Lecture 8

MECHANICAL VIBRATIONS
BMM3553
LECTURE 8
Two Degree Of Freedom - Automobile
Simulation Undamped
• An automobile has many degrees of freedom but if we confine our
attention to motion in a vertical plane and consider the unsprung
mass (wheel, etc.) small as compared to the mass of the
automobile then, neglecting damping, the system behaviour can be
simulated by a two degree of freedom mathematical model in
which the translation(x) of the centre of mass and rotation()
around the centre of mass (G) are the two possible modes of
vibration.
Simulation Undamped
• Let the two motions be

X(t)= A sin (t + )
(t)= B sin (t + )
• The equations of motion are
mx  k1 ( x  1 )  k 2 ( x  2 )  0
For motion in the vertical direction
For rotation about G
I G  k1 ( x  1 )1  k 2 ( x  2 )2  0
Thus the two simultaneous equations requiring solution are
mx  (k1  k 2 ) x  (k11  k 2 2 )  0
 (k11  k 2 2 ) x  I G  (k112  k 2 22 )  0

Simulation Undamped
• Substitution for x(t) and (t) leads to the characteristic equation;-
k1  k 2  m 2 k 2 2  k11
0
k 2 2  k11 k11  k 2 2  I G
2 2 2
• The solution of which is

2
1  k1  k 2 k112  k 2 22   k1  k 2 k112  k 2 22  4k1k 2 (1  2 ) 2
12, 2        
2 m IG   m IG  mIG
Coupling
• The equation of motion were found to be;-
mx  ( k1  k 2 ) x  (k11  k 2 2 )  0..........(1)
 ( k   k  ) x  I   ( K 2  K 2 )  0......(2)
1 1 2 2 G 1 1 2 2
• Now, if k1l1=k2l2, equation (1) becomes independent of  and

equation (2) becomes independent of x. As they stand, the equations
are said to be coupled and making k1l1=k2l2 uncouples them as below:
mx  ( k1  k 2 ) x  0..........(1a )
I G  ( K112  K 2 22 )  0......( 2a )
• If the coupling term in equation (1) and (2) is dependent upon
displacement, the coupling is said to be elastically or statically
coupled. If it is dependent upon velocity the equations are said to be
coupled dynamically. The type of coupling depends entirely on the
choice of the coordinates for the equations of motion.
Example
Determine the pitch (angular motion) and bounce (up and linear motion)
frequencies and the location of oscillation centre (nodes) of an automobile
with the following data:
Mass (m) = 1000 kg

Radius of gyration (r) = 0.9 m
Distance between front axle and CG () = 1 m
Distance between rear axle and CG () = 1.5 m
Front spring stiffness, = 18 kN/m
Rear spring stiffness, = 22 kN/m
Simulation Undamped – Ground Excitation
Thus
• The equation of motion are;-

For motion in the vertical direction
mx  k1 ( x  l1  z1 )  k 2 ( x  l2  z 2 )  0
For rotation about G

I G  k1 ( x  l1  z1 )l1  k 2 ( x  l2  z 2 )l2  0
• Thus
 ( k1l1  k2 l2 ) x  IG  ( k1l12  k2 l22 )  l2 k2 z2  l1k1 z1
m x  ( k1  k2 ) x  ( k1l1  k2 l2 )  k1 z1  k2 z2
• Decoupling by making
k1l1  k 2l2
we have heaving mode, mx  (k1  k 2 ) x  k1 z1  k 2 z 2
and pitching mode, I G  k1l1 (l1  l2 )  l2 k 2 ( z 2  z1 )
• Natural frequencies
k1  k 2
For heaving (x) mode, 1 
m
k11 (l1  2 )
For pitching () mode, 2 
IG
Torsional System 2 DOF
• Consider a torsional system as shown in figure below.
The differential equations of rotational motion for the
discs can be derived as
J11  kt11  kt 2 ( 2  1 )  M t1
J   k (   )  k   M
2 2 t2 2 1 t3 2 t2
•Upon rearrangement become

J11  (kt1  kt 2 )1  kt 2 2  M t1
J 22  kt 21  (kt 2  kt 3 ) 2  M t 2
For the free vibration analysis of

the system, Eq. above reduces to
J11  (kt1  kt 2 )1  kt 2 2  0

J 22  kt 21  (kt 2  kt 3 ) 2  0
Example: Find the natural frequencies and amplitude ratio
of mode shapes for 2 dof torsional system shown in figure
below.
Given, , ==

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MECHANICAL VIBRATIONS

mx  (k1  k 2 ) x  (k11  k 2 2 )  0

 (k11  k 2 2 ) x  I G  (k112  k 2 22 )  0

• The solution of which is

• Now, if k1l1=k2l2, equation (1) becomes independent of  and

Mass (m) = 1000 kg

• The equation of motion are;-

For rotation about G

and pitching mode, I G  k1l1 (l1  l2 )  l2 k 2 ( z 2  z1 )

•Upon rearrangement become

For the free vibration analysis of

J11  (kt1  kt 2 )1  kt 2 2  0

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