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CH8 - ForcedVibrations

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24 views18 pages

CH8 - ForcedVibrations

Uploaded by

Aditya Das
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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4DA00: Dynamics

S8/3 FORCED VIBRATION OF A


MASS-DAMPER-SPRING SYSTEM

Erik Steur ([email protected]) , Rob Fey ([email protected])

Department of Mechanical Engineering, Dynamics and Control Group


Forced Vibration
Types of forced vibration:
· external force,
· internal force (e.g. unbalanced rotating parts),
· motion of system’s base or foundation.

Various forms of forces 𝐹 𝑡 or base excitation 𝑥𝐵 𝑡

Chapter 8: focus on harmonic excitation


analytical solution available

First step to understanding more complex excitation


2
Harmonic Force Excitation (a)
EoM (from FBD): σ 𝐹𝑥 = −𝑐 𝑥ሶ − 𝑘𝑥 + 𝐹0 sin 𝜔𝑡 = 𝑚𝑥ሷ

Standard form: 𝑥ሷ + 2𝜁𝜔𝑛 𝑥ሶ + 𝜔𝑛2 𝑥 = 𝐹0 /𝑚 sin 𝜔𝑡


(8/13)

Harmonic Base Excitation (b)


EoM (from FBD): σ 𝐹𝑥 = −𝑐 𝑥ሶ − 𝑘 𝑥 − 𝑥𝐵 = 𝑚𝑥ሷ

Standard form: 𝑥ሷ + 2𝜁𝜔𝑛 𝑥ሶ + 𝜔𝑛2 𝑥 = 𝑘𝑏/𝑚 sin 𝜔𝑡


(8/14)
Note: 𝑚, 𝑐, 𝑘, 𝜔𝑛 , 𝜁 (system properties)
𝜔, 𝐹0 , 𝑏 (excitation properties)
3
Undamped Forced Vibration (1)
We assume negligible damping: 𝑐 ↓ 0 Ns/m and thus 𝜁 ↓ 0:

𝑥ሷ + 𝜔𝑛2 𝑥 = 𝐹0 /𝑚 sin 𝜔𝑡 (8/15)

Complete solution of (8/15): 𝑥 𝑡 = 𝑥𝑐 𝑡 + 𝑥𝑝 𝑡

𝑥𝑐 𝑡 : Complementary/transient solution (solution of (8/15) with RHS zero)


𝑥𝑐 𝑡 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡 (theoretical case of undamped system)
However, in practice always some small damping: lim 𝑥𝑐 𝑡 = 0
𝑡→∞

𝑥𝑝 𝑡 : Particular/steady-state solution (any solution of (8/15))

4
Undamped Forced Vibration (2)
𝑥ሷ + 𝜔𝑛2 𝑥 = 𝐹0 /𝑚 sin 𝜔𝑡 (8/15)

We assume the particular solution to have the same form as RHS (8/15):
Displacement: 𝑥𝑝 𝑡 = X sin 𝜔𝑡 (8/16)
Velocity: 𝑥ሶ 𝑝 𝑡 = 𝜔X cos 𝜔𝑡
Acceleration: 𝑥ሷ 𝑝 𝑡 = −𝜔2 X sin 𝜔𝑡

Substitution: −𝜔2 𝑋 + 𝜔𝑛2 𝑋 − 𝐹0 /𝑚 sin 𝜔𝑡 = 0 → Amplitude 𝑋 𝜔 :


𝐹0 /𝑘
𝑋 𝜔 = (8/17)
2
𝜔
1−
𝜔𝑛
5
Undamped Forced Vibration (3)
𝐹0 /𝑘
𝑋 𝜔 = 2 = 𝑀 𝜔 𝑋𝑠𝑡 (8/17)
𝜔
1−
𝜔𝑛

Static deflection under static load:


𝐹0
𝑋 𝜔=0 = = 𝑋𝑠𝑡
𝑘

Amplification factor:
𝑋 𝜔 1
𝑀 𝜔 = = 2 (8/19)
𝑋𝑠𝑡 𝜔
1−
𝜔𝑛
6
Undamped Forced Vibration (4)
Amplification factor:
𝑋 𝜔 1
𝑀 𝜔 = = (8/19)
𝑋𝑠𝑡 2
𝜔
1−
𝜔𝑛

