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ME4213 Tutorial 2a

The document describes a vibration system and provides the following information: 1. The system is a heat block slider assembly used in a wire bonding machine. It is modeled as a 3 degree-of-freedom system with masses, springs, and dampers. 2. The fundamental frequencies of the system are estimated to be 892.9435 Hz, 408.6768 Hz, and 318.3033 Hz by solving the equations of motion. 3. A machine tool supported by two springs is modeled as a 2 degree-of-freedom system accounting for translation and rotation. The natural frequencies are calculated to be 82.3732 rad/s and 70.5785 rad/s. The

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2K views4 pages

ME4213 Tutorial 2a

The document describes a vibration system and provides the following information: 1. The system is a heat block slider assembly used in a wire bonding machine. It is modeled as a 3 degree-of-freedom system with masses, springs, and dampers. 2. The fundamental frequencies of the system are estimated to be 892.9435 Hz, 408.6768 Hz, and 318.3033 Hz by solving the equations of motion. 3. A machine tool supported by two springs is modeled as a 2 degree-of-freedom system accounting for translation and rotation. The natural frequencies are calculated to be 82.3732 rad/s and 70.5785 rad/s. The

Uploaded by

LinShaodun
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lin Shaodun A0066078X 1

2012/2013
Vibration Theory and Applications Assignment 1
(By Lin Shaodun, A0066078X)

1 Describe an equivalent MDF vibration system that you frequently encounter in
your daily life (different from the examples that have been presented or discussed
in the class). Attempt to build a simple model for the system and estimate its
fundamental frequency.

Answer:
Below is a subassembly used in wire bonding machine, called Heat Block slider
(Figure 1), which I spent a few months on it to improve its vibration behavior.















This system can be modeled as follow (Figure 2):

Figure 2 MDOF model of HB slider
m1

m3 m2
k1
k3 k2 c2
c3
c1
m1: Mass of slider base
m2: Mass of heat block slider
m3: Mass of clamp frame
f(t): External vibration from base
x1-3:Displacement of m1-3
k1-3:Stiffness of m1-3
c1-3:Damping of m1-3

x1
x3 x2

f(t)
Clamp Frame
Heat Block
Insert
Heat Block
Slider
Slider base
Figure 1 Heat Block Slider Assembly
Lin Shaodun A0066078X 2
The equation of motion for above system is:
m
1
x
1
+k
1
x
1
k
2
(x
2
x
1
) k
3
(x
3
x
1
) +c
1
x
1
c
2
(x
2
x
1
) c
3
(x
3
x
1
) = F(t)
m
2
x
2
+k
2
(x
2
x
1
) +c
2
(x
2
x
1
) = u
m
3
x
3
+k
3
(x
3
x
1
) +c
3
(x
3
x
1
) = u
( 1.1 )
Re-arrange in matrix form:
_
m
1
u u
u m
2
u
u u m
3
_ _
x
1
x
2
x
3
_ + _
k
1
+k
2
+ k
3
k
2
k
3
k
2
k
2
u
k
3
u k
3
_ _
x
1
x
2
x
3
_ +_
c
1
+ c
2
+ c
3
c
2
c
3
c
2
c
2
u
c
3
u c
3
_ _
x
1
x
2
x
3
_ = _
F(t)
u
u
_ ( 1.2 )
For typical steel structure, the damping ratio is relatively small ( < u.uS) and it
has insignificant impact to the system frequency, hence the damping matrix |C| can
be neglected at this moment, and Eq. (1.2) can be reduced to:
_
m
1
u u
u m
2
u
u u m
3
_ _
x
1
x
2
x
3
_ +_
k
1
+k
2
+k
3
k
2
k
3
k
2
k
2
u
k
3
u k
3
_ _
x
1
x
2
x
3
_ = _
F(t)
u
u
_
( 1.3 )
The actual value for m
1-3
and k
1-3
as follow:

m
1

15.0 kg
k
1

4.28E+08 N/m
m
2

3.0 kg
k
2

2.09E+07 N/m
m
3

3.5 kg
k
3

1.46E+07 N/m
Substitute in Eq.(1.3), we have:

