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Lecture Slides (Chapter 5)

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17 views

Lecture Slides (Chapter 5)

Uploaded by

syed najam
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Chapter 5

(Two Degree-of-Freedom
Systems)
Mechanical Vibrations by S. S. Rao (5th
Edition)
Two Degrees of Freedom
• Systems that require 2 kinematically independent coordinates to describe
completely the motion of each point in the system are called 2 DOF systems.
Two Degrees of Freedom
𝑵𝑵𝑵𝑵. 𝒐𝒐𝒐𝒐 𝑫𝑫𝑫𝑫𝑫𝑫𝑫𝑫 𝒐𝒐𝒐𝒐 𝒕𝒕𝒕𝒕𝒕𝒕 𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔
= 𝑁𝑁𝑁𝑁. 𝑜𝑜𝑜𝑜 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑖𝑖𝑖𝑖 𝑡𝑡𝑡𝑡𝑡 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠
× 𝑛𝑛𝑛𝑛. 𝑜𝑜𝑜𝑜 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑜𝑜𝑜𝑜 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑜𝑜𝑜𝑜 𝑒𝑒𝑒𝑒𝑒𝑒𝑒 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚

• EOMs are in the form of coupled differential equations (i.e., all equations
involve all coordinates). This is also called coordinate coupling.
• We assume harmonic motion for each generalized coordinate. For example, if
we have 2 generalized coordinates 𝑥𝑥1 , 𝑥𝑥2 , then these 2 can be expressed as:
𝑥𝑥1 = 𝑋𝑋1 cos 𝜔𝜔𝜔𝜔 + 𝜙𝜙 , 𝑥𝑥2 = 𝑋𝑋2 cos 𝜔𝜔𝜔𝜔 + 𝜙𝜙

• 2 natural frequencies, 2 normal/principal/natural modes


• Principal coordinates (decoupled/uncoupled EOMs)
Coordinate Coupling
• In a 2-DOF system, the motion of one mass depends on the motion of the other mass.
• Mathematically, this dependence can be seen in the 2 equations of motion where both
generalized coordinates appear in each equation. This is known as coordinate coupling, and
the equations of motion are coupled.
• In the most general case, the equations of motion of a 2-DOF system undergoing free
undamped vibration can be written in matrix form as:
𝑚𝑚11 𝑚𝑚12 𝑥𝑥̈ 1 𝑘𝑘11 𝑘𝑘12 𝑥𝑥1 0
𝑚𝑚21 𝑚𝑚22 𝑥𝑥̈ 2 + 𝑘𝑘21 𝑘𝑘22 𝑥𝑥2 = 0
• If the choice of generalized coordinates is such that the stiffness matrix is non-diagonal, the
coupling that exists is called elastic/static coupling.
• If the choice of generalized coordinates is such that the mass matrix is non-diagonal, the
coupling that exists between the coordinates is called mass/inertial coupling.
• If the choice of generalized coordinates is such that the damping matrix is non-diagonal, the
coupling that exists between the coordinates is called velocity/damping coupling.
Coordinate Coupling
• Both mass coupling and velocity coupling come under the heading of dynamic
coupling. So, basically there are 2 types of coordinate coupling (i.e., static and
dynamic coupling). Dynamic coupling has 2 further subtypes (i.e., mass and
velocity coupling).
• The choice of coordinates is a mere convenience. Whichever set of generalized
coordinates you select for the equations of motion, the system’s natural
frequencies will come out to be the same.
Principal Coordinates
• If the choice of generalized coordinates is such that neither inertial
coupling exists (i.e., the mass matrix is diagonal), nor static coupling
exists (i.e., the stiffness matrix is also diagonal), then these
generalized coordinates are called principal or natural coordinates.
• When principal or natural coordinates are used, the 2 equations of
motion no longer remain coupled (simultaneous). Therefore, they
can be solved independently.
Important Formulae for Equations of Motion of Rigid
Bodies in Planar Motion (i.e., Motion in 𝑥𝑥 − 𝑦𝑦 Plane)
1. � 𝐹𝐹𝑥𝑥 = 𝑚𝑚 𝑎𝑎𝐺𝐺 𝑥𝑥

2. � 𝐹𝐹𝑦𝑦 = 𝑚𝑚 𝑎𝑎𝐺𝐺 𝑦𝑦

3. � 𝑀𝑀𝐺𝐺 = 𝐽𝐽𝐺𝐺 𝜃𝜃̈

4. � 𝑀𝑀𝑂𝑂 = 𝐽𝐽𝑂𝑂 𝜃𝜃̈

5. � 𝑀𝑀𝑃𝑃 = 𝐽𝐽𝑃𝑃 𝜃𝜃̈ + 𝑥𝑥𝑚𝑚


̅ 𝑎𝑎𝑃𝑃 𝑦𝑦 − 𝑦𝑦𝑚𝑚
� 𝑎𝑎𝑃𝑃 𝑥𝑥
Important Formulae for Equations of Motion of Rigid
Bodies in Planar Motion (i.e., Motion in 𝑥𝑥 − 𝑦𝑦 Plane)
𝑎𝑎𝐺𝐺 𝑥𝑥 : 𝑥𝑥 − component of acceleration of the center of gravity of the rigid body
𝑎𝑎𝐺𝐺 𝑦𝑦 : 𝑦𝑦 − component of acceleration of the center of gravity of the rigid body
∑ 𝑀𝑀𝐺𝐺 : summation of all moments about the center of gravity G
𝐽𝐽𝐺𝐺 : mass moment of inertia about an axis passing through the center of gravity G
∑ 𝑀𝑀𝑂𝑂 : summation of all moments about a fixed point O in the rigid body
𝐽𝐽𝑂𝑂 : mass moment of inertia about an axis passing through point O
∑ 𝑀𝑀𝑃𝑃 : summation of all moments about a non-fixed point P in the rigid body
𝑥𝑥̅ : distance along the 𝑥𝑥 − axis between P and G during rotation
𝑦𝑦� : distance along the y − axis between P and G during rotation
𝑎𝑎𝑃𝑃 𝑥𝑥 : 𝑥𝑥 − component of acceleration of point P
𝑎𝑎𝑃𝑃 𝑦𝑦 : y − component of acceleration of point P

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