Handout #2b (pp.

40-55)

Dynamic Response of
Second Order Mechanical
Systems with Viscous Dissipation
forces

M X + D X + K X = F(t )

Periodic Forced Response to

F(t) = Fo sin( t) and F(t) = M u 2 sin(t)

Frequency Response Function of Second Order

Systems

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-40

(c) Forced response of 2nd order mechanical
system to a periodic force excitation
Let the external force be PERIODIC of frequency (period T=2/) and
consider the system to have initial displacement X0 and velocity V0. The
equation of motion for a system with viscous dissipation mechanism, is:

d2 X dX
M 2
+ D + K X = Fo sin ( t ) (41)
dt dt
with initial conditions V (0) = Vo and X (0) = X o

The external force F(t) has amplitude Fo and

frequency . This type of forced excitation
is known as PERIODIC LOADING.

The solution of the non-homogeneous ODE (41) is of the form:

X (t ) = X H + X P = A1 e s1 t + A2 e s2 t + Cc cos ( t ) + Cs sin ( t ) (42)

where XH is the solution to the homogeneous form of (1) and such that (s1,
s2) satisfy the characteristic equation of the system:

(s 2
+ 2 n s + n2 ) = 0 (43)

The roots of this 2nd order polynomial are:

s1,2 = n n ( 2 1 )
1/ 2
(44)

D
where n = K M is the natural frequency, = D is the viscous
cr

damping ratio, and Dcr = 2 K M is the critical damping coefficient.

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-41

The value of damping ratio determines whether the system is
underdamped ( <1), critically damped ( =1), overdamped ( >1).

Response of 2nd Order Mechanical System to a Periodic Loading:

and
X P = Cc cos ( t ) + Cs sin ( t ) (45)

is the particular solution due to the periodic loading, Fo sin ( t).

Substitution of Eq. (42) into Eq. (41) gives

cos ( t ) { K 2 M } Cc + DCs +
(46)
sin ( t ) { K M } Cs DCs = Fo sin ( t )
2

since the sin() and cos() functions are linearly independent, it follows that

{ K 2 M } Cc + DCs = 0

{ K 2 M } Cs DCs = Fo (47)

{ K 2 M } D C 0
c =
D
{K 2 M } Cs Fo
i.e. a system of 2 algebraic equations with two unknowns, Cc and Cs.
Divide Eq. (47) by K and obtain:

{1 2 M K } D K C 0
c = (48)
D K
{1 2 M K } Cs Fo K
D
since n = K M ; and with = D then
cr

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-42

 D D KM M
= = =
K K D K n

and Xss = Fo/K is a pseudo static displacement

Define a frequency ratio as f= (49)
n
relating the (external) excitation frequency () to the natural frequency
of the system (n); i.e. when

n f 1, the system operates below its natural frequency

n f 1 , the system is said to operate above its natural

frequency

With this definition, write Eq. (48) as:

{1 2 n2 } n Cc 0
=
n
{1 n } Cs X ss
2 2

{1 f 2 } f C 0
c = (50)

f {1 f 2 } Cs X ss
Solve Eq. (50) using Cramers rule to obtain the coefficients Cs and Cc:

(1 f 2 )
2
2 f
Cc = X ss ; Cs = X ss (51)
(1 f ) + ( 2 f )
2 2 2
(1 f ) + ( 2 f )
2 2 2

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-43

Response of 2nd Order Mechanical System to a Periodic Load:
For an underdamped system, 0 < < 1, the roots of the
characteristic eqn. have a real and imaginary part, i.e.

s1,2 = n i n (1 2 )
1/ 2
(52)

where i = 1 is the imaginary unit. The homogeneous solution is

X H ( t ) = e n t ( C1 cos (d t ) + C2 sin (d t ) ) (53)

d = n (1 2 )
1/ 2
where is the damped natural frequency of the
system.

Thus, the total response is X (t ) = X H + X P =

X ( t ) = e n t ( C1 cos (d t ) + C2 sin (d t ) ) + Cc cos ( t ) + Cs sin ( t )

(54)
where Cs and Cc are given by Eq. (51).

At time t = 0, the initial conditions are V (0) = Vo and X (0) = X o .

Then

V0 + n C1 Cs
C1 = ( X 0 Cc ) and C2 = (55)
d
Now, provided > 0, the homogeneous solution (also known as the
TRANSIENT or Free response) will die out as time elapse. Thus, after all
transients have passed, the dynamic response of the system is just the
particular response XP(t)

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-44

Steady State Periodic Forced Response of Underdamped
2nd Order System
As long as the system has some damping ( > 0), the transient
response (homogeneous solution) will die out and cease to influence the
behavior of the system. Then, the steady-state (or quasi-stationary)
response is given by:

X ( t ) Cc cos ( t ) + Cs sin ( t ) = C sin ( t ) (56.a)

where (Cs, Cc) are given by equation (51) as:

