Front Matter
Front Matter
Daniel J. Inman
Virginia Tech, USA
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Library of Congress Cataloging in Publication Data
Inman, D. J.
Vibration with control / Daniel J. Inman.
p. cm.
Includes bibliographical references and index.
ISBN-13 978-0-470-01051-8 (HB)
ISBN-10 0-470-01051-7 (cloth : alk. paper)
1. Damping (Mechanics). 2. Vibration. I. Title.
TA355.I523 2006
620.3dc22 2006005568
British Library Cataloguing in Publication Data
A catalogue record for this book is available from the British Library
ISBN-13 978-0-470-01051-8 (HB)
ISBN-10 0-470-01051-7 (HB)
Typeset in 10/12pt Times by Integra Software Services Pvt. Ltd, Pondicherry, India
Printed and bound in Great Britain by Antony Rowe Ltd, Chippenham, Wiltshire
This book is printed on acid-free paper responsibly manufactured from sustainable forestry
in which at least two trees are planted for each one used for paper production.
Contents
Preface xi
1 Single-degree-of-freedom Systems 1
1.1 Introduction 1
1.2 SpringMass System 1
1.3 SpringMassDamper System 4
1.4 Forced Response 8
1.5 Transfer Functions and Frequency Methods 14
1.6 Measurement and Testing 19
1.7 Stability 22
1.8 Design and Control of Vibrations 24
1.9 Nonlinear Vibrations 27
1.10 Computing and Simulation in Matlab 29
Chapter Notes 35
References 35
Problems 36
2 Lumped-parameter Models 39
2.1 Introduction 39
2.2 Classifications of Systems 42
2.3 Feedback Control Systems 44
2.4 Examples 45
2.5 Experimental Models 49
2.6 Influence Methods 50
2.7 Nonlinear Models and Equilibrium 52
Chapter Notes 54
References 55
Problems 55
4 Stability 99
4.1 Introduction 99
4.2 Lyapunov Stability 99
4.3 Conservative Systems 101
4.4 Systems with Damping 103
4.5 Semidefinite Damping 103
4.6 Gyroscopic Systems 104
4.7 Damped Gyroscopic Systems 106
4.8 Circulatory Systems 107
4.9 Asymmetric Systems 109
4.10 Feedback Systems 113
4.11 Stability in State Space 116
4.12 Stability Boundaries 118
Chapter Notes 119
References 120
Problems 121
Index 365
Preface
Advance-level vibration topics are presented here, including lumped-mass and distributed-
mass systems in the context of the appropriate mathematics, along with topics from control
that are useful in vibration analysis and design. This text is intended for use in a second
course in vibration, or in a combined course in vibration and control. This book is also
intended as a reference for the field of structural control and could be used as a text in
structural control. Control topics are introduced at beginner level, with no knowledge of
controls needed to read the book.
The heart of this manuscript was first developed in the early 1980s and published in 1989
under the title Vibration with Control, Measurement and Stability. That book went out of
print in 1994. However, the text remained in use at several universities, and all used copies
seem to have disappeared from online sources in about 1998. Since then I have had yearly
requests for copying rights. Hence, at the suggestions of colleagues, I have revised the older
book to produce this text. The manuscript is currently being used in a graduate course at
Virginia Tech in the Mechanical Engineering Department. As such, presentation materials
for each chapter and a complete solutions manual are available for use by instructors.
The text is an attempt to place vibration and control on a firm mathematical basis and
connect the disciplines of vibration, linear algebra, matrix computations, control, and applied
functional analysis. Each chapter ends with notes on further references and suggests where
more detailed accounts can be found. In this way I hope to capture a big picture approach
without producing an overly large book. The first chapter presents a quick introduction
using single-degree-of-freedom systems (second-order ordinary differential equations) to
the following chapters, which extend these concepts to multiple-degree-of-freedom systems
(matrix theory, systems of ordinary differential equations) and distributed-parameter systems
(partial differential equations and boundary value problems). Numerical simulations and
matrix computations are also presented through the use of MatlabTM . New material has
been added on the use of Matlab, and a brief introduction to nonlinear vibration is given.
New problems and examples have been added, as well as a few new topics.
ACKNOWLEDGMENTS
I would like to thank Jamil M. Renno, a PhD student, for reading the final manuscript
and sorting out several typos and numerical errors. In addition, Drs T. Michael Seigler,
xii PREFACE
Kaihong Wang, and Henry H. Sodano are owed special thanks for helping with the figures.
I would also like to thank my past PhD students who have used the earlier version of the book,
as well as Pablo Tarazaga, Dr Curt Kothera, M. Austin Creasy, and Armaghan Salehian who
read the draft and made wonderful corrections and suggestions. Professor Daniel P. Hess
of the University of South Florida provided invaluable suggestions and comments for which
I am grateful. I would like to thank Ms Vanessa McCoy who retyped the manuscript from
the hard copy of the previous version of this book and thus allowed me to finish writing
electronically.
Thanks are also owed to Wendy Hunter of Wiley for the opportunity to publish this
manuscript and the encouragement to finish it. I would also like to extend my thanks and
appreciation to my wife Cathy Little, son Daniel, and daughters Jennifer and Angela (and
their families) for putting up with my absence while I worked on this manuscript.
Daniel J. Inman
[email protected]