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4 Base Excitation
Important class of vibration analysis
Preventing excitations from passing
from a vibrating base through its mount
into a structure
Vibration isolation
Vibrations in your car
Satellite operation
Disk drives, etc.
D.J.Inman
MechanicalEngineeringat
m
k
y(t)
System FBD
m
c
k ( x y ) c(x y )
base
&
-y )=mx&
F =-k (x-y)-c(x&&
&+cx&+ kx = cy&+ ky
mx&
D.J.Inman
MechanicalEngineeringat
(2.61)
2 2V
}f0 s
64 7f0 c 48
&
x&+2n x&+ n2 x = 2nY cos(t ) + n2Y sin(t )
1 4 42 4 43
1 42 43
D.J.Inman
MechanicalEngineeringat
(2.64)
2n f 0 s
( ) 2n
2
n
2 2
( ) f 0 s
2
n
2 2
( ) 2n
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2
n
MechanicalEngineeringat
&
x&+2n x&+ n2 x =f 0 c cos t
x pc Ac cos t Bc sin t X c cos(t c )
where
Ac
Bc
( ) f 0 c
2
n
2 2
( ) 2n
2
n
2n f 0 c
( ) 2n
D.J.Inman
2
n
2 2
MechanicalEngineeringat
Magnitude X/Y
Now add the sin and cos terms to get the
magnitude of the full particular solution
f0c2 f02s
( ) 2 n
2
n
2 2
nY
(2 )2 n2
( n2 2 )2 2 n
1 (2 r)2
(1 r ) 2 r
2 2
X
1 (2 r)2
2 (2.71)
2 2
Y
(1 r ) 2 r
D.J.Inman
MechanicalEngineeringat
(2.70)
40
=0.01
=0.1
=0.3
=0.7
30
X/Y (dB)
20
10
0
-10
-20
0
0.5
1.5
2
Frequency ratio r
2.5
Figure 2.13
D.J.Inman
MechanicalEngineeringat
D.J.Inman
MechanicalEngineeringat
&
FT k ( x y ) c( x& y&) mx&
From FBD
FT m X k r X
2
FT
k
c
y(t)
D.J.Inman
base
MechanicalEngineeringat
=0.01
=0.1
=0.3
=0.7
F/kY (dB)
30
20
10
0
-10
-20
0.5
Figure 2.14
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1.5
2
Frequency ratio r
2.5
MechanicalEngineeringat
Displacement
Transmissibility
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MechanicalEngineeringat
D.J.Inman
MechanicalEngineeringat
1
hour 2 rad
b v(km/hr)
0.2909vrad/s
b (20km/hr)=5.818rad/s
4 10 4 N/m
6.303rad/s( 1Hz)
1007kg
c
=
2 km 2
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2000Ns/m
4 10
N/m 1007kg
0.158
MechanicalEngineeringat
b 5.818
6.303
1 (2 r)2
X Y
(1 r 2 )2 (2 r)2
0.01m
1 2(0.158)(0.923)
0.0319m
MechanicalEngineeringat
kY (2 )2
2
1/2
FT
kY
1 4 2
2
c
900
0.04
From given m, c, and k:
2 km 2 40, 000 g3000
kY
(40, 000 N/m)(0.001 m)
1 4 2
1 4(0.04) 2 501.6 N
2
2(0.04)
D.J.Inman
MechanicalEngineeringat
2.5 Rotating
Unbalance
Gyros
Cryo-coolers
Tires
Washing machines
m0
e
included in m
e = eccentricity
k
mo = mass unbalance
= rotation
frequency
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MechanicalEngineeringat
m0
Ry
xr e sin r t
a x xr e r2 sin r t
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MechanicalEngineeringat
m
k
c
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2
&
&
&
mx cx kx mo er sin r t
(2.82)
mo 2
or &
x& 2n x& x
er sin r t
m
2
n
MechanicalEngineeringat
x p (t ) X sin(r t )
(2.83)
mo e
r
X
m (1 r 2 ) 2 2 r 2
(2.84)
2 r
tan
2
1
(2.85)
D.J.Inman
MechanicalEngineeringat
D.J.Inman
MechanicalEngineeringat
At resonance r = 1 and
mX
1
1
0.1 m 1
10
10 e 0.1 m
m0e 2 2(0.05)
e
2
Now to compute the added mass, again at resonance;
m X
10
m0 0.1m
m m 0.01 m
m m
100 m 9m
10
m0 0.1 m
(0.1)m
D.J.Inman
MechanicalEngineeringat
Fig 2.21
k 1 10 5 N/m
mtail 60kg
mrot 20kg
m0 0.5kg
Fig 2.22
=0.01
Compute the deflection at
1500 rpm and find the rotor
speed at which the deflection is maximum
D.J.Inman
MechanicalEngineeringat
46.69 rad/s
m
60 kg
20.5 +
m tail
3
3
The frequency of rotation is
MechanicalEngineeringat
20.5 kg
3.16
1 (3.16) 2(0.01)(3.16)
2 2
0.004 m
At r = 1:
0.5 kg 0.15 m
X
20.5 kg
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1
0.183 m or 18.3 cm
2(0.01)
MechanicalEngineeringat
D.J.Inman
MechanicalEngineeringat
(2.90)
Accelerometer
and
2 r
2
1 r
tan 1
(2.91)
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MechanicalEngineeringat
Strain Gauge
Fig 2.27
Fig 2.26
Magnitude plot showing
Regions of measurement
In the accel region, output voltage is
nearly proportional to displacement
D.J.Inman
MechanicalEngineeringat
These various other forms of damping are all nonlinear. They can
be compared to linear damping by the method of equivalent viscous
damping discussed next. A numerical treatment of the exact response
is given in section 2.9.
