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Lect 7

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12 views28 pages

Lect 7

Uploaded by

Mahmoud Essam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Mechanical Vibration

Faculty of Engineering
Mechanical Department
By
Dr.Rasha Afify
Objectives
Analysis of Free Vibration
systems
Free undamped
vibration

Free under damped


vibration
▐ Free undamped vibration
Free vibration occurs when the system oscillates in response
to natural forces not continuous with time, (i.e., acts at short
time) without any external forces.
At static equilibrium
position
𝑚
𝑔=𝑘𝛿
Σ Fy = 0 then

𝛿 static Deflection
Where

Fig. Free body


diagram
▐ Free undamped vibration
Applying Newton’s second law for linear
motion
𝑚 𝑦̈ = Σ 𝐹,
where the force in the direction

Then 𝑚 𝑦̈ = 𝑚 𝑔 − (𝑘 𝛿 + 𝑘𝑦)
of motion is considered positive,

since, 𝑚 𝑔 = 𝑘 𝛿
Hence, the resulting equation of motion

𝑚 𝑦̈ + 𝑘𝑦 = 0
(EOM) is

It is homogeneous, second order linear differential


equation with constant coefficients.
𝑦̈ + 𝑦 = 0 Which is simple harmonic
motion
General equation of motion
The standard form of the equation of
motion is𝑥̈ + 2 𝜉𝜔n 𝑥̇ + 𝑥 = 𝐴 𝑓( 𝑡)
- Compared to the standard mass-spring damper
system
Compared to the standard mass-spring damper

𝑚 𝑥̈ + C 𝑥̇ + 𝑘 𝑥 = 𝑓 (𝑡)
system.

𝑥̈ + 𝑥̇ + 𝑥 = 𝑓 (𝑡)
𝜔n= , and 2ξ 𝜔n = c/m

Ccr = 2m 𝜔n = 2m
ξ= =
General equation of motion
The general solution of standard equation

𝑥̈ + 2 𝜉𝜔n 𝑥̇ + 𝑥 = 𝐴 𝑓( 𝑡)
of motion

- It is the summation of homogenous 𝑥(𝑡 ) and particular


solution 𝑥p( 𝑡)

- The particular solution is due to the input force. It is


expressed in sin or cos depending on the form of input
force.
Case (1) Free undamped vibration
1. The homogenous part 𝑥h(𝑡)

The homogenous solution by let 𝑓 (𝑡) = 0

(i.e., m 𝑥̈ + 2 ξ 𝜔n𝑥̇ + 𝑥
=0

Take Laplace transform [ + 2 ξ 𝜔n 𝑠 + ] 𝑋(𝑠) = 0

+ 2 ξ 𝜔n 𝑠 + =0
The roots is 𝑠1,2 =
For a non-trivial solution

S1,2 = − ξ 𝜔n ± 𝜔
Case (1) Free undamped vibration
Since the damping frequency is 𝜔d = 𝜔n
The general solution is

𝑥 (𝑡) = 𝐶1 + 𝐶2
- C1 and C2 are arbitrary constants to be determined from
initial conditions.
- The roots depend on the value of the damping ration ξ
ξ

ξ ξ1
ξ =0 ξ =1 Overdampe
Underdamp
Undamped Critical damped d
ed
Case (1) Free undamped vibration
Case (1) 𝛏=0, Free undamped vibration (SHM), The solution can be simply
written on the form

𝑥 (𝑡) = 𝐴 cos 𝜔n 𝑡 + 𝐵 sin 𝜔n 𝑡

𝑥̇ (𝑡) = 𝐴 𝜔n( − sin 𝜔n 𝑡) + 𝐵 𝜔n cos 𝜔n 𝑡

- The initial conditions are;

At 𝑡 = 0 , 𝑥 (0) = 𝑥ₒ and 𝑥̇ (0) = 𝑥ₒ

𝑥 (0) = 𝑥ₒ = 𝐴 cos 0 + 𝐵 sin 0 = --------------- 𝑥ₒ = 𝐴 (1)

𝑥̇o = 𝐴 𝜔n( − sin 0) + 𝐵 𝜔n (cos 0) = 𝐵 𝜔n


B=
Case (1) Free undamped vibration
X(𝑡) = 𝑥ₒ cos 𝜔n 𝑡 + sin 𝜔n 𝑡
Simple Harmonic
motion
Case (1) Free undamped vibration
The solution can be also written on the following

