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Dynamics and Vibration - Matlab

The document describes a propulsion system for a ship with a diesel engine driving a propeller through a gear reduction system. A MATLAB program is developed to analyze the torsional vibrations of the 3-degree-of-freedom system representing the crankshaft, pinion gear, and propeller. The program calculates the natural frequencies, mode shapes, and node locations of the system and provides recommendations to improve the design.

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Abhinandan Rao
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97 views8 pages

Dynamics and Vibration - Matlab

The document describes a propulsion system for a ship with a diesel engine driving a propeller through a gear reduction system. A MATLAB program is developed to analyze the torsional vibrations of the 3-degree-of-freedom system representing the crankshaft, pinion gear, and propeller. The program calculates the natural frequencies, mode shapes, and node locations of the system and provides recommendations to improve the design.

Uploaded by

Abhinandan Rao
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Propulsion Plant of a water vehicle(ship) is shown in Figures.

The propeller of ship


is driven by a Six -cylinder 4-stroke diesel engine running at 470 rpm through a
reduction gear drive. The propeller is required to be driven at 105 rpm. Each crank
2
throw can be modelled as an individual rotor of equivalent inertia of 450 kg-m .
2
Engine is coupled to the pinion having mass moment of inertia of 62 kg-m . And
2
the gear having mass moment of inertia of 268 kg-m is coupled to the propeller
through a stepped shaft as shown in the Fig. 2. It is required to investigate and
analyze the torsional vibrations.
The system is reduced to 3-Degree-freedom torsional vibrating system by taking
320 ɸ as diameter of equivalent shaft and by replacing all the 6 crank throws by
one inertia,gear drives by one inertia and including the effects of the gears.The
Fig.1,Fig.2 and Fig.3 represent Physical schematic system,Torsional vibration model
respectively.
Develop a generic MATLAB program to determine all the natural frequencies
[Eigen values] and the corresponding node point locations and anti-nodes for all
the modes of vibrations. Interpret the results and suggest suitable
recommendations for design modifications.
9 2
G = 84 X 10 N/ m

62

Fig.1Physical Modelling
Fig. 2 Schematic diagram

lumped parameters
Hint:Treat the above problem as a Three-degree-freedom-torsional-vibrating-
system with three values of inertias i.e I1, I2, I3 and three values of torsion
stiffness’s of kt1,kt2,kt3 . Assume kt1 = 0.
Script file
%%Natural frequency of a three rotor torsional vibrating system
clc
clear all
close all

%% Inertia values
Ia=input('Enter the first inertia value kg-m2');
Ip=input('Enter the pinion inertia value kg-m2');
Ig=input('Enter the gear inertia value kg-m2');
Ic=input('Enter the third inertia value kg-m2');
%% length between the rotors
L1=input('Enter the distance between the first and second rotor in an actual
system, m :');
L2=input('Enter the distance of first part stepped shaft between the Second and
third rotor in an actual system, m :');
L3=input('Enter the distance of second part stepped shaft between the Second and
third rotor in an actual system, m :');
L4=input('Enter the distance of third part stepped shaft between the Second and
third rotor in an actual system, m :');
% Dia. of shafts
D1=input('Enter the diameter of part between the first and second rotor in an
actual system, diameter,m');
D2=input('Enter the diameter of first part stepped shaft between the Second and
third rotor in an actual system, m :');
D3=input('Enter the diameter of second part stepped shaft between the Second and
third rotor in an actual system, m :');
D4=input('Enter the diameter of third part stepped shaft between the Second and
third rotor in an actual system, m :');
%%Speed of Driver in rpm
N1=input('Enter the speed of driver machine in rpm:');
N2=input('Enter the speed of driven machine in rpm:');
%%Gear ratio
g=N1/N2;
%%Effective length between first and second rotor
LE1=L1;
%%Effective length between second and third rotor
LE2=g^2*((L2*(D1/D2)^4)+(L3*(D1/D3)^4)+(L4*(D1/D4)^4));
%%Effective length
LE=LE1+LE2;
Ice=Ic/g^2;
Ibe=Ip+(Ig/g^2);
X=Ice/Ia;
%%Rigidity modulus
G=84*10^9;
%Polar moment of inertia
J=(pi/32)*((D1)^4);
A=Ice*(1+X)+Ibe*X;
B=-Ibe*LE1-Ibe*X*LE2-Ice*LE;
C=Ibe*LE1*LE2;
Lc1=(-B+sqrt(B*B-4*A*C))/(2*A);
Lc2=(-B-sqrt(B*B-4*A*C))/(2*A);
La1=X*Lc1;
La2=X*Lc2;
k1=0;
k3=(G*J)/(LE);
k2=(G*J)/(L1);
I=[1 0 0;0 1 0;0 0 1]; %Identity Matrix
M=[Ia 0 0;0 Ibe 0;0 0 Ice];%Mass Matrix
K=[k1+k2 -k2 0;-k2 k2+k3 -k3;0 -k3 k3]; %Stiffness Matrix
MI=inv(M); % Matrix Inverse
D=MI*K; %Dynamic Matrix
[v E]=eig(D) %Eigen values and vectors

