NOISE & VIBRATION

Topic 6 :
Vibration Control

Ir Dr Zainal Fitri B Zainal Abidin

Sept 2016
 Chapter Outline

• Introduction
• Vibration Nomograph and Vibration Criteria
• Control of Vibration
• Control of Natural Frequencies
• Introduction of Damping
• Vibration Isolation
• Vibration Absorbers

© 2011 Mechanical Vibrations 2

Fifth Edition in SI Units
 Introduction

• Vibration leads to wear of machinery and

discomfort of humans, thus we want to eliminate
vibration

• Designer must compromise between acceptable

amount of vibration and manufacturing cost

• We shall consider various techniques of

vibration control in this chapter.
© 2011 Mechanical Vibrations 3
Fifth Edition in SI Units
 Chapter Outline

• Introduction
• Vibration Nomograph and Vibration Criteria
• Control of Vibration
• Control of Natural Frequencies
• Introduction of Damping
• Vibration Isolation
• Vibration Absorbers

© 2011 Mechanical Vibrations 4

Fifth Edition in SI Units
 Vibration Nomograph and Vibration Criteria

• Vibration nomograph displays the variations of displacement,

velocity and acceleration amplitudes wrt frequency of vibration

• Harmonic motion: x t   X sin t

• Velocity:v t   xt   X cos t  2fX cos t
• Acceleration: a t   

x t    2
X sin t  4 f X sin t
2 2

• Amplitude of velocity: vmax  2fX 9.4

• Amplitude of acceleration: amax  4 f X  2fvmax

2 2
9.5
© 2011 Mechanical Vibrations 5
Fifth Edition in SI Units
 Vibration Nomograph and Vibration Criteria

• Taking log of Eq. 9.3 and Eq. 9.4:

ln vmax  ln 2f   ln X
ln vmax   ln amax  ln 2f 
• When X is constant, ln vmax varies linearly with ln(2πf)

• When amax is constant, ln vmax varies linearly with ln(2πf)

• This is shown as a nomograph in the next slide.

• Every pt on the nomograph denotes a specific sinusoidal vibration.

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Nomograph and Vibration Criteria

7 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Nomograph and Vibration Criteria

Ranges of Vibration

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Nomograph and Vibration Criteria

Frequency sensitivity of
different parts of human
body

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Nomograph and Vibration Criteria

• Vibration severity of machinery is defined in

terms of the root mean square (rms) value of
vibration velocity. (ISO 2372)

• Vibration severity of whole building vibration

(ISO DP 4866)

• Vibration limits for human (ISO 2631)

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Nomograph and Vibration Criteria

•Example 9.1
Helicopter Seat Vibration Reduction

The seat of a helicopter, with the pilot, weights 1000N and is

found to have a static deflection of 10 mm under self-weight.
The vibration of the rotor is transmitted to the base of the
seat as harmonic motion with frequency 4 Hz and amplitude
0.2 mm.
•a) What is the level of vibration felt by the pilot?
•b) How can the seat be redesigned to reduce the effect of
vibration?

© 2011 Mechanical Vibrations 11

Fifth Edition in SI Units
 Vibration Nomograph and Vibration Criteria

•Example 9.1
Helicopter Seat Vibration Reduction
Solution

Mass = m = 1000/9.81 = 101.9368 kg

Stiffness = k = W/δst = 1000/0.01 = 105N/m

Natural frequency = ωn = k 10 5
  31.3209 rad/s  4.9849 Hz
m 101.9368

•Frequency ratio = r =   4.9849  1.2462

n 4.0
Y
•Amplitude of vibration felt by pilot: X 
1 r2

•where Y is the amplitude of

© 2011 Mechanical Vibrations 12
base displacement
Fifth Edition in SI Units
 Vibration Nomograph and Vibration Criteria

•Example 9.1
Helicopter Seat Vibration Reduction
Solution 0.2
X  0.3616 mm
1  1.2462 2

vmax  2fX  2 50.3616   9.0887 mm/s

amax  2f  X  228 .4074 mm/s 2  0.2284 m/s 2
2

•At 4 Hz, the amplitude of 0.3616 mm may not cause much

discomfort.
•However the velocity and acceleration at 4 Hz are not
acceptable for a comfortable ride.
•Try to bring amax down to 0.01 m/s2

13 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Nomograph and Vibration Criteria

•Example 9.1
Helicopter Seat Vibration Reduction
Solution
amax  10 mm/s  2f  X  8 
2 2 2

X  0.01583 mm
X 0.01583 1
  or r  3.6923
Y 0.2 1 r 2

 8 k
n    6.8068 rad/s 
3.6923 3.6923 m
m  101 .9368 kg  k  4722 .9837 N/m

•Either use softer material for seat or increase mass of seat.