Typical behavior in excitation frequency range:


𝜔/𝜔𝑛 = 0: 𝑀 = 1, static solution
0 < 𝜔/𝜔𝑛 < 1: 𝑀 > 1, motion in-phase
𝜔/𝜔𝑛 ≈ 1: System is at resonance
𝜔/𝜔𝑛 > 1: 𝑀 < 0, motion 180° out-of-phase
𝜔/𝜔𝑛 → ∞: 𝑀 ↑ 0, mass can not follow

7
Damped Forced Vibration (1)
Standard form of EoM:

𝑥ሷ + 2𝜁𝜔𝑛 𝑥ሶ + 𝜔𝑛2 𝑥 = 𝐹0 /𝑚 sin 𝜔𝑡 (8/13)

Complete solution of (8/13): 𝑥 𝑡 = 𝑥𝑐 𝑡 + 𝑥𝑝 𝑡

𝑥𝑐 𝑡 : Complementary/transient solution (solution of (8/13) with RHS zero)


𝑥𝑐 𝑡 = 𝐴1 𝑒 𝜆1 𝑡 + 𝐴2 𝑒 𝜆2 𝑡 (solution for damped free vibration)
Roots 𝜆1 and 𝜆2 are negative or have negative real part: lim 𝑥𝑐 𝑡 = 0
𝑡→∞

𝑥𝑝 𝑡 : Particular/steady-state solution (any solution of (8/13))

8
Damped Forced Vibration (2)
𝑥ሷ + 2𝜁𝜔𝑛 𝑥ሶ + 𝜔𝑛2 𝑥 = 𝐹0 /𝑚 sin 𝜔𝑡 (8/13)

The particular solution is of the form:


Displacement: 𝑥𝑝 𝑡 = 𝑋 sin 𝜔𝑡 − 𝜙 = 𝑋 sin 𝜔𝑡 cos 𝜙 − cos 𝜔𝑡 sin 𝜙
Velocity: 𝑥ሶ 𝑝 𝑡 = 𝜔 𝑋cos 𝜔𝑡 − 𝜙 = 𝜔𝑋 cos 𝜔𝑡 cos 𝜙 + sin 𝜔𝑡 sin 𝜙
Acceleration: 𝑥ሷ 𝑝 𝑡 = −𝜔2 𝑋 sin 𝜔𝑡 − 𝜙 = −𝜔2 𝑋 …

How to find 𝑋 and 𝜙?


1) Substitute solution in (8/13)
2) Set coefficients of sin 𝜔𝑡 and cos 𝜔𝑡 to zero
3) Solve the resulting two equations for 𝑋 and 𝜙 (solution on next slide)

9
Damped Forced Vibration (3)
Magnitude of the steady-state solution 𝑥𝑝 𝑡 = 𝑋 𝜔 sin 𝜔𝑡 − 𝜙 𝜔 :
𝐹0 /𝑘
𝑋 𝜔 = (8/20)
2 2
𝜔 2𝜁𝜔 2
1− +
𝜔𝑛 𝜔𝑛
Phase angle of this steady-state solution:
−1
2𝜁𝜔Τ𝜔𝑛 (8/21)
𝜙 𝜔 = tan
1 − 𝜔Τ𝜔𝑛 2
Note that tan−1 𝑎Τ𝑏 = 𝑎𝑟𝑐𝑡𝑎𝑛 𝑎/𝑏 if 𝑏 > 0,
𝑎𝑟𝑐𝑡𝑎𝑛 𝑎/𝑏 + 𝜋 if 𝑏 < 0,
𝜋/2 if 𝑏 = 0

