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    6 Vibration F22-2DOF

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    الأردني Jordanian
    1) A Two Degree of Freedom (2DOF) system requires two independent coordinates to describe its motion. The coupled equations of motion are derived using Newton's second law and expressed in a matrix form containing the mass, damping, and stiffness matrices. 2) The equations are used to determine the natural frequencies and mode shapes of the 2DOF system. The complete response is a general solution that is a combination of the modes. 3) Examples are provided to demonstrate solving the characteristic equation to find natural frequencies, and calculating amplitude ratios and mode shapes for 2DOF translational and torsional systems.

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    6 Vibration F22-2DOF

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    الأردني Jordanian
    39 views29 pages
    1) A Two Degree of Freedom (2DOF) system requires two independent coordinates to describe its motion. The coupled equations of motion are derived using Newton's second law and expressed in a matrix form containing the mass, damping, and stiffness matrices. 2) The equations are used to determine the natural frequencies and mode shapes of the 2DOF system. The complete response is a general solution that is a combination of the modes. 3) Examples are provided to demonstrate solving the characteristic equation to find natural frequencies, and calculating amplitude ratios and mode shapes for 2DOF translational and torsional systems.

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    6_Vibration_F22-2DOF(3)

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    1) A Two Degree of Freedom (2DOF) system requires two independent coordinates to describe its motion. The coupled equations of motion are derived using Newton's second law and expressed in a matrix form containing the mass, damping, and stiffness matrices. 2) The equations are used to determine the natural frequencies and mode shapes of the 2DOF system. The complete response is a general solution that is a combination of the modes. 3) Examples are provided to demonstrate solving the characteristic equation to find natural frequencies, and calculating amplitude ratios and mode shapes for 2DOF translational and torsional systems.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    39 views29 pages

    6 Vibration F22-2DOF

    Uploaded by

    الأردني Jordanian
    1) A Two Degree of Freedom (2DOF) system requires two independent coordinates to describe its motion. The coupled equations of motion are derived using Newton's second law and expressed in a matrix form containing the mass, damping, and stiffness matrices. 2) The equations are used to determine the natural frequencies and mode shapes of the 2DOF system. The complete response is a general solution that is a combination of the modes. 3) Examples are provided to demonstrate solving the characteristic equation to find natural frequencies, and calculating amplitude ratios and mode shapes for 2DOF translational and torsional systems.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 29

    Prince Mohammad bin Fahd University

    College of Engineering - Department of Mechanical Engineering

    Lecture notes

    Course title: Mechanical Vibrations


    Course code: MEEN 3395
    Credit hours: 3
    Semester: Spring 2022
    Instructor name: Dr. Omar Dawood Mohammed Al-Sily

    Lecture 6 – Two degree of freedom systems


    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 1
    Course Content
    No List of Lecture Files
    1 Introduction to mechanical vibrations
    2 Single degree of freedom systems
    3 Torsional vibration systems
    4 Damped vibrations (Viscous damping)
    5 Forced vibrations (Transient and steady state vibration response)
    6 Two degree of freedom systems
    7 Multi-degree of freedom systems and continuous system
    8 Vibration isolation and absorption
    9 An introduction to vibration measurements
    10 An introduction to modal analysis
    11 An introduction to Vibration-based condition monitoring

    Course Textbook
    Mechanical Vibrations 6th Edition, by Singiresu Rao, ISBN-13: 978-0134361307

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 2
    Different models of 2DOF systems

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 3
    Equation of motion of 2DOF Damped Forced system (General Case)
    𝑚1 𝑥ሷ1 = −𝑘1 𝑥1 − 𝑘2 (𝑥1 −𝑥2 ) −𝑐1 𝑥1ሶ − 𝑐2 𝑥1ሶ − 𝑥2ሶ + 𝑓1
    𝑚2 𝑥ሷ 2 = −𝑘3 𝑥2 − 𝑘2 (𝑥2 −𝑥1 ) −𝑐3 𝑥2ሶ − 𝑐2 𝑥2ሶ − 𝑥1ሶ + 𝑓2

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 4
    mass matrix Damping matrix stiffness matrix

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 5
    Two Degree of Fredoms (2DOF)
    A Two Degree of Freedom 2DOF system requires two independent coordinates to describe their motion. The
    coupled equations of motion of the system are derived using Newton’s second law of motion. By expressing
    these equations in matrix form, the mass, damping, and stiffness matrices of the system are identified

    Equations of motion of a Two Degree of Freedom 2DOF model


    m1 xሷ 1 = −k1 x1 − k 2 (x1 −x2 )
    m1 xሷ 1 = −(k1 +k 2 )x1 + k 2 x2
    m1 xሷ 1 + (k1 +k 2 )x1 − k 2 x2 = 0 …(1)

    m2 xሷ 2 = − k 2 (x2 −x1 ) − k 3 x2
    m2 xሷ 2 = k 2 x1 − k 2 x2 − k 3 x2
    m2 xሷ 2 + (k 2 +k 3 )x2 − k 2 x1 = 0 …(2)

    Equations (1) and (2) can be written in matrix form as

    where
    mass matrix stiffness matrix
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 6
    Assuming the solution

    ω is natural feq.

    The two equations of motion (1) and (2) can then be rewritten as follows

    Amplitude Equations

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 7
    Frequency or Characteristic equation

    Where ω1 and ω2 are the natural frequencies of the system


    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 8
    Amplitude ratios

    Normal
    modes or Mode
    modal shapes
    vectors

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 9
    Example

    Characteristic equation is

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 10
    OR rewrite the characteristic equation as follows
    𝑘 𝑘 2
    𝜔4 − 4 𝜔2 + 3 2 = 0
    𝑚 𝑚
    𝑘 3𝑘 𝑘 3𝑘
    𝜔2 − 𝜔2 − = 0 => 𝜔1 = , 𝜔2 =
    𝑚 𝑚 𝑚 𝑚

    Note: by substituting 𝜔1 in the Amplitude equations X1 and X2 can


    be calculated for mode 1. After that, by substituting 𝜔2 in the
    Amplitude equations X1 and X2 can be calculated again for mode 2

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 11
    The complete response equation (general solution) is given as follows

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 12
    Mode shapes

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 13
    Example

    Solution

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 14
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 15
    2DOF Torsional System

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 16
    Example

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 17
    =1.78
    Amplitude ratios
    = - 0.28

    𝜃1 𝜃2
    modal Mode
    vectors shapes
    𝜃2
    𝜃1

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 18
    Example

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 19
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 20
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 21
    Amplitude ratios

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 22
    modal
    vectors

    Note: If it is required to obtain the amplitudes 𝜃1 and 𝜃2. By substituting 𝜔1 in the Amplitude equations,
    the amplitudes 𝜃1 and 𝜃2 can be calculated for mode 1. After that, by substituting 𝜔2 in the Amplitude
    equations, 𝜃1 and 𝜃2 can be calculated again for mode 2.
    Once you calculate 𝜃1 and 𝜃2 for each mode, you can obtain r1 and r2

    𝜃1 𝜃2
    Mode
    shapes
    𝜃2
    𝜃1
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 23
    Coordinate Coupling and Principal Coordinates

    As stated earlier, an n-degree-of-freedom system requires n independent coordinates to describe its


    configuration.
    As an example, consider the lathe shown in the figure. For simplicity, the lathe bed can be replaced by
    an elastic beam supported on short elastic columns and the headstock and tailstock can be replaced by
    two lumped masses.

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 24
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 25
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 26
    Example

    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 27
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 28
    Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 29

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