Mechanical

Vibrations

Prof. Dr. Kenan Y. Şanlıtürk

[email protected]

Content

1. Introduction to Vibration and Free response

2. Response to Harmonic Excitation
3. General Forced Response
4. Multi-Degree-of-Freedom systems
5. Design for Vibration Suppression

Page 1
 2. Response to Harmonic Excitation

• Harmonic excitation of undamped system

• Comparison of free and forced response

• Sample Problem

• Rezonance

• Beating

• Sample problems

SDOF system

 f(t)=F0 cos wt
 w = Excitation frequency, [rad/s]
 F0 = Amplitude of the excitation force, [N]
 If c = 0 (Undamped)

Page 2
 Free Body Diagram

Reminder: Undamped equation of motion (free vibration)

mx(t )   kx(t )  mx(t )  kx(t )  0

x(t )  wn2 x(t )  0
k
wn 
m Frictionless surface

Homogeneous solution:

x(t )  A1 sin wnt  A2 cos wnt

homogeneous solution

A1 and A2 are integration constants.

Page 3
 Undamped Equation of Motion (Harmonic excitation)

f(t)
mx(t )  kx(t )  F0 cos(wt )

mx(t )  kx(t )  F0 cos(wt ) Frictionless surface

x(t )  wn2 x(t )  f 0 cos(wt ) Linear nonhomogeneous differential equation

f 0  F0 / m, wn  k m

Lineer Nonhomogeneous Differential Equation

x(t )  wn2 x(t )  f 0 cos(wt )

 General solution: Sum of homogeneous and particular solutions

 Particular solution has a form similar to that of the excitation

Particular solution:

x p (t)  X cos(wt)

X =?

Page 4
Particular solution of the EOM
x p (t)  X cos(wt)
x(t )  wn2 x(t )  f 0 cos(wt )
xp wn2 x p

w 2 X cos wt  wn2 X cos wt  f 0 cos wt

(wn2  w 2 ) X cos wt  f 0 cos wt

Solve for X:
f0 F /m
X  20 2
w w2
n
2
wn  w

Particular solution:

f0
x p (t )  cos(wt )
wn2  w 2

F0 / m
x p (t )  cos(wt )
wn2  w 2

F0
Note that when w=0, x p (t )  i.e., static solution
k

Page 5
General Solution:
(Sum of homogeneous and particular solutions)

particular solution

f0
x(t )  A1 sin wnt  A2 cos wnt  cos wt
homogeneous solution
w w2
2
n

A1 and A2 are integration constants to be determined

using initial conditions.

Solution in different form

particular solution

f0
x(t )  A sin(wnt   )  cos wt
homogeneous solution
w w22
n

A and  are integration constants

Page 6
Determination of integration constants
f0
x(t )  A1 sin wnt  A2 cos wnt  cos wt
w w2
2
n

f0 f
x(0)  A1 sin 0  A2 cos 0  cos 0  A2  2 0 2  x0
w w
2
n
2
wn  w
f0
 A2  x0 
wn2  w 2
f0
x(0)  wn ( A1 cos 0  A2 sin 0)  w sin 0  wn A1  v0
w w2
2
n

v0
 A1 
wn
v0  f  f
x(t )  sin wnt   x0  2 0 2  cos wnt  2 0 2 cos wt
wn  wn  w  wn  w

Comparison of free and forced response

 Total solution consists of 2 harmonic terms with

different frequencies (at wn and w)

 The solution at w = wn is undefined: the denominator is

zero. Resonance situation!.

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Sample Problem 1
x t v0  x0  2ff00 2 . cos wn. t
v0
sin wn. t
f0
f20. cos w. t
x(t )  wn w t  x  wn w  cos wt
 0 w2 
2
sin cos t
n wn 2w
wn n
 wn
2
 w  w n  w 2

0.1

0.05

x t
0 2 4 6 8 10

0.05

0.1

t
time

m=100 kg, k=1000 N/m, F0=100 N, w = wn +5

v0=0.1m/s and x0= -0.02 m.

There are two harmonics.

What happens if w is close to or equal to wn?

1) Beat (if w is close to wn)
v0 v0   f0 f 0 .  . f0 .
x(t )x  sin w
wn.tt  x0 wnt2f0 2 . cos w t cos wt
t sin  x0  2 2 2 cos2 wn
 cos
t
wnwn n
 wnw w w
n  wn ww  w
2
n
2

1
Tb

0.5

x t
0 5 10 15 20 25 30

0.5

t
time
Tb: Beat period (second)
Beat Frequency , wbeat : 2p/Tb [rad/s]

Page 8
 It can be shown that:
wn  w wn  w
cos(wnt )  cos(wt )  2 cos( t ) cos( t)
2 2

Beat Frequency
Red curve:
f0=0.1 N/kg, wn=1.0 rad/s, w=1.1 rad/s.
f0
For zero initial conditions: x( t )  (cos wt  cos wnt )
wn2  w 2
2 f0  w  w   wn  w 
 sin  n t  sin  t
1
wn2  w 2  2   2 
0.8

0.6

0.4
Displacement (m)

0.2

-0.2

-0.4

-0.6

-0.8

-1
wbeat=|wn - w|
0 20 40 60 80 100 120 140
Time (s)

Tbeat Note that the beat frequency

is not equal to the frequency
2 f0  wn  w  of the blue curve!
Blue curve: 2 sin  t

w w
2
n 2

Page 9
Rezonance: if w is equal to wn
2) Resonance (if w=wn)

Particular solution is of the form:

x p (t )  tX sin(wt )
Insert into EOM, solve for X
f0
X
2w
grows without bound

f0
x(t )  A1 sin wt  A2 cos wt  t sin(wt )
2w
Impose initial conditions:
v0 f0
x(t )  sin wt  x0 cos wt  t sin(wt )
w 2w

Resonance

f0
If xo  v0  0  x(t )  t sin(wt )
2w

Page 10
 Sample Problem 2
Determine the response of the system using the following parameters and
plot the response. m=10 kg, k=1000 N/m, x0=0,v0=0.2 m/s, F0=23 N, w=2wn.

k 1000 N/m
wn    10 rad/s, w  2wn  20 rad/s
m 10 kg
F 23 N v 0.2 m/s
f0    2.3 N/kg, 0   0.02 m
m 10 kg wn 10 rad/s
f0 2.3 N/kg
  7.9667 103 m
w w
2
n
2
(10  20 ) rad / s
2 2 2 2

The solution:
x(t )  0.02sin10t  7.667 10 3 (cos10t  cos 20t )

Page 11