(1 f 2 )
2
2 f
Cc = X ss ; Cs = X ss
(1 f )
2 2
+ ( 2 f ) (1 f 2 ) + ( 2 f )
2 2 2

and X ss = Fo K . Define Cs = C cos ( ) ; Cc = C sin ( ) ; then

Cc 2 f
tan ( ) = =
Cs (1 f 2 )

is a phase angle, and C = CS + CC = X ss A

2 2
where

1
with A= ; as the amplitude ratio
(1 f ) + ( 2 f )
2 2 2

where f = is the frequency ratio. Thus, the system response is:

n

X ( t ) = X ss A sin ( t ) (56.b)

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-45

Regimes of Dynamic Operation:

n f 1, the system operates below its natural frequency

(1 f ) 1; ( 2 f ) 0
2
A 1 0

X (t ) X ss sin ( t ) i.e. similar to the static

response

= n f =1 , the system is excited at its natural frequency

(1 f ) 0;
2
A
1
2
;
2
( 90 )
X ss
X (t ) sin t
2 2
if < 0.5, the amplitude ratio A > 1 and a resonance is
said to occur.

n f 1 , the system is said to operate above its natural

frequency
(1 f ) << 1; ( 2 f )
2
0 A 0 (180 )
X (t ) X ss A sin ( t ) = X ss A sin ( t )

A <<< 1, i.e. very small,

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-46

 Frequency Response of Second Order Mechanical System

X ( t ) = X ss A sin ( t ) for F( t ) = Fo sin ( t )

F R F 2n d o rd e r syste m dam ping ratio= 0.05

P e rio d ic fo rce : F o sin ( t) dam ping ratio= 0.1
12 dam ping ratio= 0.2

10 A dam ping ratio= 0.5

Amplitude ratio (A)

0
0 0 .2 5 0 .5 0 .7 5 1 1 .2 5 1 .5 1 .7 5 2
fre q u e n c y ra tio (f)

F R F 2nd ord e r syste m

P e rio dic fo rce : Fo sin( t)
200
180
160
140
Phase angle ( )

120
100
dam ping ratio= 0.05
80
dam ping ratio= 0.1
60
dam ping ratio= 0.2
40
dam ping ratio= 0.5
20
0
0 0.25 0.5 0.75 1 1.25 1.5 1.75 2
fre q u e n cy ra tio (f)

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-47

Steady State Periodic Forced Response of 2nd Order
system: Imbalance Load
Imbalance loads are typically found in rotating machinery. In operation, due
to inevitable wear, material build ups or assembly faults, the center of mass
of the rotating machine does not coincide with the center of rotation (spin).
Let the center of mass be located a distance (u) from the spin center, and
thus, the imbalance load is a centrifugal force of magnitude Fo = M u 2
and rotating with the same frequency as the rotor speed (). This force
excites the system and induces vibration1. Note that the imbalance force is
proportional to the frequency2 and grows rapidly with speed.

In practice the offset distance (u) is very small (a few thousands of an

inch).

For example if the rotating shaft & disk has a small imbalance mass (m)
located at a radius (r) from the spin center, then it is easy to determine that
the center of mass offset (u) is equal to (m r/M). Note that u<<r.

rm
u ( M + m) = r m u
M

The equation of motion for the 2nd order system is

d2 X dX
M 2
+ D + K X = Fo sin ( t ) = M u 2
sin ( t )
dt dt
1
The current analysis only describes vibration along direction X. In actuality, the imbalance force induces
vibrations in two planes (X,Y) and the rotor whirls in an orbit around the center of rotation. For isotropic
systems, the motion in the X plane is identical to that in the Y plane but out of phase by 90 degrees.

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-48

 Fo M u 2 2
then X ss = = =u 2 =u f
K K n

with ( f = n ). The system response at steady-state is

X ( t ) = X ss A sin ( t ) = u ( 2 A ) sin ( t )

X ( t ) = u B sin ( t ) (59)

2 f
where is a phase angle, tan ( ) = , and
(1 f 2
)

f2
B= (60) is an amplitude ratio
(1 f ) + ( 2 f )
2 2 2

recall f = is the frequency ratio.

n

Regimes of Dynamic Operation:

n f 1, excitation below its natural frequency

(1 f ) 1; ( 2 f ) 0
2
B f 2 0 and 0

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-49

 X (t ) u f 2 sin ( t ) 0 i.e. little motion

= n f =1 , the system is excited at its natural frequency

(1 f 2 ) 0; B
1
2
;
2
( 90 )
u u
X (t ) sin t = cos ( t )
2 2 2
if < 0.5, the amplitude ratio B > 1 and a resonance is
said to occur.

n f 1 , the system operates above its natural frequency

(1 f ) 1 ; 2
2
f
2 f 2 0 B 1 (180 )
f

X (t ) u sin ( t ) = u sin ( t )

B ~ 1, at high frequency operation, the maximum amplitude of vibration

(Xmax) equals the unbalance displacement (u)

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-50

Frequency Response of Second Order Mechanical System due to an
Imbalance Load

X (t ) = u B sin ( t ) for F(t ) = M u 2 sin ( t )