14 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Chapter Outline

• Introduction
• Vibration Nomograph and Vibration Criteria
• Control of Vibration
• Control of Natural Frequencies
• Introduction of Damping
• Vibration Isolation
• Vibration Absorbers

© 2011 Mechanical Vibrations 15

Fifth Edition in SI Units
 Control of Vibration
• Some import methods to control vibrations:
Control ωn and avoid resonance under external
excitations.
Introduce damping mechanism to prevent
excessive response of system
Use vibration isolators to reduce transmission
of excitation forces from one part of the
machine to another
Add an auxiliary mass neutralizer or vibration
absorber to reduce response of system
© 2011 Mechanical Vibrations 16
Fifth Edition in SI Units
 Chapter Outline

• Introduction
• Vibration Nomograph and Vibration Criteria
• Control of Vibration
• Control of Natural Frequencies
• Introduction of Damping
• Vibration Isolation
• Vibration Absorbers

© 2011 Mechanical Vibrations 17

Fifth Edition in SI Units
 Control of Natural Frequencies
• Resonance Large displacements large strains and
stresses failure of system

• Often the excitation frequency cannot be controlled.

• Hence must control natural frequency by varying mass m

or stiffness k to avoid resonance.

• Practically mass cannot be changed easily.

• Hence we change stiffness k by altering the material or

number and location of bearings.
18 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 Chapter Outline

• Introduction
• Vibration Nomograph and Vibration Criteria
• Control of Vibration
• Control of Natural Frequencies
• Introduction of Damping
• Vibration Isolation
• Vibration Absorbers

© 2011 Mechanical Vibrations 19

Fifth Edition in SI Units
 Introduction of Damping
• System may be required to operate over a range of speed, hence
cannot avoid resonance

• Can use material with high internal damping to control the response.

• Can also use bolted or riveted joints to increase damping.

• Bolted or riveted joints permit slip between surfaces and dissipate

more energy compared to welded joints.

• However they also reduce stiffness of structure, produce debris and

cause fretting corrosion.

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Introduction of Damping

x k 1  i x  F0eit
m

where loss factor  

W / 2 
W
Energy dissipated during 1 cycle of harmonic displacement/radian

Maximum strain energy in cycle

F0 F
 0 , a  constant
k aE

21 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Introduction of Damping
• Viscoelastic materials have larger values of η and are
used to provide internal damping.

• Disadvantage is their properties change with temperature,

frequency and strain.

• Sandwich viscoelastic material between elastic layers –

Constrained layer damping

• Material with largest η will be subjected to the smallest

stresses.

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Chapter Outline

• Introduction
• Vibration Nomograph and Vibration Criteria
• Control of Vibration
• Control of Natural Frequencies
• Introduction of Damping
• Vibration Isolation
• Vibration Absorbers

© 2011 Mechanical Vibrations 23

Fifth Edition in SI Units
 Vibration Isolation
• Insert isolator between vibrating mass and vibration source to reduce
response

• Passive isolators: springs, cork, felt etc.

• E.g. Mounting of high-speed punch press

24 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation

• Exhaust Hangers Design

• Engine mounting

Bad example Exhaust Hangers

25 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 Vibration Isolation
• Active isolator comprised of servomechanism with sensor,
signal processor and actuator.

• Effectiveness given in terms of transmissibility Tr which is

the ratio of amplitude of the transmitted force to that of the
exciting force

• 2 types of isolation situations:

 Protect base of vibrating machine against large unbalanced or
impulsive forces
 Protect system against motion of its foundation

26 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Protect base of vibrating machine against large unbalanced or
impulsive forces

Fi t   kxt   cxt 

• Protect system against motion of its foundation

xt   k xt   yt   cxt   yt 

Fi t   m

27 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Vibration Isolation System with Rigid Foundation

• Resilient member placed between vibrating machine and rigid

foundation

• Member is modeled as a spring k and a dashpot c as shown:

28 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Vibration Isolation System with Rigid Foundation

• Reduction of force transmitted to foundation:

• Equation of motion: m x cx kx  F0 cost
• Steady state solution: xt   X cos t   
F0  c 
• where X  and   tan 1  2 
2
k  m  2
 c
2 2  k  m 

• Force Ft transmitted to the foundation:

Ft t   kxt   cxt   kX cost     cX sin t   
• Magnitude of total transmitted force FT:
F0 k 2   2c 2
FT  kx   cx
2 2
 X k  c 
2 2 2

k  m    c
2 2 2 2

29 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Vibration Isolation System with Rigid Foundation

• Reduction of force transmitted to foundation:

•
FT k 2   2c 2
• Transmissibility Tr  
F0 k  m    c
2 2 2 2

1  2r  
2
 where r 
1  r   2r 
2 2 2
n

•
• Following graphs shows the variation of Tr with r.