Form 1: 𝑥 (𝑡) = X sin(𝜔n t + ∅)


forms;

X= ,Φ=

𝑥(𝑡) = 𝑋
cos(𝜔n 𝑡−𝜓)
From (2 )

X= √ 𝑥𝑜 +¿ ¿ 2
Case Study

The maximum velocity attained by the mass of a


simple harmonic oscillator is 5 cm/s, and the period of
oscillation is 3 s. If the mass is released with an initial
displacement of 1 cm, find the following,
(a) the amplitude of oscillation,
(b) the phase angle.
(c) the initial velocity, , and
(d) the maximum acceleration

Given: v = 5 𝑐𝑚/ sec , 𝑇 = 3 𝑠𝑒𝑐 , 𝑥 (𝑜) = 1 𝑐𝑚


Solution
max
Case Study
Displacment 𝑥(𝑡) =A cos(𝜔n 𝑡−𝜓)
=

(1) Velocity 𝑥˙(𝑡) = -A 𝜔n sin(𝜔n 𝑡−𝜓)


(2 )
Acceleration 𝑥˙(𝑡) = -A sin(𝜔n 𝑡−𝜓)
(3)

Maximum Velocity 𝑥˙max = A =0.05 m/sec


(a ) Amplitude

A= = =
(b) the phase angle can be obtained as
follows
𝑥(𝑜) =𝐴cos(0−𝜓)
=𝐴cos(−𝜓)=𝐴cos𝜓=0.01 m
𝜓 = = = 65.24°
❑
❑
𝑥̈=−𝐴.𝜔n cos(𝜔n .𝑡−𝜑)
(b) Maximum acceleration

𝑥̈ =−𝐴.(cos𝜔n .𝑡−𝜔n .𝑡) =

𝑥̈ =𝐴. = x = = 0.104 m/sec


(c) Initial velocity occurs at 𝑡=0
Since, 𝑥̇ =−𝐴.𝜔n sin(𝜔n .𝑡−𝜑)

𝑎𝑡 𝑡=0 𝑥o˙ =−𝐴.𝜔n


sin(−𝜑o)

𝑥o˙= x sin(−65.24)= 0.0454 𝑚/𝑠


Case Study
Another method by direct
substitution

Amplitude

A= =

A= 0.02387m

𝜓 = 65.235°
Phase angle= =
(2) 𝟎 < 𝛏.'< 𝟏, Free under damped vibration
Case (2) Free under damped vibration
Case ;/’’
(Light damping: c < cc)
The solution can be simply written on the form

𝑥 (𝑡) = cos 𝜔d 𝑡 + 𝐵 sin 𝜔d 𝑡)


The initial condition

at 𝑡 = 0 𝑥 (0) = 𝑥o, 𝐴 = 𝑥o

at 𝑡 = 0 𝑥̇ (0) = 𝑥ȯ = 𝑣o
(1)
B=
(2)
0 0

x˙ = vₒ= + 𝜔d sin 𝜔d 𝑡 +
X(0)= xₒ = A

𝜔d B cos 𝜔d 𝑡
1
Case (2) Free under damped vibration
Natural Frequency fn = =

Damping Frequency Fd = =

Damping Time = Td =

Damped natural frequency 𝜔d = 2 𝜋 𝑓d

Cc = 2 𝑘 𝑚 = 2 𝑚 = 2 𝑚 𝜔n
rad/s

𝜔d= 𝜔n
Case (2) Free under damped vibration
The solution can be also written on the following
forms;

Form 1: 𝑥 (𝑡) = 𝑋d sin(𝜔d 𝑡 + ∅d)


Xd = , ∅𝒅 =

𝑥 𝑡 )= 𝑋d cos
(𝜔d 𝑡 − 𝜓d )
Form 2:

Xd = ∅𝒅 =
Case (2) Free under damped vibration
Logarithmic decrement (δ) : It represents the rate at which the
amplitude of a free damped vibration decreased.

For one cycle:


Δδ = = =

Δδ = ln = =

For Multi-cyclesΔδ = ln =

N (No of complete cycle)=1,2,


…. K
Case Study
Example: A boy riding a bicycle can be modeled as a spring-
mass-damper system with an equivalent weight, stiffness, and
damping constant of 800 N, 50,000 N/m, and 1,000 N-s/m,
respectively. The differential setting of the concrete blocks on the
road caused the level surface to decrease suddenly, as indicated
in Fig.
Case Study
determine the displacement of the boy in the vertical direction, if the speed
of the bicycle is 18 km/hr. Assume that the bicycle is free of vertical vibration
before encountering the step change in the vertical displacement.

