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First Lectures

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17 views

First Lectures

Uploaded by

ahmed.tce2122284
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Dynamic Systems & Vibration Introduction

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Dynamic Systems & Vibration Introduction

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Dynamic Systems & Vibration Introduction

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Dynamic Systems & Vibration Introduction

1.3 Deterministic and Random Vibration

If the value or magnitude of the excitation (force or motion) acting on a vibratory


system is known at any given time, the excitation is called deterministic. The
resulting vibration is known as deterministic vibration. Vibration In some cases,
the excitation is nondeterministic or random; the value of the excitation at a given
time cannot be predicted. In these cases, a large collection of records of the
excitation may exhibit some statistical regularity. It is possible to estimate averages
such as the mean and mean square values of the excitation. Examples of random
excitations are wind velocity, road roughness, and ground motion during
earthquakes. If the excitation is random, the resulting vibration is called random
vibration. In this case the vibratory response of the system is also random; it can be
described only in terms of statistical quantities. Figure 1.3-1 shows examples of
deterministic and random excitations.

FIGURE 1.3-1 Deterministic and random excitations.

1.4 Importance of the Study of Vibration


Most human activities involve vibration in one form or other. For example, we hear
because our eardrums vibrate and see because light waves undergo vibration.
Breathing is associated with the vibration of lungs and walking involves (periodic)
oscillatory motion of legs and hands. Early scholars in the field of vibration
concentrated their efforts on understanding the natural phenomena and developing

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Dynamic Systems & Vibration Introduction

mathematical theories to describe the vibration of physical systems. In recent times,


many investigations have been motivated by the engineering applications of
vibration, such as the design of machines, foundations, structures, engines, turbines,
and control systems. Most prime movers have vibrational problems due to the
inherent unbalance in the engines. The unbalance may be due to faulty design or
poor manufacture. Imbalance in diesel engines, for example, can cause ground
waves sufficiently powerful to create a nuisance in urban areas. The wheels of some
locomotives can rise more than a centimeter off the track at high speeds due to
imbalance. In turbines, vibrations cause spectacular mechanical failures. Engineers
have not yet been able to prevent the failures that result from blade and disk
vibrations in turbines. Naturally, the structures designed to support heavy
centrifugal machines, like motors and turbines, or reciprocating machines, like
steam and gas engines and reciprocating pumps, are also subjected to vibration. In
all these situations, the structure or machine component subjected to vibration can
fail because of material fatigue resulting from the cyclic variation of the induced
stress. Furthermore, the vibration causes more rapid wear of machine parts such as
bearings and gears and also creates excessive noise. In machines, vibration can
loosen fasteners such as nuts. In metal cutting processes, vibration can cause chatter,
which leads to a poor surface finish. Whenever the natural frequency of vibration of
a machine or structure coincides with the frequency of the external excitation, there
occurs a phenomenon known as resonance, which leads to excessive deflections and
failure. The literature is full of accounts of system failures brought about by
resonance and excessive vibration of components and systems (see Fig. 1.4-1).
Because of the devastating effects that vibrations can have on machines and
structures, vibration testing has become a standard procedure in the design and
development of most engineering systems.

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Dynamic Systems & Vibration Introduction

FIGURE 1.4-1 Tacoma Narrows bridge during wind-induced vibration. The bridge opened
on July 1, 1940, and collapsed on November 7, 1940.

In many engineering systems, a human being acts as an integral part of the system.
The transmission of vibration to human beings results in discomfort and loss of
efficiency. The vibration and noise generated by engines causes annoyance to
people and, sometimes, damage to property. Vibration of instrument panels can
cause their malfunction or difficulty in reading the meters. Thus, one of the
important purposes of vibration study is to reduce vibration through proper design
of machines and their mountings. In this connection, the mechanical engineer tries
to design the engine or machine so as to minimize imbalance, while the structural
engineer tries to design the supporting structure so as to ensure that the effect of the
imbalance will not be harmful.
In spite of its detrimental effects, vibration can be utilized profitably in several
consumer and industrial applications. In fact, the applications of vibratory
equipment have increased considerably in recent year. For example, vibration is put
to work in vibratory conveyors, hoppers, sieves, compactors, washing machines,

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Dynamic Systems & Vibration Introduction

electric toothbrushes, dentist s drills, clocks, and electric massaging units. Vibration
is also used in pile driving, vibratory testing of materials, vibratory finishing
processes, and electronic circuits to filter out the unwanted frequencies. Vibration
has been found to improve the efficiency of certain machining, casting, forging, and
welding processes. It is employed to simulate earthquakes for geological research
and also to conduct studies in the design of nuclear reactors.

1.5 A REVIEW OF ELEMENTARY DYNAMICS


Dynamics is the study of motion. As such, the principles of dynamics are central to
our study of vibrations. In fact, vibrations may be viewed as a subset of dynamics,
focusing on certain types of motions. For the study of mechanical and structural
vibrations we are interested in classical mechanics. In this section we shall review
some of the basic principles of Newtonian Mechanics. The study of dynamics can
be separated into two sub-areas, kinematics and kinetics.
Kinematics is the study of the geometry of motion. That is, it is the study of how we
describe a given motion mathematically. Kinetics, on the other hand, deals with the
forces imparted on bodies and the response (motion) of the bodies to these forces.
The notion of a particle is an idealization. A particle is a body that has mass but no
volume. It is thus a point that moves through space. We shall see that, for many
situations, the motion of a finite body may be adequately described by that of a
particle. The consequences of such an idealization for finite bodies will be examined
in subsequent sections. More generally, a body may be viewed as an assemblage of
particles.
Classical mechanics is based on the three fundamental laws posed by Newton, and
the integrals of one of them. We first discuss Newton’s Laws of Motion.
Newton’s Laws of Motion
Newton’s three laws of motion form the basis for our study of dynamics. They are
paraphrased below.

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Dynamic Systems & Vibration Introduction

Newton’s First Law


A body at rest, or in motion at constant velocity, remains in that state unless acted
upon by an unbalanced force.
Newton’s Second Law
If a body is acted upon by an unbalanced force, its velocity changes at a rate
proportional to that force. This is stated mathematically by the well-known relation:
F=ma
where F is the force acting on the particle, a is the time rate of change of the velocity
of the particle and m is the mass of the particle. The mass (or inertia) of the particle
is seen to be a measure of the resistance of the particle to changes in its velocity.
The larger the mass, the larger the force required to produce the same rate of change
of velocity.
Newton’s Third Law
If a body exerts a force on a second body, the second body exerts an equal and
opposite force on the first body.

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