30 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Vibration Isolation System with Rigid Foundation

• Reduction of force transmitted to foundation:

•

31 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Vibration Isolation System with Rigid Foundation

• Reduction of force transmitted to mass:

• z cz kz  m

m ywhere z  x  y

• Displacement transmissibility
1  2r 
2
X
Td  
Y 1  r   2r 
2 2 2

• Td is also the ratio of the maximum steady-state accelerations of

the mass and the base.

32 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Isolation of Source of Vibration from Surroundings
1
• Tr  2 for r  2 and small 
r 1
•
By defining  2N  st 2R
r   where R  1  Tr
n 60 g 1 R
30 g 2R 2R
N    29.9092
  st  1 R   st 1  R 

33 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Isolation of Source of Vibration from
Surroundings (Isolation efficiency)

34 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
•Example 9.4
•Spring Support for Exhaust Fan

•An exhaust fan, rotating at 1000rpm, is to be

supported by 4 springs, each having a stiffness of
K. If only 10% of the unbalanced force of the fan is
to be transmitted to the base, what should the value
of K? Assume the mass of the exhaust fan to be
40kg.

35 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
•Example 9.4
•Spring Support for Exhaust Fan
•Solution

•Transmissibility = 0.1
2
 
1   2 
  n 
0.1  2
    2     2
1       2 
  n    n 

1000  2
  104 .72 rad/s
•Forcing frequency 60

36 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
•Example 9.4
•Spring Support for Exhaust Fan
•Solution

•Natural frequency: k 4K K
n   
m 40 3.1623
•Assuming ζ=0, 1
0.1 
  104.72  3.1623  2 
1    
  K  
•To avoid imaginary values, 331 .1561
 3.3166 or K  9969 .6365 N/m
K

37 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
•Example 9.8
•Isolation from Vibrating Base

•A vibrating system is to be isolated from its

supporting base. Find the required damping ratio
that must be achieve by the isolator to limit the
transmissibility at resonance to Tr=4. Assume the
system to have a single degree of freedom.

38 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
•Example 9.8
•Isolation from Vibrating Base
•Solution

1  2 
2
•Setting ω=ωn, 1 1
Tr  or     0.1291
2 2 Tr  1 2 15
2

39 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
•Example 9.11
•Isolation Under Shock

•An electronic instrument of mass 20kg is subjected to a

shock in the form of a step velocity of 2m/s. If the maximum
allowable values of deflection (due to clearance limit) and
acceleration are specified as 20mm and 25g respectively,
determine the spring constant of an undamped shock
isolator.

40 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
•Example 9.11
•Isolation Under Shock
•Solution

•Magnitude of velocity of mass: xmax  Xn

•Magnitude of acceleration of mass: xmax  Xn where X is the
displacement amplitude

xmax x 2
X  0.02 or n  max   100 rad/s
n X 0.02

xmax
Xn2  259.81  245 .25m/s 2 or n 
245.25
  110 .7362 rad/s
X 0.02
100 rad/s  n  110.7362 rad/s
41 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 Vibration Isolation
•Example 9.11
•Isolation Under Shock
•Solution

•Selecting the value of ωn as 105.3681,

k  mn2  20105.3681  2.2205 105 N/m
2

42 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Active Vibration Control

• An active vibration isolation system is shown below.

43 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Isolation
• Active Vibration Control

• System maintains a constant distant between

vibrating mass and referee

• Depending on the types of sensor, signal

processor and actuator used, the system can be
electromechanical, electrofluidic, electromagnetic,
piezoelectric or fluidic.

44 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Chapter Outline

• Introduction
• Vibration Nomograph and Vibration Criteria
• Control of Vibration
• Control of Natural Frequencies
• Introduction of Damping
• Vibration Isolation
• Vibration Absorbers

© 2011 Mechanical Vibrations 45

Fifth Edition in SI Units
 Vibration Absorbers
• When the excitation freq coincides with the
ωn, the system may experience excessive
vibration.

• Dynamic vibration absorber is another

spring mass system designed to shift ωn of
the resulting system away from the
excitation freq.

46 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Undamped Dynamic Vibration Absorber

m1
x1  k1 x1  k 2  x1  x2   F0 sin t

x2  k 2 x2  x1   0
m2 

47 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Undamped Dynamic Vibration Absorber
•
• Assuming 
x j t  X j sin t , j  1,2

• Amplitude of masses:
X1  2 k
m 2  2
F0 
  
k1  k 2  m1 2 k 2  m2 2  k 22
k 2 F0
X2 
  
k1  k 2  m1 2 k 2  m2 2  k 22
• We want to reduce X1. Thus set numerator of X1 to zero.

k2 k
2  ,  2  12  1
m2 m1

48 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Undamped Dynamic Vibration Absorber
•
X1 and X2 can be rewritten as:
2

1   
X1  2 

 st  k    2      2  k
1  2     1      2
 k1  2     2   k1
X2 1

 st  k    2      2  k
1  2     1      2
 k1  2     2   k1
49 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 Vibration Absorbers
• Undamped Dynamic Vibration Absorber
•
• 2 peaks correspond to 2 ωn of composite sys.

