FORCED VIBRATION

mx  fe sin  t  kx  cx

k
c mx  cx  kx  f e sin  t

m f e sin  t
x  2n x  n2 x 
m
fe sint

The general solution of a nonhomogeneous equation consists

of two parts:

(1) the general solution of homogeneous equation

X h exp(nt ) sin(dt   ) representing free vibration

(2) a particular solution of the nonhomogeneous equation

Assume xp (t )  X sin(t   ) as the particular solution

which represents the steady-state oscillation (free vibration part diminishes).

fe c
Solution X   arctan( )
(k  m 2 ) 2  (c ) 2 k  m 2

1
 free
3
particular
2

0
0 4 8 12
-1

-2

-3

Solution of homogenous equation (free vibration)

Particular solution of nonhomogenous solution

3 forced

0
0 4 8 12
-1

-2

-3

Complete solution (forced vibration) x(t )  xh (t )  xp (t )

2
 c
k 
2
kX 1 n
   arctan[ ]
fe  2 2   2
[1  ( ) ]  [2 ( )]2 1 ( )
n n n
kX/fe
10

 
6  
 
 
4  
 
2

0 /n
0 1 2 3 4
nn

180




90




/n
0
nn
0 1 2 3 4

3
 kX
These formulas indicate that the nondimensional amplitude and
fe

phase  depend on the frequency ratio n
.

The curves can be divided into three regions:

  
(1)  1 (smaller than and not close to 1) ; (2)  1; and (3)  1.
n n n


In the region of n
close to 1, the nondimensional amplitude
becomes very large.

kX 1 
 at   1
fe 2 n

Damping has a great influence at resonance. If damping is absent,

the amplitude becomes infinite at resonance in theory.

kX 
Where dose the maximum fe
occur (  )? What is the maximum?
n


Beyond  2 , the nondimensional amplitude is smaller than
n
one, that is, the amplitude is smaller than the static deflection.

The other thing to notice is that the response x(t) lags behind the
excitation force by a phase angle   90 for   n and   90
 

for   n . At   n , there is a steep change of phase angle.

The natural frequency n (internal) and  (external) should not be

confused.
4
 Machines with Rotating Parts

Suppose the center of mass is away from the e

centre of rotation. The off-centred mass will
create an unbalanced force of

me 2 cost in horizontal direction
me 2 sin t in vertical direction

(Complex) Frequency Response Function

(information only)

The excitation can be a sinusoidal or co-sinusoidal function of time.

Both cases can be represented by a single function of time.

mx  cx  kx  fe exp(i t ) ( i  1 )

The steady-state solution is assumed as x(t )  X exp(it )

(k  ic  m 2 ) X exp( it )  f e exp( i t )

fe fe
X  x(t )  exp(it )
k  ic  m 2 k  ic  m 2

The frequency response function is defined as

X 1

f e k  ic  m 2
5
 Support Motion and Vibration Isolation

Sometimes a vibration is initiated by an oscillatory motion, from

ground (earthquake) or an adjacent connection, rather than by an
oscillatory force. Theses cases can be considered as support motion.

Equation of motion x
m
mx  k ( x  y)  c( x  y )
k c
let z  x  y
y

mz  cz  kz   my

y (t )  Y exp( it )

Suppose z (t )  Z exp[ i(t   )] and x(t )  X exp[ i(t   )] . Z and ,

and X and  can be found from the above equation.

X k 2  (c ) 2 1  [2 ( /  n )]2

 
Y (k  m )  (c )
2 2 2
[1  ( /  n ) 2 ]2  [2 ( /  n )]2

2 ( /  n ) 3
tan  
1  ( /  n ) 2  [2 ( /  n )]2

6
 10 180


X/Y
120

8
60

Series1
6 0
Series2
0 1 2 3 4 5

Series3
Series4
4 Series5
Series6
2

0  / n 
0 1 2 2 3 4

X
From the above graph of
Y
, one can see for good isolation, k must be

selected such that   2 (then
X
 1 ). Such a device is called a
n Y
vibration isolator.

7
 Transfer Function

When the excitation is a harmonic function of time, it is easy to find the

response. For a general excitation of f (t ) , determining the response in the
time-domain can be difficult.

The equation of motion of a mass-spring-damper system under a general

excitation is

mx  cx  kx  f (t )
Taking the Laplace transform and assuming the initial response is zero,
yields

1
X ( s )  G( s ) F ( s ) G ( s) 
ms 2  cs  k
and

X ( s)
G(s)  transfer function.
F ( s)

It can be noticed that G(i ) is the frequency response function defined in a

previous section.

Once the excitation f (t ) is given in a known system, F (s) can be found and
X (s) can also be found from the system’s transfer function. By means of the
inverse Laplace transform of X (s) , the system’s response to f (t ) , x(t ) can
be determined.

Example:

8
Suppose the excitation to a mass-spring-damper system is shown below

f(t)

f0

 
f 0 exp( sa )
1. F ( s)  
0
f (t ) exp( st )dt  f 0  exp( st )dt 
a
s

1
2. G ( s ) 
ms 2  cs  k

f 0 exp( sa)
X ( s )  G ( s ) F ( s ) 
3. s(ms 2  cs  k )

1 f 0 exp( sa)
x (t )  L [ X ( s )]  L -1
[ ]  H (t  a)u (t  a)
4. s(ms  cs  k )
2

where H is a unit step function and u is the response of a unit step function.