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Free Vibration With Coulomb Damping Examples: With Many Figures and Models From Mechanical Vibrations, S. S. Rao

The document summarizes key concepts from lectures on mechanical vibrations: 1) Lecture 6 discusses free vibration with Coulomb damping and provides examples. Lecture 7 covers forced vibration of single degree of freedom systems and gives examples. 2) Forced vibrations occur when an external force or displacement excitation is applied to a vibrating system. The response can be harmonic, nonharmonic, periodic, nonperiodic, or random. 3) An example problem is solved to determine the forcing frequency that produces a maximum response amplitude of 100 mm in a spring-mass system with given properties.

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Mihir Ashar
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77 views

Free Vibration With Coulomb Damping Examples: With Many Figures and Models From Mechanical Vibrations, S. S. Rao

The document summarizes key concepts from lectures on mechanical vibrations: 1) Lecture 6 discusses free vibration with Coulomb damping and provides examples. Lecture 7 covers forced vibration of single degree of freedom systems and gives examples. 2) Forced vibrations occur when an external force or displacement excitation is applied to a vibrating system. The response can be harmonic, nonharmonic, periodic, nonperiodic, or random. 3) An example problem is solved to determine the forcing frequency that produces a maximum response amplitude of 100 mm in a spring-mass system with given properties.

Uploaded by

Mihir Ashar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Mechanical Vibrations

Lecture 6:

Free Vibration with Coulomb


Damping
Examples

Lecture 7:

Forced Vibration of SDOF Systems


Examples

With many figures and models from Mechanical Vibrations, S. S. Rao


Forced vibration -1

Forced Vibrations
Forced vibrations occurs when external energy is
supplied to the system during vibration

The external force can be supplied through either


an applied force or an imposed displacement
excitation, which may be harmonic, nonharmonic
but periodic, nonperiodic, or random in nature.

Harmonic response results when the system


responses to a harmonic excitation

Transient response is defined as the response of a


dynamic system to suddenly applied nonperiodic
excitations

Mechanical Vibrations

Forced vibration -2

Forced Vibrations
From this figure, the equation of motion using
Newtons second law:

mx cx kx F (t )

Mechanical Vibrations

Forced vibration -3

Forced Vibrations

2nd order
linear
non-homogeneous
constant coefficients
Required solution

x(t ) ?
x(t ) xh (t ) x p (t )

x x(t )
dx
x
dt
d 2x
x 2
d t

Mechanical Vibrations

mx cx kx F (t )

Forced vibration -4

Forced Vibrations
Equation of Motion:

mx cx kx F (t )

Mechanical Vibrations

Forced vibration -5

Response of Forced Undamped System

mx kx F0 cos t
The homogeneous solution is given by:

xh (t ) C1 cos nt C2 sin nt
where n (k / m)1/ 2 is the natural frequency.

Mechanical Vibrations

Consider an undamped system subjected to a


harmonic force. If a force F (t ) F0 cos t acts on the
mass m of the system,

Forced vibration -6

Response of Forced Undamped System

x p (t ) X cos t
where X is the max amplitude of the particular solution xp(t)

Mechanical Vibrations

Because the exciting force is harmonic, the particular


solution is also harmonic and has same frequency,
therefore we can assume a solution in the form:

Forced vibration -7

Response of Forced Undamped System


st

1
n

where st F0 / k denotes the static deflection

Thus,
F0
x(t ) C1 cos nt C2 sin nt
cos t
2
k m

Mechanical Vibrations

F0
X

2
k m

Forced vibration -8

Response of Forced Undamped System


F0
x(t ) C1 cos nt C2 sin nt
cos t
2
k m

Hence,

F0
C1 x0
,
2
k m

C2

x0

x0
F0

x(t ) x0
cos nt sin nt
2
k m

n
F0

cos t
2
k m

Mechanical Vibrations

Using initial conditions x(t 0) x0 and x (t 0) x0 ,

Forced vibration -9

Amplitude Ratio (Magnification Factor)

st

1

1
n

Mechanical Vibrations

Forced vibration -10

Amplitude Ratio (Magnification Factor)

st

st

1

1
n

(3.10)


1
n

(3.5)

Mechanical Vibrations

Case 1. When 0 < / n< 1, the denominator in Eqn.


(3.10) is positive and the response is given by Eq.(3.5)
without change. The harmonic response of the system is in
phase with external force, as shown in figure.

Forced vibration -11

Amplitude Ratio (Magnification Factor)

x p (t ) X cos t
where the amplitude,

st
2


1
n

Mechanical Vibrations

Case 2. When / n > 1, the denominator in Eq.(3.10) is


negative and the steady-state solution can be expressed
as:

Forced vibration -12

Amplitude Ratio (Magnification Factor)

st

1

1
n

x(t ) x0 cos nt

stnt
2

x0

sin nt

Mechanical Vibrations

Case 3. When / n = 1, the amplitude X given by


Eq.(3.10) becomes infinite. This condition, for which the
forcing frequency is equal to the natural frequency of the
system, is called resonance. Hence, the response of the
system becomes:

sin nt
Forced vibration -13

Total Response

for
1 The total response of the system is:
n
F0
x(t ) C1 cos nt C2 sin nt
cos t
2
k m

can also be expressed as:

x(t ) A cos(nt )

st

1
n

cos t

Mechanical Vibrations

Response of Undamped System Under


Harmonic Force

Forced vibration -14


and for
1
n
x(t ) A cos(nt )

st

1
n

cos t

Mechanical Vibrations

Response of Undamped System Under


Harmonic Force

Forced vibration -15

Beating Phenomenon
If the forcing frequency is close to, but not exactly
equal to, the natural frequency of the system,
beating may occur. The phenomenon of beating
can be expressed as:

Mechanical Vibrations

Response of Undamped System Under


Harmonic Force

Forced vibration -16

The amplitude of vibration builds up and then


diminishes in a regular pattern

F0 / m

x(t )
sin t sin t
2

(n ) / 2

Mechanical Vibrations

Response of Undamped System Under


Harmonic Force

Forced vibration -17

The time between the points of zero amplitude or


the points of maximum amplitude is called the
and is given by

2
2
b

2 n
with the frequency of beating defined as

b 2 n

Mechanical Vibrations

Response of Undamped System Under


Harmonic Force

Forced vibration -18

Example 3.9
A spring-mass system with m=10 kg and k=5000
N/m is subjected to a harmonic force of amplitude
250 N and frequency . if the maximum amplitude
of the mass is observed to be 100 mm, find the
value of .

Mechanical Vibrations

Forced vibration -19

Example 3.9
Mechanical Vibrations
Forced vibration - 20

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