass m and 2, find the best value of the slope and,
hence, the value of k. Returning back to eq. (5), find the value of g. Find also the value of the
effective mass for the spring (theoretically one third of the spring mass) from the intercept of
the best line with m-axis.
4. Discussion
1) Discuss the sources of inaccuracies for both parts of the experiment and state how we
can reduce errors.
2) Compare the value of effective mass with the theoretical one stating the reasons of
difference if exists.
3) Mention 4 typical examples for the usage of springs describing their importance.
5
(1)
n =
GJ
IL
which leads to = 2
IL
GJ
(3)
(4)
Where C is the rotational damping factor (N.m.sec). Introducing the critical damping factor Cc
which is given by 2In, the ratio of damping factor to the critical one is given the damping
coefficient ;
C
Cc
(5)
2. Apparatus
The main apparatus of the experiment is the universal vibration rig as shown in Figure-2. For
the part of undamped torsional vibration, the inertia is provided by a heavy wheel of 254mm
diameter, marked as H2. To the wheel is attached a chuck designed to accept shafts of different
diameter. A sliding block, I1, carries another chuck identical to the one attached to the wheel.
6
This block can be moved along a guide to change the effective length of the shaft which passes
through both chucks to produce the
K1
rotational flexibility.
For the part of damped vibration,
there is a vertical shaft gripped at its
upper end by a chuck attached to a
bracket K1, while its lower end is
attached to a heavy wheel K3 with
conical lower end. There is a
transparent container under the wheel
containing damping oil denoted as K4.
This container can be lowered and
raised by means of a knob, allowing
the contact area between the oil and
conical section of the wheel to vary.
This variation will reflect variable
damping effect on the system. The
oscillation can be traced by warping a
paper around the drum located above
the wheel by means of a pen which is
attached to holding arm. The later is
allowed to move downward slowly by
a means of dashpot fixed to the frame,
K2.
H2
I1
K2
K3
K4
GJ 2
4 2 L
No.
1
2
3
4
5
6
(6)
L (cm)
10
20
25
30
35
45
Time of 20 Oscillations
Period
x0
xn
4. For each case, evaluate the logarithmic decrement from the following equation;
x
1
ln 0
n
xn
Hence, damping coefficient can be found from the following identity;
(7)
(8)
1 2
4. Discussion
1) Discuss the sources of inaccuracies for both parts of the experiment.
2) Mention another method to estimate the moment of inertia for a wheel and compare with
the method of this experiment.
3) Give some practical applications for the torsional vibration.
4) Discuss the effect of increasing oil viscosity on the damping factor.
d 2
+ (k L 2 )L 2 = ( F0 sin t ) L1
dt 2
(1)
Where:
: Angular displacement of the beam,
F0 : Maximum value of excitation force,
: Angular velocity of rotation for the disk,
IA : The moment of inertia of the system about point A;
mL2
I A ML +
3
2
1
(2)
d 2
+ b = A sin t
dt 2
Where;
kL 2
b= 2 ,
IA
A=
(3)
F0 L1
IA
A
sin t
b 2
(4)
A
b 2
(5)
max =
driven at a constant speed. A felt-tipped pen fits to the free end of the beam; means are provided
so that the pen just touches the paper. By switching on the motor, we can obtain a trace showing
the oscillatory motion of the beam free end.
If the amplitude of vibration near to the resonance condition is too large, we can introduce
extra damping into the system by fitting the dashpot assembly (parts D2, D3 and D9) near to the
pivoted end of the beam.
11
1
K
I1
I2
I 11 + K (1 2 ) = 0
I + K ( ) = 0
2 2
(1)
(2)
Where 1, 2 are the angular displacements for wheels, I1, I2 are the moments of inertia and K is
GJ
the rotational stiffness, K =
, where L is the effective length of the shaft. The above two
L
equation may be written as:
K 2 I 1
K 1 0
(3)
=
K 2 I 2 2 0
K
can be found by equating the determinant of the system matrix to zero, where two values will
be obtained, either =0 or =
K (I1 + I 2 )
I 1I 2
follows:
= 2
LI 1I 2
GJ ( I 1 + I 2 )
(4)
2. Apparatus
The apparatus of this experiment is the universal
vibration rig used in experiment No. 3. It is shown
in Figure-2. With the bracket (I1) replaced by a
second wheel (H1) which is free to rotate on ball
bearing fixed to the left frame. Both wheels have
chucks fitted for use with shafts of different
diameters. It is not possible to vary the effective
length of the shaft; therefore a number of shafts of
different diameters are to be used. Other tools
required are measuring tape, stop watch and square
key used to release and tighten the chucks.
