Principles of Passive Vibration Control: Absorber with ideal spring

INTRODUCTION

A tuned vibration absorber is a relatively small spring-mass oscillator that suppresses

the response of a relatively large, primary spring-mass oscillator at a particular
frequency. Tuning (changing) the natural frequency of a system or component will
reduce or eliminate amplification due to resonance. It is a process used to eliminate
amplification due to resonance by changing a system or component natural frequency,
fn, so that it is no longer coincident with the frequency of a specific force input.
Resonance of industrial equipment will amplify vibration response, in theory up to ∞,
depending on system damping characteristics. The Synchronous Amplification Factor
(SAF) is a measure of how much 1-X vibration is amplified when the system passes
through a resonance. Systems with a high effective damping tend to have a low SAF,
and systems with low effective damping have a high SAF.

Rigid body – ideal spring – rigid foundation

At much lower excitation frequencies, considerably simplified models of the

components are usable. Assume, for example, that we analyze a machine mounted at
four points on a system of concrete joists. Assume, moreover, that the machine has an
axle that generates sinusoidal bearing forces at the rotational frequency. At very low
disturbance frequencies (i.e., low rotational speeds), the deformations of the machine
itself are negligible, i.e., the machine acts as a rigid body. Physically, one can regard
the force acting on the machine as so slowly changing in time that all parts of it have
time to react to small changes in the force magnitude before the next such change
occurs. Mathematically, the machine’s movements can be described by means of
equations from rigid body mechanics. The instantaneous state of the machine is then
completely described by six degrees-of-freedom, three translational and three
rotational. In practice, the number of degrees-of-freedom can normally be further
reduced to one or two, eliminating those which are not relevant.
As the rotational speed of the axle increases, we eventually arrive at a situation in
which the force changes so rapidly that not all parts of the machine have time to react
before the force changes again at the point of its application. At that stage, we can
begin to speak of wave propagation in the machine. If the rotational speed continues
to increase further, we will arrive at a certain excitation frequency at which the
amplitude of the machine deformations has a strong peak. At that frequency, the
deformation waves and their reflections interact constructively to bring about the
maximum in the response. That phenomenon is the so-called resonance phenomenon
with which we are already familiar from chapters 7 and 8. At these frequencies, we
can no longer regard the machine as a rigid body. A commonly used rule of thumb is
that the rigid body assumption is useful up to frequencies of 1/3 of the first resonance
frequency, i.e., for low Helmholtz numbers.

The rigid body assumption for the machine has an analogue that can be used in the
description of the foundation. Consider now the example of the machine described
above. At very low excitation frequencies, the joists respond with a (quasi-)static
bending due to the slowly varying force acting at the machine mounting points. If the
excitation frequency is so low that the deformation of the joists is so small as to be
negligible in comparison to the deformation of the isolators, then the joists can be
regarded, from the vibrations perspective, as a rigid foundation. Note that this doesn’t
imply that the foundation is not excited into vibration; that would apply no
transmission whatsoever. Let the excitation frequency now increase, just as it does
when considering the machine. At sufficiently high frequencies, the deformation can
no longer be ignored. When the frequency has increased sufficiently, an ever more
distinct wave propagation becomes apparent in the foundation. If the geometrical
limits of the foundation are far away, then we will eventually reach the first resonance
frequency of the foundation. The description of the foundation as rigid can,
consequently, only be applied at low frequencies, say up to 1/3 of the first resonance
frequency, i.e., once again at low Helmholtz numbers.

Assume now that we would like to reduce the vibrations transmitted from the machine
into the system of joists by incorporating soft vibration isolators at the mounting
positions between the machine and the joists. Under the influence of forces from the
machine, the springs are deformed. At low excitation frequencies, all parts of the
isolator itself react to the changing of the force. That implies that the cross-sectional
load is uniform along the entire isolator. We have, in other words, no considerable
wave propagation. Yet another consequence is that the isolator can be considered
massless. In contrast to the joists, the isolator is compliant. We can, therefore, not
ignore its deformation under load. In these circumstances, the isolator can be regarded
as an ideal massless spring. As the frequency increases, the motion in the spring takes
on the character of wave propagation more and more. Once again, at a certain point,
the situation becomes resonant. In exactly the same way as before, we can adopt the
rule of thumb that the spring idealization applies up to about 1/3 of the first resonance
frequency.

