Mech Vibration

MEEM 3700 Mechanical Vibrations
Mohan D. Rao Chuck Van Karsen

Mechanical Engineering-Engineering Mechanics Michigan Technological University
Copyright 2003
MEEM 3700
Lecture 6-SDOF Damped Vibration
Single Degree of Freedom Damped Free Vibration
M X M
Given an initial condition, Determine the resulting motion

MEEM 3700
Viscous Damping Element (Dashpot)

Damping Force is Linear and Proportional to Velocity.
Linear Non-linear
f x
& X
C is the viscous damping coefficient units: N-sec/m or lbf-sec/ft
MEEM 3700
& X
& F = CX
3
Maintain Dynamic Equilibrium C K Free Body Diagram
& cx
X m
kx + k
X
At rest, X= 0 (static equilibrium) mg = k
mg
MEEM 3700
Free Body Diagram
Maintain Dynamic Equilibrium Apply Newtons 2nd Law
& cx
m
kx + k
X
& x F = m& & x Fx+ = m&
mg
& = m& & mg ( kx + k) cx x
Equation of motion
& + cx & + kx = 0 m& x

MEEM 3700
Equation of motion
& + cx & + kx = 0 m& x
2nd order Differential equation homogeneous linear Constant coefficients Form of solution:
x(t ) = X sin( t + ) or x(t ) = Ce st
MEEM 3700
Equation of motion
& + cx & + kx = 0 m& x

st
Assume x(t) = Ce
& ( t ) = sCe x & &( t ) = s Ce x

2
st
st
ms 2Ce st + scCe st + kCe st = 0
(ms 2 + cs + k )Cest = 0
for a non - trivial solution ms 2 + cs + k = 0
MEEM 3700
Equation of motion
& + cx & + kx = 0 m& x
ms 2 + cs + k = 0
s1, 2 c c 2 4 mk = 2m 2m
x ( t ) = C 1 e s1 t + C 2 e s 2 t if s1 a n d s 2 a re n o t e q u a l
C1 and C2 are determined from initial conditions
MEEM 3700
s1, 2
c 2 4 mk c = 2m 2m
c 2 4 mk = 0
Consider a case when,
Solving for c : c = 2 km = Cc
Cc = critical damping
MEEM 3700
Define : n = k = natural frequency m
c = damping ratio Cc
s1, 2 = n ( 2 1) n
MEEM 3700
10
Case 1: < 1 Under damped (Complex conjugate roots)

s1, 2 = n ( 2 1) n
s1, 2 = n j (1 2 ) n
Define :
d = (1 2 ) n = damped natural frequency
s1, 2 = n jd
MEEM 3700
11
x ( t ) = C1es t + C 2es t
1 2
x(t) = C1e( + j )t + C2e( j )t

n d n d
This simplifies to:
x(t ) = ent ( A cosd t + B sin d t )

where A & B are arbitrary constants to be found from initial conditions
MEEM 3700
12
Case 1: < 1 Under damped (Plot of x(t) vs. time)

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0
x ( t ) = e n t ( A co s d t + B sin d t )
0.5
1.5
2.5
3.5
MEEM 3700
13
Case 2: =1 Critically damped (Real equal roots)

s1,2 = n
s1 = n
s 2 = n
x(t ) = C1e s1t + C2te s2t or x(t ) = (C1 + C2t )e nt

C1 and C2 are constants to be found from initial conditions
MEEM 3700
14

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1
x(t ) = (C1 + C2t )e nt

<1
=1
0.5
1.5
2.5
3.5
MEEM 3700
15
Case 3: > 1 Over-damped (Real unequal roots)

s1, 2 = n ( 2 1) n
s1 = n + s 2 = n ( (
2
1) n 1) n
x(t ) = C1e s1t + C2 e s2t

MEEM 3700
16

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1
x(t ) = C1e s1t + C2 e s2t

>1 =1 <1
0.5
1.5
2.5
3.5
MEEM 3700
17
Review
MEEM 3700
18
Maintain Dynamic Equilibrium C K Free Body Diagram
& cx
X m
kx + k
X
At rest, X= 0 (static equilibrium)
mg
& + cx & + kx = 0 m& x

MEEM 3700
19
Case 1: < 1 Under-damped (Complex conjugate roots)
x(t ) = ent ( A cosd t + B sin d t )