H1
H2
12
d4.
32
3. Rotate each wheel through a small angle in opposite direction and then release. Measure
the time required for 20 complete oscillations using the stop watch. Calculate the
periodic time by dividing the total time by 20.
4. Replace the shaft by another one of different diameter and repeat steps 2 and 3. Arrange
your readings as follows;
Shaft diameter
(mm)
I1 (kg.m2)
I2 (kg.m2)
Time of 20
Oscillations
Exp. Period
Theo. Period
4. Discussion
1) Compare the values of theoretical and experimental periodic times for each rotor and
explain the reasons of difference if exist.
2) What does the first frequency 1 = 0 means in physical sense?
3) Find the mode shapes for the system in the experiment and find the location of the node
theoretically. How can we find the node (non-moving section of the shaft)
experimentally?
13
Mode 1
Mode 2
2. Theory
The critical frequency for a shaft may be obtained from the fundamental frequency of a beam
subjected to a transverse vibration;
f =
EIg
wL4
(1)
Where
f : critical frequency in Hz
E : Young's modulus
d4
64
w : Weight per unit length of the shaft
: Constant dependant upon the fixing conditions and mode and can be found from the
following table;
Type of support
Simply supported
Supported-Fixed
Fixed-Fixed
1 (first mode)
1.573
2.459
3.75
2 (second mode)
6.3
7.96
8.82
For a shaft loaded with a number of disks as shown in Figure-2, the first critical frequency for
the system can be found from Dunkerley's Equation as follows;
14
1
f
1
f s2
1
f 12
1
f
2
2
1
f 32
+ ......
(2)
Where
f : critical for the system as a whole
Disk 2
Disk 1
Disk 3
Kinematic Coupling
Assembly
Nylon Bushes
(Guards)
Motor
Frame
The kinematic coupling and sliding end bearings have been designed to allow the shaft
movement in a longitudinal direction. The sliding end bearing is interchangeable to allow the
selection of support type between directionally fixed and free support. A movable part is
provided as a part of the kinematic coupling which allows the selection of support type. When
this part moved away from the coupling, the resulting support will be directionally free.
The shaft is driven by a DC motor capable of providing 6000 RPM through the kinematic
coupling which possesses double universal joint. The motor speed is controlled by TQ E3
control unit. In order to maintain the amplitude of vibration within specific limits, two nylon
guards are provided and are adjustable along the length of the apparatus. The sliding end bearing
may be moved to enable various shaft lengths to be selected.
In addition, four disks are supplied to providing loading to the shaft. These disks can be fitted to
the 7mm diameter shaft. Two of them are of equal mass at 300g, the third has a mass of 400g.
Additionally, a stroboscope is used to measure the rotational speed and also to observe the shaft
configuration during whirling. This stroboscope may be synchronized through a trigger signal
provided by TQ TM1 apparatus.
15
1
2
Shaft
Diam.
(mm)
3
7
Shaft
Length
(m)
Simply supported
Theo.
Exp.
Supported-Fixed
Theo.
Exp.
Fixed-Fixed
Theo.
Exp.
1. Use the 7mm shaft in simply-supported configuration. Attach the first disk of 400g midway between the two supports.
2. Switch on the speed control unit and adjust the speed carefully until you obtain whirling
condition. Record the whirling frequency of the system f.
3. Calculate the critical frequency for the first disk alone, f1 , from the following equation:
1
f
1
f
2
s
1
f 12
(3)
Where fs is the whirling frequency for the shaft alone in the simply-supported configuration
and can be taken from Part A.
4. Remove disk No. 1 and attach disk No. 2 (300g) at 0.25L from the motor-side support
and repeat the above procedure to calculate f2 for the second disk alone.
5. Attach disk No. 3 alone at 0.75L from the motor-side support and repeat the procedure to
calculate f3 for the third disk alone.
6. Attach all the three disks at the same positions and run the DC motor to find the critical
frequency for the combination. Verify that eq. (2) is satisfied. Arrange your reading as in
the table below:
No. Loading
16
Disk freq. fi
i =1, 2, 3
1
2
3
4
Disk 1 alone
Disk 2 alone
Disk 3 alone
All disks
(From part A)
(From part A)
(From part A)
(From part A)
___
5. Discussion
1) Compare the values of theoretical and experimental frequencies for Part A and state the
reasons of differences if exist.
2) For Part B, compare the value of the observed critical frequency for the combined system
with that one calculated from eq. (2). Is Dunkerley's Equation satisfied?
3) Explain how we can avoid critical frequencies in the manufacturing of rotating
machinery.
17