gsFree Vibration Rotating Unbalance (Harmonic Excitation) Principal of Virtual Work

wn  k  2f n rad/s & f n  1 k Hz & M = mass of system, m = mass of unbalance mass W  U

m 2 m Equation of Motion:

2 mx  cx  kx  mew 2 sin wt Principal of Virtual Complementary

 1
fn
 wn
sec
mew 2 Work
Amplitude, X  , W *  U *
2 2 2
wn  g (k  Mw )  (cw)

Unit Load Method
(because k  mg where  is pure stretching due to mass in static equilibrium ) 1   cw W *  U *
phase angle,   tan  
2 
rad
General Solution for Free Vibration:
 k  mw 
Or Non-dimensional Amplitude, W *  P
x  A sin wn t  B cos wn t
2 MX

 w wn  2 Combined Loading effect
Principal of Conservation of Energy, KE = PE  1 mx  mgh
1   w w  
2
me L Pp L Mm
2 2
  2  w wn   2 0 0
*
Principal of Conservation of Momentum:
n
U  dx  dx
m1 x 1  m 2 x 2  (m1  m2 ) x 12 (If mass 1 & 2 is perfect AE EI
, L Tt L Qq
collision)
 2  w w    0 GJ
dx  0 GA
dx
phase angle,   tan 1  n  rad
To find meff  1 meff x (L) 2 = Total K.E 1 w w 2 
2
 n  Impact Load
 
(where L is the distance form ref to point of interest)
Lowest critical speed = 1st whirling speed Max deflection:  max   s x
K.E of a mass = 1
2
mx 2 , K.E of a disk = 12 J 2 2
 EI Max impact load or Equivalent static
2 = 1st wn = w1 
  dyn 
L
Total K.E of a cantilever = 1 A  x ( y ) dy l2 A
2 0 load: Fs  F    Fx

 s
SDOF System subjected to Base Excitation
To find keff  1 k x 2 = Total Strain Energy, SE
2 eff Equation of Motion: 
mx  c ( x  y )  k ( x  y )  0 2h
Linear spring SE = 1
2
kx 2 , SE of a shaft = x  1 1
Steady-state solution: x  X sin( wt     ) s
2
L 2 
 d x  dy where   tan 1  cw k 
1
2
EI 2 nd 0  dy 2 
  Fo
where x is the impact factor,  s is the
deflection of the beam under static
2 Amplitude, X  , loading ’F’, ‘F’ is the load on the beam
Torsional spring rod SE = 12 k  (A rod under twisting) (k  mw 2 ) 2  (cw) 2 w/o dropping from a height ‘h’.
Torsional Vibration
 cw  Trigo Functions:
J =Rotational Mass Moment of Inertia of the disk = (1 2) mr 2 phase angle,   tan 1   rad
 k  mw
2
 2 sin  cos   sin 2
2 2 (If about center, d is
J =Rotational Mass Moment of Inertia of a rod = MR  Md sin 2   1 (1  cos 2 )
12 where Fo  Y k 2  (cw) 2 2
zero) Transmissibility (TR): cos 2   1
2
(1  cos 2 )
 d 4
 Output   Machine, X 
Ip = Polar Moment of Inertia of the circular cross-section area of the rod =
32      cos 2
 Input   Ground , Y   1  2 sin 2 
 d4
I2nd = 2nd Moment of Inertia of a rod =
64 k 2  (cw) 2  2 cos 2   1

k ( k  mw 2 ) 2  (cw) 2  cos 2   sin 2 
wn  rad/s
J
1   2  w wn   2
Damped Vibration 
Equation of Motion: mx  cx
J  c  k   I
  kx  F (t ) 
1   w w  
n
2 2
  2  w wn   2

where x  r , x
  r , x  r Vibration Isolation (Force Vibration)
Critical Damping, Cc  2 km  2mwn Ns/m Damping ration, Equation of Motion:
mx  cx  kx  Fo sin wt
  C
Cc (Fo in this case is a direct value)
Force transmitted to the base,
X1 2
Logarithmic decrement,   ln  wn d  Ft  (kX ) 2  (cwX ) 2
X2 1  2
x x x
2 Note:  
2 d  y y y
wd  wn 1   rad/s , sec ,
wd TR equation same as above, but output is ground (Ft)
and input is input force to machine (Fo)