FR F 2nd orde r syste m

dam ping ratio= 0.05
Imbalance force : M u ^ 2sin( t)
dam ping ratio= 0.1
12
dam ping ratio= 0.2
10 dam ping ratio= 0.5
B
Amplitude ratio (B)

0
0 0.25 0.5 0.75 1 1.25 1.5 1.75 2
freq u en cy ratio (f)

FRF 2nd orde r syste m

Imbalance force : M u ^2 sin( t)
200
180
160

140
Phase angle ( )

120
100
dam ping ratio= 0.05
80
dam ping ratio= 0.1
60
dam ping ratio= 0.2
40
dam ping ratio= 0.5
20
0
0 0.25 0.5 0.75 1 1.25 1.5 1.75 2
fre que ncy ra tio (f)

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-51

EXAMPLE:
A cantilevered steel pole supports a small

2
wind turbine. The pole torsional stiffness is

e
Z

0
M
d K (N.m/rad) with a rotational damping
t coefficient C (N.m.s/rad).
m 0

e The four-blade turbine rotating assembly

has mass mo , and its center of gravity is
Y 2

displaced distance e [m] from the axis of

X Me c os t
d
0

rotation of the assembly.

k c m 0

2
Z Y Iz (kg.m ) is the mass moment of inertia
about the z axis of the complete turbine,
including rotor assembly, housing pod, and
X contents.
k= Torsional Tiffness
e= Torional Damping c oefficient
The total mass of the system is m (kg).
The plane in which the blades rotate is
located a distance d (m) from the z axis
as shown.

For a complete analysis of the vibration characteristics of the turbine system, determine:

a) Equation of motion of torsional vibration system about z axis.

b) The steady-state torsional response (t) (after all transients die out).
c) For system parameter values of k=98,670 N.m/rad, Iz=25 kg.m2, C = 157 N.m.s/rad, and mo
= 8 kg, e = 1 cm, d = 30 cm, present graphs showing the response amplitude (in rads) and
phase angle as the turbine speed (due to wind power variations) changes from 100 rpm to
1,200 rpm.
d) From the results in (c), at what turbine speed should the largest vibration occur and what is
its magnitude?
e) Provide a design recommendation or change so as to reduce this maximum vibration
amplitude value to half the original value.

Neglect any effect of the mass and bending of the pole on the torsional response, as well as any
gyroscopic effects.

Note: the torque or moment induced by the mass imbalance is

2
T(t) = d x Fu = m o e d cos(t), i.e., a function of frequency

T ( )

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-52

The equation describing torsional motions of the turbine-pole system is:

Iz + C + K = mo e d 2 cos t = T( ) cos t (e.1)

Note that all terms in the EOM represent moments or torques.

(b) After all transients die out, the periodic forced response of the system:

ss
(t ) = cos (t ) (e.2)
(1 f ) + ( 2 f )
1/ 2
2 2 2

mo e d 2 I z mo e d 2
T( )
but ss = = = f (e.3)
K K z
I I z

1 2 f
with f = ; n =
K
; =
C
, and = tan 1 f 2 (e.4)
n Iz 2 K Iz

(e.3) in (e.2) leads to

mo ed f2
(t ) = cos (t - ) (e.5)
(1 f ) + ( 2 f )
1/ 2
Iz 2 2 2

m ed f2
Let = o (e.6) B= (e.7)
(1 f ) + ( 2 f )
1/ 2
Iz 2 2 2

and rewrite (e.5) as: (t ) = B cos (t ) (e.8)

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-53

(c) for the given physical values of the system parameters:
K rad
K = 98,670 N.m/rad n = = 62.82
Iz sec
C
Iz = 25 kg m2 = = 0.05
2 K Iz
C = 157. N.m.s/rad

mo e d 8 0.01 0.3 0.024

= = = = 96 10-5rad
Iz 25 25

And the turbine speed varies from 100 rpm to 1,200 rpm, i.e.

= rpm /30 = 10.47 rad/s to 125.66 rad/s, i.e.

f = = 0.167 to 2.00,
n

thus indicating the system will operate through resonance.

Hence, the angular response is (t ) = ( 96.4 105 rad ) B cos (t )

(d) Maximum amplitude of response:

since << 1, the maximum amplitude of motion will occur when the
turbine speed coincides with the natural frequency of the torsional system,
i.e.
at f = 1, B 1 and
2

1
(t ) = cos t
2 2

the magnitude is MAX = max = = 0.964 x 10-2 rad , i.e. 10 times larger
2
than .

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-54

The amplitude (degrees) and phase angle (degrees) of the polo twist are
shown as a function of the turbine rotational speed (RPM)

0.01
amplitude of torsion (rad)

0.005

0
200 400 600 800 1000 1200
rotor speed (RPM)

180
Phase angle (degrees)

120

60

0
200 400 600 800 1000 1200
rotor speed (RPM)

(e) Design change: DOUBLE DAMPING but first BALANCE ROTOR!

MEEN 617 Notes: Handout 2bLuis San Andrs 2008 2-55