10
Damped Forced Vibration (4)
Again: 𝑋 𝜔 = 𝑀 𝜔 𝑋𝑠𝑡
Static deflection under static load:
𝐹0
𝑋𝑠𝑡 = 𝑋 𝜔 = 0 =
𝑘
Amplification factor:
𝑋 𝜔
𝑀 𝜔 = (8/23)
𝑋𝑠𝑡
or:
1
𝑀 𝜔 =
2 2 2
𝜔 2𝜁𝜔
1− +
𝜔𝑛 𝜔𝑛

11
Damped Forced Vibration (5)
Phase angle of steady-state solution
𝑥𝑝 = 𝑋 𝜔 sin 𝜔𝑡 − 𝜙 𝜔 :

−1
2𝜁𝜔Τ𝜔𝑛
𝜙 𝜔 = tan 2
1 − 𝜔Τ𝜔𝑛
(8/21)

Represents the part of the cycle (and thus


the time) by which the response 𝑥𝑝 𝑡 lags
the harmonic forcing function 𝐹 𝑡

12
Damped Forced Vibration (6)
Harmonic force: 𝐹 𝑡 = 𝐹0 sin 𝜔𝑡

Steady-state solution:
𝑥𝑝 = 𝑋 𝜔 sin 𝜔𝑡 − 𝜙 𝜔

Example 1 (top figure):


𝜔Τ𝜔𝑛 < 1, 𝜙 = 𝜋Τ4 rad

Example 2 (bottom figure):


𝜔Τ𝜔𝑛 > 1, 𝜙 = 3𝜋Τ4 rad

13
Damped Forced Vibration (7)
Applications (vibration measuring instruments):
1) Displacement meter, seismograph (𝜔 ≫ 𝜔𝑛 ,
small 𝜁)
2) Accelerometer (𝜔 ≪ 𝜔𝑛 , high 𝜁)
See book for details.
Configuration/Working principle

Seismograph

14
Sample Problem 8/6 (1)
Given:
Piston: 𝑚 = 45 kg, Spring: 𝑘 = 35 kN/m, Dashpot:
𝑐 = 1250 Ns/m, Top surface area piston: 0.05 m2,
Pressure: 𝑝 = 𝑝0 sin 𝜔𝑡 = 4000 sin 30𝑡 Pa

Determine:

1) Steady-state displacement 𝑥𝑝 𝑡 (measured from


static equilibrium position 𝑥 = 0)

2) Maximum force transmitted to the base

15
Sample Problem 8/6 (2)
Solution to 1):
EoM using FBD: −𝑐 𝑥ሶ − 𝑘𝑥 + 𝑝0 𝐴 sin 𝜔𝑡 = 𝑚𝑥ሷ
Standard form: 𝑥ሷ + 2𝜁𝜔𝑛 𝑥ሶ + 𝜔𝑛2 𝑥 = 𝑝0 𝐴/𝑚 sin 𝜔𝑡

We look for 𝑋 and 𝜙 in 𝑥𝑝 𝑡 = 𝑋 sin 30𝑡 − 𝜙


𝜔𝑛 = 𝑘/𝑚 = 35000/45 = 27.9 rad/s
𝑐 1250
𝜁= = = 0.498 (underdamped)
2𝑚𝜔𝑛 2∙45∙27.9

From (8/20) with 𝐹0 = 𝑝0 𝐴: 𝑋 𝜔 = 30 = 0.00528 m


From (8/21): 𝜙 = 1.716 rad

16
Sample Problem 8/6 (3)
Solution to 2):

Force transmitted to base: 𝐹𝑡𝑟 𝑡 = 𝑘𝑥𝑝 𝑡 + 𝑐 𝑥ሶ 𝑝 𝑡

Or: 𝐹𝑡𝑟 𝑡 = 𝑘𝑋 sin 𝜔𝑡 − 𝜙 + 𝑐𝜔𝑋 cos 𝜔𝑡 − 𝜙

Maximum transmitted force (values of 𝑘, 𝑐, 𝑋, 𝜔 known):

𝐹𝑡𝑟 = 𝑘𝑋 2 + 𝑐𝜔𝑋 2 = 271 N


𝑚𝑎𝑥

17
Questions/comments: [email protected]

18

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