%%Angular frequency
Wn3=sqrt(E(1,1));
Wn1=sqrt(E(2,2));
Wn2=sqrt(E(3,3));
%%Mode shapes
Mode1=[((v(1,1)/v(1,1)));((v(2,1)/v(1,1)));((v(3,1)/v(1,1)))]
Mode2=[((v(1,2)/v(1,2)));((v(2,2)/v(1,2)));((v(3,2)/v(1,2)))]
Mode3=[((v(1,3)/v(1,3)));((v(2,3)/v(1,3)));((v(3,3)/v(1,3)))]
%%Linear frequency/ Natural frequency
Fn1=Wn1/(2*pi)
Fn2=Wn2/(2*pi)
Fn3=Wn3/(2*pi)

%% Output results
OP=sprintf('Distance of first node point from end C, Lc1 = %f m, Lc2 = %f
m',Lc1,Lc2);
disp(OP);
OP1=sprintf('Distance of second node point from end A, La1 = %f m, La2 = %f
m',La1,La2);
disp(OP1);
OP0=sprintf('Angular frequency=%f rad/sec, first Natual frequency is =%f
Hz',Wn1,Fn1);
disp(OP0);
OP2=sprintf('Angular frequency=%f rad/sec, second Natual frequency is =%f
Hz',Wn2,Fn2);
disp(OP2);
OP3=sprintf('Angular frequency=%f rad/sec, third Natual frequency is =%f
Hz',Wn3,Fn3);
disp(OP3);

%%PLots
X=[1;2;3];
figure(1)
plot(X,Mode1,'-o',X,Mode2,'-o',X,Mode3,'-o');
x2=2;
y2=Mode1(2,1);
x3=3;
y3=Mode1(3,1);
txt1=['',num2str(y2)];
txt2=['',num2str(y3)];
text(x2,y2,txt1)
text(x3,y3,txt2)
%
x2=2;
y2=Mode2(2,1);
x3=3;
y3=Mode2(3,1);
txt3=['',num2str(y2)];
txt4=['',num2str(y3)];
text(x2,y2,txt3)
text(x3,y3,txt4)
%
x2=2;
y2=Mode3(2,1);
x3=3;
y3=Mode3(3,1);
txt5=['',num2str(y2)];
txt6=['',num2str(y3)];
text(x2,y2,txt5)
text(x3,y3,txt6)
title('Mode shapes')
xlabel('Distance between masses')
hold off
Result

Eigen Vector
v =

-0.0265 -0.5774 -0.1068


0.9996 -0.5774 -0.0528
-0.0126 -0.5774 0.9929

E =

1.0e+05 *

2.2936 0 0
0 0.0000 0
0 0 0.0300

Modes
Mode1 =

1.0000
-37.6721
0.4739

Mode2 =

1.0000
1.0000
1.0000
Mode3 =

1.0000
0.4940
-9.2956

Natural Frequencies
Fn1 =
2.0277e-07
Fn2 =
8.7189
Fn3 =
76.2219

Node points locations

Distance of first node point from end C, Lc1 = 92.971620 m, Lc2 = 1.276912 m
Distance of second node point from end A, La1 = 10.139617 m, La2 = 0.139262 m
Angular frequency=0.000001 rad/sec, first Natural frequency is =0.000000 Hz
Angular frequency=54.782420 rad/sec, second Natural frequency is =8.718893 Hz
Angular frequency=478.916151 rad/sec, third Natural frequency is =76.221873 Hz

Mode shapes

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