D.J.Inman
MechanicalEngineeringat
xss X sin t
The energy per cycle for a viscously damped system is
E
Fd dx
2 /
dx
cx& dt
dt
2 /
cx&2 dt
(2.99)
2 /
X cos t dt c X 2
2
MechanicalEngineeringat
(2.101)
2 /
sgn( x&&
) xdt mg
/2
3 / 2
/2
mgX (
cos udu
cos udu
3 / 2
4 mg
ceq X 4 mgX ceq
X
2
(2.105)
D.J.Inman
MechanicalEngineeringat
D.J.Inman
MechanicalEngineeringat
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D.J.Inman
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MechanicalEngineeringat
D.J.Inman
MechanicalEngineeringat
Symbolic Manipulation
Let
n2 2 2 n
A
2
2
2 n n
and
f0
x
0
What is
An A 1 x
This can be solved using Matlab, Mathcad or Mathematica
D.J.Inman
MechanicalEngineeringat
Symbolic Manipulation
Solve equations (2.34) using Mathcad symbolics :
Enterthis
2. . n.
D.J.Inman
. f0
4. . n .
Chooseevaluate
undersymbolicsto
getthis
n
2. n .
. f0
0
2. . n.
2. . n.
2 2
2. n .
2
2 2
4. . n .
. f0
MechanicalEngineeringat
syms z wn w f0
A=[wn^2-w^2 2*z*wn*w;-2*z*wn*w wn^2-w^2];
x=[f0 ;0];
An=inv(A)*x
An =
[ (wn^2-w^2)/(wn^4-2*wn^2*w^2+w^4+4*z^2*wn^2*w^2)*f0]
[ 2*z*wn*w/(wn^4-2*wn^2*w^2+w^4+4*z^2*wn^2*w^2)*f0]
>> pretty(An)
[
2 2
]
[
(wn - w ) f0
]
[ --------------------------------- ]
[ 4
2 2 4
2 2 2]
[ wn - 2 wn w + w + 4 z wn w ]
[
]
[
z wn w f0
]
[2 ---------------------------------]
[ 4
2 2 4
2 2 2]
[ wn - 2 wn w + w + 4 z wn w ]
D.J.Inman
MechanicalEngineeringat
D.J.Inman
X/Y (dB)
For Example:
30
Design
value
20
10
=0.01
=0.05
=0.1
=0.2
=0.5
0
-10
-20
0
0.5
1
1.5
2
Frequency ratio r
MechanicalEngineeringat
2.5
=0.01
=0.05
=0.1
=0.2
=0.5
FT /kY (dB)
30
20
10
0
-10
-20
0
D.J.Inman
0.5
1
1.5
2
Frequency ratio r
2.5
MechanicalEngineeringat
Numerical Simulation
We can put the forced case:
&
mx&
(t ) cx&(t ) kx(t ) F0 cos t
&
x&
(t ) 2n x&(t ) n2 x(t ) f 0 cos t
Into a state space form
x&1 x2
x&2 2n x2 n2 x1 f 0 cos t
0
x&(t ) Ax(t ) f (t ), f (t )
f 0 cos t
D.J.Inman
MechanicalEngineeringat
Numerical Integration
Euler:x(ti 1 ) x(ti ) Ax(ti )t f(ti )t
Using the ODE45 function
>>TSPAN=[0 10];
>>Y0=[0;0];
>>[t,y] =ode45('num_for',TSPAN,Y0);
>>plot(t,y(:,1))
4
3
Including forcing
function Xdot=num_for(t,X)
m=100;k=1000;c=25;
ze=c/(2*sqrt(k*m));
wn=sqrt(k/m);
w=2.5;F=1000;f=F/m;
f=[0 ;f*cos(w*t)];
A=[0 1;-wn*wn -2*ze*wn];
Xdot=A*X+f;
D.J.Inman
Displacement (m)
2
1
0
-1
-2
-3
-4
-5
4
6
Time (sec)
MechanicalEngineeringat
10
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MechanicalEngineeringat
Displacement (m)
0.4
0.2
0
-0.2
-0.4
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10
20
Time (sec)
30
MechanicalEngineeringat
40
Matlab
command
window
function Xdot=num_for(t,X)
m=100;k=500;c=10;
ze=c/(2*sqrt(k*m));
wn=sqrt(k/m);
w=5;F=150;f=F/m;
f=[0 ;f*cos(w*t)];
A=[0 1;-wn*wn -2*ze*wn];
Xdot=A*X+f;
>>TSPAN=[0 40];
>> Y0=[0.01;0.5];
>>[t,y] = ode45('num_for',TSPAN,Y0);
>> plot(t,y(:,1))
>> xlabel('Time (sec)')
>> ylabel('Displacement (m)')
>> grid
MechanicalEngineeringat
D.J.Inman
10
20
Time (sec)
30
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40
D.J.Inman
MechanicalEngineeringat
&
x&
(t ) f ( x, x&) f 0 cos t
x&1 (t ) x2 (t )
x&2 (t ) f ( x1 , x2 ) f 0 cos t
In vector form:
x&(t ) F(x) f (t )
D.J.Inman
MechanicalEngineeringat
Numerical form
Vector of nonlinear dynamics
x2 (t)
0
F(x)
, f(t)
f (x1 , x2 )
f0 cos t
Euler equation is
MechanicalEngineeringat
Displacement (m)
2
1
0
-1
-2
Non-linearity included
Linear system
0
4
6
Time (sec)
Superharmonic resonance
D.J.Inman
2.964
MechanicalEngineeringat
10
resonance
n
n
0
3
Displacement (m)
2
1
0
-1
-2
-3
Non-linearity included
Linear system
0
4
6
Time (sec)
1.09
Responsenearlinearresonance
D.J.Inman
MechanicalEngineeringat
10