Or alternatively, we can also write n t
x(t ) = e
( X sin ( t + ) )
d
where X = A2 + B 2 and = tan 1 A / B

x(t ) = (C1 + C2t )e nt
x(t ) = C1e s1t + C2 e s2t

MEEM 3700
s1, 2 = n ( 2 1) n
20
10
Free Vibration Response: SDOF with Damping

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0
>1 =1
<1
0.5
1.5
2.5
3.5
MEEM 3700
21
Damping ratio (for many structural

materials)
0.001 0.05
% critical damping
*100%
0.1% 5%
MEEM 3700
22
11

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0
x(t) = ent (A cosd t + Bsin d t)

0.5 1 1.5 2 2.5 3 3.5 4
MEEM 3700
23
x(t) = ent (A cosd t + Bsin d t)

Determine A, and B from the given initial Conditions, x(0) and
&(0) x
x(0) = en 0 ( A cos (d 0) + B sin (d 0))
x(0) = A
MEEM 3700
24
12
& (t) = nent (x(0) cosd t + Bsin d t) x + ent (d x(0) sin d t + dBcosd t)
&(0) = nen 0 ( x(0)cos (d 0) + B sin (d 0)) x + ent (d x(0)sin (d 0) + d B cos (d 0))
& (0) = n x(0) + dB x
& (0) + n x(0) x B= d

MEEM 3700
25
x(t) = ent (x(0) cosd t +

displacement
& (0) + n x(0) x sin d t) d
time
MEEM 3700
26
13
x(t) = ent (x(0) cosd t +

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0
& (0) + n x(0) x sind t) d

d = 2/d
0.5
1.5
2.5
3.5
MEEM 3700
27
Alternate form of Equation of motion
& + cx & + kx = 0 m& x

n =
k = natural frequency m
c = damping ratio Cc
&& + cx & + kx = 0 mx && x+ c k &+ x=0 x m m

2 && & + n x + 2 n x x=0
MEEM 3700
28
14

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MEEM 3700 Mechanical Vibrations

Mohan D. Rao Chuck Van Karsen

Single Degree of Freedom Damped Free Vibration

Given an initial condition, Determine the resulting motion

Viscous Damping Element (Dashpot)

Maintain Dynamic Equilibrium C K Free Body Diagram

At rest, X= 0 (static equilibrium) mg = k

Free Body Diagram

Maintain Dynamic Equilibrium Apply Newtons 2nd Law

& x F = m& & x Fx+ = m&

& = m& & mg ( kx + k) cx x

& + cx & + kx = 0 m& x

Lecture 6-SDOF Damped Vibration

& + cx & + kx = 0 m& x

x(t ) = X sin( t + ) or x(t ) = Ce st

& + cx & + kx = 0 m& x

& ( t ) = sCe x & &( t ) = s Ce x

ms 2Ce st + scCe st + kCe st = 0

& + cx & + kx = 0 m& x

Consider a case when,

Define : n = k = natural frequency m

Case 1: < 1 Under damped (Complex conjugate roots)

d = (1 2 ) n = damped natural frequency

Case 1: < 1 Under damped (Complex conjugate roots)

x(t) = C1e( + j )t + C2e( j )t

This simplifies to:

x(t ) = ent ( A cosd t + B sin d t )

Case 1: < 1 Under damped (Plot of x(t) vs. time)

Case 2: =1 Critically damped (Real equal roots)

x(t ) = C1e s1t + C2te s2t or x(t ) = (C1 + C2t )e nt

Case 2: =1 Critically damped (Real equal roots)

x(t ) = (C1 + C2t )e nt

Case 3: > 1 Over-damped (Real unequal roots)

x(t ) = C1e s1t + C2 e s2t

Case 3: > 1 Over-damped (Real unequal roots)

x(t ) = C1e s1t + C2 e s2t

Maintain Dynamic Equilibrium C K Free Body Diagram

At rest, X= 0 (static equilibrium)

& + cx & + kx = 0 m& x

Case 1: < 1 Under-damped (Complex conjugate roots)

x(t ) = ent ( A cosd t + B sin d t )

where X = A2 + B 2 and = tan 1 A / B

x(t ) = (C1 + C2t )e nt

Case 3: > 1 Over-damped (Real unequal roots)

x(t ) = C1e s1t + C2 e s2t

Free Vibration Response: SDOF with Damping

Damping ratio (for many structural

Case 1: < 1 Under damped (Complex conjugate roots)

x(t) = ent (A cosd t + Bsin d t)

x(t) = ent (A cosd t + Bsin d t)

x(0) = en 0 ( A cos (d 0) + B sin (d 0))

& (0) = n x(0) + dB x

& (0) + n x(0) x B= d

x(t) = ent (x(0) cosd t +

& (0) + n x(0) x sin d t) d

x(t) = ent (x(0) cosd t +

& (0) + n x(0) x sind t) d

Alternate form of Equation of motion