  Transient Vibration – Arbitrary Excitation (Impulse)
(2 ) 2   2 Equation of Motion:
mx  cx  kx  Fo sin wt (if need)
Response of an Over-Damped (  1) :
After e impulse, e mass will have damp free
Response of a Critically Damped (  1) : oscillation.
Treat it as damped vibration and solve the constant.
x  ( A  Bt )e  wnt From the impact, Momentum Equation:
Response of Under-Damp (  1) :
 x  e wnt ( A sin wd t  B cos wd t ) x o  Fˆ m (can use as I.C, the other is
Harmonic Excitation x (t )  ? )
Equation of Motion: mx  cx
  kx  Fo sin wt Duhamel’s Integral (With damping):

Steady-state solution: x  X sin( wt   )

1 t
0 F ( )e
Fo wn ( t  )
x sin wd (t   ) d
Amplitude, X  , mwd
2 2 2
( k  mw )  (cw)
Duhamel’s Integral (w/o damping):
 cw  1 t
phase angle,   tan 1 
 k  mw
2


rad x
mwn 0F ( ) sin wn (t   )d
Or Non-dimensional Amplitude, (where F ( ) is Fo)
Xk 1

Fo
1   w w   n
2 2
  2  w wn   2
,

 2  w w  
phase angle,   tan 1  n  rad
1 w w 2 
 n 
1 wn
Sharpness of resonance, Q  factor  
2 w2  w1
where w1 & w2 is the 2 location at 0.707 of the non dimensional amplitude  0.707(XK / F0)
M-DOF System (ie. 2DOF) Weighted Modal Matrix: Generalised Modal Force:
(step1) Equations of Motion
 1 12 
(step2) Steady-state solution: x1  X 1 sin wt , P~   ~
11 
 
1
~ 
~
  1  ~  2
~
Fi  i  T  F  where
x 2  X 2 sin wt  m1  21  m 2
 
 22 

Or x1  X 1e iwt , x 2  X 2 e iwt F  Fo sin wt

(step 3) Throw the steady state solution into equation of motion  
Rayleigh Damping: C   M   K    
to get 2 new form equation (a) and (b). Than express (a) and (b) ~ ~
in matrix notation. Eg:
a

b  X 1   0 
     where F can
 
~ C
C   P   C  P    1
T
 0
0  2 1w1m1
~ 
C 2   0
0
~


2 2 w2 m2 
or

c d   X 2  F 
be zero C~    M~     K~  ~  m
 c i i
~
~  k
i
(step 4) To find w1 and w2 set   ad  bc  0
(step 5) To find mode shape, arrange (a) or (b) into
~  2 w m
c i
~ 2
i i i  2 i wi     wi
~
( ci is the Generalised Modal Damping,  &

A1  are solve using values of damping ratio at 2 corresponding frequencies.)

A2
 ____ , than sub in w1 to get mode shape 1 than sub in Equation of Motion (coupled) in physical coordinates:
w2 to get mode shape 2. Than let A1 or A2 = 1, we will get the  M  x  C  x    K  x   F 
mode shapes. Transformation equation (Response in physical coordinates):
(step 6) General solution of 2DOF  x   P  q ,  x    P  q  ,  x   P  q  xi  i1q1  i 2 q 2
(Summation of Normal mode oscillation)
Decoupled 2DOF equation of motion in the principal coordinates:
 x1  11  12  ~ ~ ~
    q1   q 2 & m 1 0   q1  c~1 0   q 1  k1 0   q1    F1 

 x 2   21   22   ~  q    0    
c~2  q 2   0

~   ~  
 0 m 2  2   k 2  q 2   2
F 
 x 1  11  12 
     q 1   q 2 M~  q  C~  q   K~  q  F~
 m ~ q ~   k~ q  F
i i  ci q
~
 x 2   21   22 
i i i i
Procedures for solving Steady-state Response (read step 3a 1st)
where q1  Q1 sin( w1t  1 ) & (step 1) find values of modal mass, modal stiffness & modal force.
~
q 2  Q2 sin( w2 t   2 ) ~ q ~ ~ Fi
(step 2) find steady-state solution: mi i  k i q i  Fi  qi  ~ ~ w2 since
where q 1  w1Q1 cos(w1t   1 ) & ki  m i