Example 7.1

Consider the machine arrangement illustrated in figure 1. An electric motor is

elastically mounted, by way of 4 identical isolators, to a 2-mm thick steel plate. When
the motor is driven, its rotating parts generate a vertically-oriented, sinusoidal exciting
force between the machine and the joists. Calculate the ratio between the total force
acting on the foundation with and without the vibration isolators. Carry out the
calculations at low frequencies under the assumption that the electric motor, when
operating, generates a vertical harmonic exciting force with circular frequency and
amplitude F̂ . The mass of the motor is 100 kg, and each isolator’s complex stiffness
(see chapter 5, section 5.2.5) is (1.0 + 0.01i)·104 N/m.

Fstör

b) Fstör c)
m
F1
a) Single
m x isolator
4F1

x 
x
4
4F1
F1

Figure 7.14 a) Electric motor elastically mounted to a large steel plate via four
vibration isolators. b) Simplified model of the system in a. c) The system in b
represented by its separated subsystems. [1]
Solution

Assume that the excitation frequency is so low that: (i) the motor can be considered a
rigid body; (ii) the foundation can be regarded as rigid; and, (iii) each isolator can be
described as an ideal massless spring. Assume, additionally, that the motors motions
are strongly dominated by small-amplitude vertical translations. In these
circumstances, the single degree-of-freedom system is a useful model to describe the
problem.

With isolators.

Starting with the system in figure 7.14 c, the equation of motion can be constructed
for the mass m, as well as Hooke’s law for spring  Thus,

d 2x
m 2  Fexc  4F1
dt
where 4F1 is the total force acting on the foundation, i.e.,. the force transmitted
through all four isolators, and

F1   (x  0) .

i t
Assume a sinusoidal, complex-valued displacement x  xˆ e and eliminate x using
both of the relations given above. Then, the force on the foundation, normalized by
the exciting force, is

1 1
4F1  2   2 
 1    1  2 
Fexc  4  m   0 
,

where 0 is the machine’s so-called mounting resonance, i.e., the resonance

frequency of the machine mass on the compliance of the isolators. Note that the first
term in the equation only applies to machines with four mounting points. For
machines mounted at n points, the term 4 /m should be replaced by n  /m.
Without isolators.

For the case of no isolators, it becomes evident upon reflection that the force on the
foundation is equal to Fexc. The desired ratio between the force with and without
isolators is therefore

Fu 2
 1 2 .
Fm 0

A very important conclusion from example 1 is that the vibration isolators must be
designed to prevent the coincidence of the machine’s mounting frequency with any
important excitation frequency. Moreover, it is clear that a positive effect is obtained
from the isolators at frequencies above the mounting frequency. The implication is
that as low as possible a mounting resonance frequency must be sought. In practice,
machine mounting is often designed so that the mounting resonance frequency falls in
the 2-10 Hz band.

Flexible foundation

As the excitation frequency increases, the deformation of the foundation due to the
excitation force soon becomes too large to ignore. A model in which the foundation is
flexible must then be used. A number of different models with differing characteristics
are available for this situation. If, for example, the foundation is a system of joists
with considerable dimensions, an infinite plate model might be used to describe the
motions of the foundation. If the foundation exhibits a resonance, then a mass-damper
system can be used as a first approximation to describe its behavior.
Example 7.1

Consider the machine mounting situation of example 7.1. Assume that an infinite
plate would be a valid model of the foundation response. Calculate the ratio between
the total force on the foundation with and without isolators.

Solution

Assume that the deformation of the foundation is the same at all four machine feet.
Additionally, conditions (i) and (iii) from example 1 hold,

Fs Single isolator
a) b) F1
Fr
m

m x1 x1
4F1

x1
4 4F1 F1
x2

x2 x2

Figure 7.15 Simple model of a machine mounted to a flexible foundation.

The equation of motion, Hooke’s law, and the mobility of a plate yield the following
system of equations:

d 2 x1
m  Fexc  4F1 ,
dt 2
F1  (x1  x 2 ) ,

x 2  (i ) 1 Y plate 4F1 .

Eliminate x1 and x2 ,
 4F1with  4  m 2
 
Fexc 1  4  m 2  4  (i )Y plate

1 im  Ym  Ym
  .
i 4  YI  Ym  YI  Yplate
Without isolators, the force on the foundation can be determined by excluding the
second of the equations from the system given above, and setting x1 equal to x2. The
system then has the solution

4F1without 1 im Ym
  .
Fexc 1 im  Y plate Ym  Y plate

A couple of methods to improve vibration isolation

In some situations, it is possible to significantly improve the isolation performance
with relatively modest additional effort. If very good isolation is a requirement, a so-
called double layered isolation can be used. That can be regarded as a combination of
elastic elements and a blocking mass; see figure 7.16. In practice, a double layered
isolation is realized by interposing a large mass between the machine and the
foundation. The blocking mass should behave as a rigid body up to frequencies that
are as high as possible.

