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Lecture 10

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Lecture 10

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ABDUL QADIR g
Copyright
© © All Rights Reserved
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School of Mechanical and Manufacturing Engineering (SMME)

Mechanical Vibrations ME-421

Dr. Mian Ashfaq Ali


Forced (harmonically excited) Single DoF Vibration

A mechanical system is said to undergo forced vibration whenever


external energy is supplied to the system during vibration

External energy can be supplied to the system through either an


applied force or an impose displacement excitation

The applied force or displacement may be harmonic, non-


harmonic but periodic, non-periodic, or random

Harmonic or transient responses


Forced (harmonically excited) Single DoF Vibration

Harmonic forcing function takes the form:

Where F0 is the amplitude, ω the excitation frequency and φ the phase angle.

The response of a linear system subjected to harmonic excitation is also harmonic.


The response amplitude depends on the ratio of the excitation frequency to the
natural frequency.
Some “common” harmonic forcing functions are:
Rotating machine / element with (large) residual imbalance
Vehicle travelling on pavement corrugations or sinusoidal surfaces
Structures excited by regular ocean / water waves
Equation of Motion

The general solution to nonhomogeneous DE is


the sum of the homogeneous solution xh(t) and
the particular solution xp(t).
Homogenous solution;

The solution;

This free vibration dies out with time under each


of the three possible conditions of damping and
under all possible initial conditions.
Equation of Motion

The general solution [ xh(t) +xp(t) ] therefore reduces to the particular


solution xp(t) which represents the steady-state vibration which exists as
long as the forcing function is applied.

The particular solution xp (t), represents the steady-state vibration

The steady-state motion is present as long as the forcing function is there


Example of solution to harmonically excited damped
SDOF system:
Response of an Undamped System under Harmonic Force

Let the forcing function acting on the mass of an undamped SDOF


system be:

The eqn. of motion reduces to:

Where the homogeneous solution is:

n = k m
where
As the excitation is harmonic, the particular solution is also harmonic
with the same frequency:
Response of an Undamped System under Harmonic Force

Substituting xp(t) in the eqn. of motion and solving for X gives:

The complete solution becomes


Response of an Undamped System under Harmonic Force

Applying the initial conditions

x(t = 0) = x0 and x (t = 0) = x0

We will have

The complete solution becomes:


Response of an Undamped System under Harmonic Force

The maximum amplitude of the steady-state


solution can be written as:

X/δst is the ratio of the dynamic to the static


amplitude and is known as the amplification
factor or amplification ratio and is dependent
on the frequency ratio r = ω/ωn.
From fig, it can be concluded that response of
the system can be identified to be of three
types;
Case 1: 0<ω/ωn < 1
Case 2: ω/ωn > 1
Case 3: ω/ωn = 1
Response of an Undamped System under Harmonic Force

Case 1:
When 0<ω/ωn < 1 the
denominator of the steady
state amplitude is positive and
the amplification factor
increases as ω approaches the
natural frequency
The harmonic response is,
Response of an Undamped System under Harmonic Force

Case 2:
When ω/ωn > 1 the denominator of the
steady state amplitude is negative an the
amplification factor is redefined as:

The steady – state response now


becomes

which shows that the response is out-of-


phase with the excitation anddecreases
(→ zero) as ω increases (→ )
Response of an Undamped System under Harmonic Force

Case 3:
When ω/ωn = 1 the
denominator of the steady –
state amplitude is zero an the
response becomes infinitely
large. This condition when ω =
ωn is known as resonance.
Resonance: the forcing
frequency is equal to the natural
frequency
The harmonic response is,
Response of an Undamped System under Harmonic Force

The response of the system at resonance becomes; (for its


derivation consult book)
Response of an Undamped System under Harmonic Force
The complete solution (as derived before for “Response of an Undamped
System under Harmonic Force”):

can be written as:

Where A and φ are functions of x0 and x’0 as before


The complete solution is a sum of two cosines with frequencies
corresponding to the natural and forcing (excitation) frequencies.

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