q 2  w2 Q2 cos(w2 t   2 ) i   w 2 qi
q
where Q1 & Q2 are constant, solve by using I.C Note: ‘w’ w/o any subscript is operating speed in rad/s if not wrong
Note: subscript ‘i’ represent mode in this step 2.
Initial Displacement: x1 (0)  ___ & x 2 (0)  ___
(step 3) find steady-state response: xi  i1q1  i 2 q 2
Initial velocity: x 1 (0)  ___ & x 2 (0)  ___ Note: it is the sum of contribution from all mode and subscript ‘i’ represent location in this step 3.
MDOF- Force Harmonic Excitation (step 3a) If the external force not in the form of Fo sin wt and has a step function u(t), than qi have to
(step 1 to 3) Same
(step 3a) Cramer’s Rule, find amplitude steady-state response. use
1  0 b 1 a 0 1 t
X1    & X2 
 F d 

 c
 where
F
Duhamel’s Integral (w/o damping): qi  ~
mi wi 0 F ( ) sin wi (t   )d (where F ( ) is

~
  ad  bc Fi w/o sin wt)
(step 4) Same
(step 5) Same. But have to set external force to zero b4 can use Than we can have xi  i1q1  i 2 q 2 but if is angular, than it is  i   i1q1   i 2 q 2
(step 6) Same I think, cos notes use other method to find Q1 & Q2
Force Harmonic Excitation-Absorber
(Case 1) For absorber tuned to running speed,
k2 Lame’s Equation for Thick Walled Cylinder
w 2  w22
2
 m2 B B
r  A  2
&   A  (inner cylinder, -u’, 1 rep inner surface & 2 rep outer surface)
Amplitude of system, X1  0 & X 2  P r r2
k2
D D
(The above equations is derived from X1 = 0 and r  C  &   C  (outer cylinder, +u”, 3 rep inner surface & 4 rep outer surface)
  ad  bc where X1 is from Cramer’s Rule) r2 r2
(Case 2) For absorber tuned to primary natural frequency w11 At r  r1  r   pi & At r  r4  r   p o

   
(Note: If inner cylinder is solid shaft, B is

1 2 2 2 zero)
2 ,
1 2  w11
w11 w11
 2  B D
At mating surface, rm  r 2   r 3  A C
Sometime, we arrange   ad  bc  0 to get frequency rm2 rm2

equation:     2      1  0
w 4
w11
w 2
w11
Radial interference / shrink fit allowance:
        u 'u"  rm ( "  ' )
 '  '
m2  '   ( ' r  ' z )
mass ratio,  m1
 AbsorberMass
MachineMass
where
E' E'
&

Properties of MDOF Vibrating System

 "  "   
i  T  M  j   0 & i  T  K  j   0  "   ( "r  " z ) and  2  &  3 
rm rm
i j E" E"
i  T  M i   m~ i & i  T  K i   k~i Necessary different in Diameter = 2

i j pi ri2  ro2 
~ If external is atmospheric pressure, po = 0  r  1 &
where mi = Generalised Modal mass for the ith mode ro2  ri2  r 2 
~
k i = Generalised Modal stiffness for the ith mode
pi ri2  ro2 
Modal Matrix:   1
 11  12  ro2  ri2  r 2 
 P        1  2   Stress Strain Relationship
 21   22  r  1 [ r   ( z    )] &    1 [    ( r   z )] &
 
E E
~
Modal Mass Matrix: M   P T  M  P 
E
z  1 [ z   ( r    )]
 11 21  m1 0  11  12  m ~ 0 criteria (Max shear strain equation):
1 Tresca
         ~   yield
12 22    0 m2  21  22   0  m 2
yield  &  max  max
   min
where  max &  min is the max & min of
Modal stiffness Matrix: 2 2
k~1 0   w12 m 
 
~ ~ 0  r / z /
K   P   K  P   
T
~ 
1
~  Von Mises Equation:  r     2      z  2   z   r  2  2 yield
2
 0 k 2   0 w22 m 2
Safety Factor, SF = yield stress / max stress
Mass Normalised Mode Shapes: Cylinder with end caps but free to change in length
(called weighted normal mode or m-orthonormal mode)
p r2 (1  2 ) pi
~ 
i
T
 M ~i   1 & ~ 
i
T
 K ~i   wi2  z  2 i i 2 &  z  E1 [ z   ( r    )]  2 where k
ro
ro  ri E (k  1) ri
where   
~
i
1
~
i  ~ ~
& k i  wi2 m i Pressure retained by piston at each end of cylinder
m i
 2( ) pi
z  0 & z   ( r    )]  
E E (k 2  1)
Cylinder built-in between rigid end support
2( ) p r 2
 z   ( r    )  2 i 2i & z  0
ro  ri