50 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Undamped Dynamic Vibration Absorber

k1 F0
• At X1=0, ω= ω1, X 2    st  
k2 k2

• Size of absorber can be found from: k2 X 2  m2 2 X 2   F0

• Absorber introduces 2 resonant frequencies Ω1 and Ω2, at which

the amplitudes are infinite.

• Values of Ω1 and Ω2 can be found by noting

2
k 2 k 2 m2 m1 m2  2 
   
k1 m2 m1 k1 m1  1 
51 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 Vibration Absorbers
• Undamped Dynamic Vibration Absorber

• X1
Setting denominator of  0,
 st


4 2
 2    
2
  m    2 
       1  1  2  2    1  0
 2   1   2    m1  1  
•
• 2 roots of the equation:
2 2
 1  
2   m    2
   m      2 
2

   1  1  2  2   1  1  2  2    4 

 2     m1  1     m1  1    1 
2
 2
 2    
   2 2 
 2    1 
52 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 Vibration Absorbers
•Example 9.15
•Vibration Absorber for Diesel Engine

•A diesel engine, weighing 3000 N, is supported on a

pedestal mount. It has been observed that the engine
induces vibration into the surrounding area through its
pedestal at an operating speed of 6000 rpm. Determine the
parameters of the vibration absorber that will reduce the
vibration when mounted on the pedestal. The magnitude of
the exciting force is 250 N, and the amplitude of motion of
the auxiliary mass is to be limited to 2 mm.

53 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
•Example 9.15
•Vibration Absorber for Diesel Engine
•Solution

6000
•We have f   100 Hz or   628 .32 rad/s
60

•Amplitude of motion of auxiliary mass is equal and opposite to that of

the exciting force.
F0  m2 2 X 2
250  m2 628.32  0.002 
2

m2  0.31665 kg
k2   2 m2  628.32  0.31665   125009 N/m
2

54 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Damped Dynamic Vibration Absorber

• Amplitude of machine can be reduced by adding a damped

vibration absorber as shown.

55 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Damped Dynamic Vibration Absorber

• Equations of motion

m1
x1  k1 x1  k 2  x1  x2   c2  x1  x2   F0 sin t
 
x2  k2 x2  x1   c2 x2  x1   0
m2 

Assume solution: x j t   X j e , j  1,2

it
•
•
Steady-state solutions:

X1 

F0 k 2  m2 2  ic2 
    
k1  m1 2 k 2  m2 2  m2 k 2 2  ic2 k1  m1 2  m2 2 
X 1 k 2  ic2 
X2 
k 2  m2 2  ic2 
56 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 Vibration Absorbers
• Damped Dynamic Vibration Absorber
  m2 / m1  Mass ratio  Absorber mass/main mass
 st  F0 / k1  Static deflection of the system
a2  k 2 / m2  Square of natural frequency of absorber
n2  k1 / m1  Square of natural frequency of main mass
f  a / n  Ratio of natural frequencie s
g   / n  Forced frequency ratio
cc  2m2n  Critcial damping constant
  c2 / cc  Damping ratio

57 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Damped Dynamic Vibration Absorber
X1

2g   g  f 
2 2 2 2

 st 2g 2 g 2  1  g 2 2  f 2 g 2  g 2  1g 2  f 2 2

X2

2g   f 4
2

 st 2g 2 g 2  1  g 2 2  f 2 g 2  g 2  1g 2  f 2 2

58 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Damped Dynamic Vibration Absorber

• If c2=ζ=0, resonance occurs at 2 undamped resonant

frequencies

• If ζ=∞, m2 and m1 are clamped together and system behaves as

1-DOF system. Resonance occurs at
 1
g   0.9759
n 1 
•
All curves intersect at pt A and B which can be located by
 1  f 2  f 2  2 f 2
g  2 g 
4 2
  0
 2  2
59 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 Vibration Absorbers
• Damped Dynamic Vibration Absorber

• The most efficient absorber (tuned vibration absorber) is one

where pts A and B coincides.

• Make curve horizontal at either A or B.

• Set slope =0 at A and B:

  
 3  
  2
2   for point A
81   
3

  
 3  
  2
 
2
for point A
81   
3

60 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 Vibration Absorbers
• Damped Dynamic Vibration Absorber

• Average value of ζ2 used in design:

3
 optimal 
2

81   
3

 X1   X1  2
   
    1
  st  optimal   st  max 

61 © 2011 Mechanical Vibrations Fifth Edition in SI Units

THE END