Wi Wt

m
dyn dyn
Wr

Figure 7.16 Schematic illustration of double layered isolation with two compliant
elements and one stiff element. [1]

Passenger railway wagons are an example of double elastic mounting. The vibration
source, i.e., the wheel-rail contact zone, is isolated first by a primary suspension
between the bearings and the frame of the bogies; see figure 8.4. To further improve
passenger comfort and obtain smooth ride characteristics, a secondary suspension, or
comfort suspension, is interposed between the bogies and the body of the wagon.

Secondary
suspension

Primary
suspension

Figure 07.17 An example of double elastic mounting is the attachment of a railway

wagon chassis to a bogie. The so-called primary suspension between the bearings and
the and the frame is commonly built up of stiff, so-called chevron elements, of rubber.
The secondary suspension, or comfort suspension, which connects the bogie to the
chassis of the rail car consists of very compliant air springs or spiral springs in steel.
[1]

If the double layer elastic mounting is well-constructed, the insertion loss can be
improved. Because a rigid body has been added to the vibration isolation system, it
now has six internal rigid body resonances. These cause another set of insertion loss
minima at frequencies above the mounting resonance frequency. The isolation should
therefore be designed such that those specific frequencies fall below the lowest
important excitation frequency. If the added structure is designed to have mass and
inertias of the same order of magnitude as those of the machine, then the internal
resonances of the isolation system fall in the same range as the mounting resonance.

In some types of mechanical constructions, machines must be mounted to relatively

compliant points. Examples are vehicles of various types. Motors on small boats, such
as pleasure craft, are often mounted via vibration isolators directly to a thin hull. In
somee cases, the vibration isolation becoomes completely ineffecctive as a reesult. The
reasoon is that thhe impedance differencce between the isolatorrs and the mounting
mall. A wayy to increase that impedaance differennce is to add
positiions is too sm d so-called
addedd masses at the mountinng points. If those are suufficiently laarge, the inseertion loss
can bbe considerabbly enhancedd.

Commercially available vib

bration isolaators
The m
market for vibration
v isollators is largge. Commerccially-availabble vibrationn isolators
b divided into severaal important types, inclluding, amoong others, steel coil
can be
springgs, rubber isolators, annd gas springs; see figgure 7.18. T
The two funndamental
propeerties of an isolator are its dynamicc stiffness annd loss factoor. The stiffnness is, as
we have seen, thhe property that
t largely determines the suitability of an isolator. The
loss ffactor is sig
gnificant as an amplitudde-limiting parameter
p att resonancess. Both of
these parameters are dependeent on, amonng other thinngs, the frequuency, and are
a usually
experrimentally deetermined.

Figurre 7.18 Examples of commerciall

c ly-available vibration isolators.
i In
n practice,
vibraation isolatorrs are usually either mettallic coil spprings or rubbber blocks of
o various
formss. Coil sprin
ngs can be made
m very sooft, but proviide little dam
mping. Rubbber blocks
are relatively stiffer, but provide a significant amount of damping. (Picture: Brüel &
Kjær.) [1]

Steel coil springs can be designed with very small stiffness values. If the lower
frequency bound for isolation must be very low, say 2 - 3 Hz, then coil springs may
be appropriate. A disadvantage, however, is that coil springs have a very small loss
factor. Rubber isolators are the most commonly occurring type of isolator. They can
be designed for either shear or compressive loading. In shear, they can be used down
to about 3 Hz, and in compression down to about 5 Hz. A typical problem, however,
is that the dynamic properties can vary considerably from one sample to the next; a
variation of 30 - 40 % in the static stiffness of a certain type of isolator can occur. In
critical cases, it can therefore be necessary to measure the actual, individual isolators
to be used. Gas springs can be appropriate in situations where especially low
resonance frequencies are desirable. Railway wagons and buses sometimes have gas
springs that isolate the wagon from the bogie; see figure 7.17.

Source:
http://nptel.ac.in/courses/112107088/24

“Fundamentals of Sound and Vibrations” by KTH Sweden [1], this book is used
under IITR-KTH MOU for course development.