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MSD Tutorial 1 Arial

This document is a tutorial on multi-degree of freedom (MDOF) vibration systems from Imperial College London's Department of Mechanical Engineering. It provides examples and MATLAB code to analyze systems with 2 and 4 degrees of freedom. The tutorial examines the natural frequencies and mode shapes of different mass-spring systems, and how changes to the system parameters affect the results. It also demonstrates how to create and analyze frequency response functions for single and multi-degree of freedom models in MATLAB.

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46 views3 pages

MSD Tutorial 1 Arial

This document is a tutorial on multi-degree of freedom (MDOF) vibration systems from Imperial College London's Department of Mechanical Engineering. It provides examples and MATLAB code to analyze systems with 2 and 4 degrees of freedom. The tutorial examines the natural frequencies and mode shapes of different mass-spring systems, and how changes to the system parameters affect the results. It also demonstrates how to create and analyze frequency response functions for single and multi-degree of freedom models in MATLAB.

Uploaded by

aaroncete14
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© © All Rights Reserved
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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Imperial College London.

Department of Mechanical Engineering


ME3 Machine System Dynamics

Vibration Tutorial 1: MDOF systems.

Matlab example files are on Moodle

1. Define the degrees of freedom that a four-wheeled trailer with coil springs
will have when sitting on the ground:

(i) assuming solid wheels.


(ii) allowing for the two un-sprung axles and the pneumatic tyres.

Which of these degrees of freedom are most likely to affect a load carried on
the trailer?

Which degree of freedom may contribute to a snaking motion when the trailer
is being towed?

2. A rigid box of mass 5 kg and moment of Inertia 2.5 kg.m2 rests on a


frictionless table and is controlled by the four springs as shown in Figure 1.
kdx
Centre
of d a
gravity
c

c
a b
kcx
kay
kby

Figure 1
Write down the equations of motion for the system, and set up the mass and
stiffness matrices. Check that these are correct by inspection of the terms.

If kay = kby = 2kN/m and kcx = kdx = 4 kN/m a = 0.3, b = 0.4, c = 0.4, d= 0.3.

Use Matlab editor to write a script file with these input parameters to set up
the mass and stiffness matrix, check that the two matrices are correct and use
the eigenvector solver to determine the natural frequencies and mode shapes.

By inspection of the stiffness matrix determine what change to the spring


locations would result in the system providing three 'pure' (decoupled ) modes
i.e. 2 translations and one rotation. Check that the three modes are 'pure' by
modifying the script file and examining the new mode shapes and natural
frequencies. Check that you can estimate the same natural frequencies by
considering three independent single degree of freedom models.

[ 6.39 Hz, 4.54 Hz 3.81 Hz ]

ME3 MSD Vibrations Tutorial Sheet 1 FC 1 of 3


3. Figure 2 shows the arrangement for supporting a combined engine and
gearbox unit into a vehicle, using mounting springs at three locations: A, B
and C. The engine and gearbox can be treated as a single rigid mass, and the
three springs are specified in terms of the stiffness in the three orthogonal
directions: x, y and z.

C
z
B y
x
A

Figure 2.

Each rear mount (A&B) has a vertical stiffness of 20 kN/m and a horizontal
stiffness of 30 kN/m in both x and y directions, and the single front mount (C)
has a vertical stiffness of 30 kN/m and a horizontal stiffness in both x and y
directions of 35 kN/m.

Each mount will have very small rotational stiffness. The mass of the engine is
53 kg and its moment of inertia about the x,y and z axes through its centre of
mass is 1.1 kg.m2, 2.7 kg.m2 and 2.6 kg.m2 respectively.

The idling speed of the four cylinder four stroke engine is to be set at 600
rev/min and the maximum engine speed is to be 6500 rev/min. The crankshaft
is parallel to the longer axis. Figure 3 shows the engineering drawing
locations of the mounts.
215 285
B
125 Rear mounts at A and B
C
Front mount at C
125
A y Centre of mass is
Plan x Dimensions in mm.

175 C
C

175

A B
A,B z z
Side x Front y

Figure 3
Determine the natural frequencies and mode shapes of the proposed system
and decide whether the mounting system will provide sufficient vibration
isolation for the vehicle under all operating conditions.

The Matlab script file: box.m sets up the mass and stiffness matrix for the
given system, using the centre of gravity of the unit as the origin for all
dimensions. Examine the file to see its structure; check that the mass and
stiffness matrices are symmetrical, and use the script file to solve for the

ME3 MSD Vibrations Tutorial Sheet 1 FC 2 of 3


natural frequencies and mode shapes. Use the Matlab help routine to find out
about any functions which you do not understand (e.g. type help eig into
the command window to find out about eigenvector solving).

Are any of the natural frequencies likely to be excited by the running engine?
What effects would this have on the vehicle and its occupants? Are these
important enough to change the design?

If so what changes could you make to the spring values and or locations to
improve the performance? Modify the script file and re-run it to assess the
effect of these changes.

What other factors would be affected by the changes in mounting conditions?

4. A Matlab script file sdof.m is written to generate a single degree of


freedom model. The file is set up to generate and display the frequency
response function (FRF) for a 1 kg mass with a spring to give 100 Hz
resonance frequency and a viscous damper with a damping ratio of 0.1. The
FRF is calculated for 1 Hz intervals from 1 to 500 Hz.

Run the file in the command window by typing: sdof and press the return key
to view the same data in several formats. Each display will create a new
figure number, so you can track between displays. Use the Matlab Editor to
examine the script file, to see the various matrix and graphical commands
used. Use the Matlab help to find out more about the commands. Try
changing the display colours, line types and symbols using the help plot
command to explore the options. Use help complex to see how the
complex numbers are generated, and associated commands. Use the HELP
WINDOW to see the range of topics covered by help.

Try changing the damping ratio on the script file, save it with a new name
and run the new file in the command window. Try decreasing the damping
ratio by a factor of 10, and then increasing it by a factor of 10. Note the data
spacing in the Nyquist plot.

5. Run the script file dof2.m to see the FRF of a two degree of freedom
model. The FRF is constructed from two single degree of freedom models
added together. The different colours show each mode and the summation.
Note the difference in the peak values for the two modes. Press the + zoom
key above the figure to activate the zoom, select the required area using the
mouse. Note the frequency of the anti-resonance between the two
resonances.

Change the script file to make the second mass 0.25 kg, save it with a new
name and re-run the displays. Note the new anti-resonance frequency value.
Now reduce the damping for each mode by a factor of 10 and repeat the
presentations. Note the sharpness of the anti-resonance between the two
modes.
Change the script file to make the second mass - 1.0 kg, save it with a new
name and rerun the displays. Note the changes in the Nyquist and bode
plots.

Make notes on your observations, these will be useful for you later, for
example in the progress test.
ME3 MSD Vibrations Tutorial Sheet 1 FC 3 of 3

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