M = _
1S u u
u S u
u u S.S
_ , K = _
4.64E +u8 2.u9E +u7 1.46E +u7
2.u9E +u7 2.u9E +u7 u
1.46E +u7 u 1.46E +u7
_
( 1.4 )
Using Matlab script to calculate the determinant of matrix and solve the 3
rd
order
equation:

m=[1/15^.5,0,0;0,1/3^.5,0;0,0,1/3.5^.5];
K=[4.64E8,-2.09E7,-1.46E7;-2.09E7,2.09E7,0;-1.46E7,0,1.46E7];
L=sym('L');
Eqn=det(m*K*m-L*eye(3));
Ans=real(sym2poly(solve(Eqn,L)));
f = Ans.^.5/pi/2

The solution of fundamental frequencies as follow (in Hz):

f =
892.9435
408.6768
318.3033
Lin Shaodun A0066078X 3
2. A machine tool, having a mass of m=1000 kg and a mass moment of inertia of
J0=300kg-m
2
, is supported on elastic supports, as shown in Fig. 5.18. If the
stiffnesses of the supports are given by k1 = 3000N/mm and k2 = 2000 N/mm, and
the supports are located at l1=0.5m and l2=0.8m, find the natural frequencies and
mode shapes of the machine tool.




Answer:
Assume the machine tool has translation x and rotation about its centroid, as
shown in above figure.
Equation of motion in terms of x and :
mx +k
1
(x l
1
0) +k
2
(x +l
2
0) = u
[
0
0

k
1
(x l
1
0)l
1
+k
2
(x +l
2
0)l
2
= u
( 2.1 )
Re-arrange to separate the x and terms:
mx +(k
1
+k
2
)x +(k
2
l
2
k
1
l
1
)0 = u
[
0
0

+(k
2
l
2
k
1
l
1
)x +(k
1
l
1
2
+k
2
l
2
2
)0 = u
( 2.2 )
Assuming free vibration motion for x and :
X(t) = A
x
sin(t +)
(t) = A
0
sin(t +)
( 2.3 )
Substitute Eq. (2.3) into Eq. (2.2), we have:
(m
2
+k
1
+k
2
)X(t) +(k
2
l
2
k
1
l
1
)(t) = u
([
0

2
+k
1
l
1
2
+k
2
l
2
2
)(t) +(k
2
l
2
k
1
l
1
)X(t) = u
( 2.4 )


x
l
2

l
1

Lin Shaodun A0066078X 4
Re-arrange in matrix form:
_
m
2
+k
1
+k
2
k
2
l
2
k
1
l
1
k
2
l
2
k
1
l
1
[
0

2
+k
1
l
1
2
+k
2
l
2
2
_ _
X(t)
(t)
_ = j
u
u
[ ( 2.5 )
Above equation reduces to its characteristic equation:
_
m
2
+k
1
+k
2
k
2
l
2
k
1
l
1
k
2
l
2
k
1
l
1
[
0

2
+k
1
l
1
2
+k
2
l
2
2
_ = u ( 2.6 )
Substitute numeric values into Eq. (2.6):
_
1uuu
2
+Suuu 1u
3
1uu 1u
3
1uu 1u
3
Suu
2
+2uSu 1u
3
_ = u ( 2.7 )
Using Matlab script to calculate the determinant of matrix and solve the 2
rd
order
equation:

Omega=sym('Omega');
m=[-1E3*Omega^2+5E6,1E5;1E5,-300*Omega^2+2.03E6];
Ans=sym2poly(solve(det(m),Omega))

The output from Matlab is:

Ans =
82.3732
70.5785
-82.3732
-70.5785
Hence the natural frequencies are: m
1
=82.3732 rad/s and m
2
=70.5785 rad/s.

Mode shapes:
(1uuu
2
+Suuu 1u
3
)X(t) +1uu 1u
3
(t) = u
p
1
=
X(t)
(t)
_
o
1
=
1uu 1u
3
1uuu
1
2
+Suuu 1u
3
= S.S476
p
2
=
X(t)
(t)
_
o
2
=
1uu 1u
3
1uuu
2
2
+Suuu 1u
3
= u.uS6u1
First Modal vector is:
|A
1
] = _
A
11
p
1
A
11
_ = j
1
S.S476
[
Second Modal Vector is:
|A
2
] = _
A
12
p
2
A
12
_ = j
1
u.uS6u1
[
( 2.8 )

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