Given:

𝑾 = 800 𝑵, 𝑘eq = 𝟓𝟎, 𝟎𝟎𝟎 𝑵/𝒎, 𝐜 =


1000 𝑵. 𝒔 /𝒎

𝑥̇o = 𝟏𝟖 𝒌𝒎/ 𝒉𝒓 = 𝟓 𝒎/𝒔, 𝑥o = 𝟓 𝒄𝒎


Case Study
ωn= = = 24.75 rad/sec

𝐶c = 2 𝑚 𝜔n = 2 × × 24.75 = 4040.8 𝑁. 𝑠/𝑚

ξ = = =0.25

ωd = ωn = 24.75 = 23.96rad/sec

x(t) = Xdsin (ωdt+ ∅𝒅 )


=

∅𝒅 = = 12.7°

Xd = = = 0.227 m
Example:
The ratio of successive amplitudes of a viscously damped single-degree-of-
freedom system is found to be 18:1. Determine the ratio of successive
amplitudes if the amount of damping is doubled.

Determine the ratio of successive amplitudes if the


amount of damping is doubled. Given : = 18 :1
If ƺ = 2ƺ
Case Study
δ = ln =
Solution
Ln18= ln =
Square both side and solve to get ƺ =
0.42
If the amount of damping is doubled ƺ1
=2ƺ

==

= 16768.44
𝜁=
Case 3. Critically damped 𝑚𝑥·· + 𝑐𝑥· +
system 1 𝑘𝑥=0
Equation of Motion x measure from static equilibrium position (EP)

𝑠1,2 = 𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛𝑖


−𝜔𝑛
Value for the roots:

Solution to the EoM: 𝑥 = 𝐴𝑒 − 𝜔 𝑛 𝑡 + 𝐵𝑡𝑒 −𝜔 𝑛 𝑡


When applying initial conditions 𝑥0 and
𝒗0
𝑥0 = 𝑥(0) = 𝐴 = 𝑥0 𝑥· (𝑡) = −𝐴𝜔 𝑛 𝑒 −𝜔 𝑛 𝑡 − 𝐵𝑡𝜔 𝑛 𝑒 −𝜔 𝑛 𝑡
𝐴𝑒 −𝜔 𝑛 0 + 𝐵𝑒−𝜔𝑛𝑡
𝑣0 = 𝑥· (0) = −𝐴𝜔 𝑛 𝑒 −𝜔 𝑛 0 − 𝐵0𝜔 𝑛 𝑒 −𝜔 𝑛 0 + 𝑣0 = −𝐴𝜔𝑛 + 𝐵 = 𝑣0 + 𝑥 0 𝜔 𝑛
𝐵𝑒−𝜔𝑛0 𝐵
The solution becomes:

𝑥 = 𝑥 0 𝑒 − 𝜔 𝑛 𝑡 + 𝑣0 + 𝑡𝑒 −𝜔 𝑛
𝑥0 𝜔𝑛 𝑡

The motion represented is aperiodic, eventually diminish to zero


𝜁>
Case 4. Overdamped 𝑚𝑥·· + 𝑐𝑥· +
system 1 𝑘𝑥=0
Equation of Motion x measure from static equilibrium position (EP)

𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛
𝜁2 −
Value for the roots:

Solution to the EoM: 1𝑥 = 𝐴𝑒 −𝜁𝜔 𝑛 +𝜔 𝑛 𝜁 2 −1 𝑡

+ 𝐵𝑒 −𝜁𝜔𝑥0 and
𝑛 −𝜔 𝑛 𝜁 2 −1 𝑡
𝒗0
When applying initial conditions

𝑣0 + 𝜁 + 𝜁2 − 1 𝑣0 − 𝜁 − 𝜁2 − 1
𝜔 𝑛 𝑥0 𝜔 𝑛 𝑥0
𝐴= 𝐵=
2𝜔𝑛 𝜁2 − 1 2𝜔𝑛 𝜁2 − 1

X v0

X0
The motion represented is aperiodic,
eventually diminish to zero but much t
0
slower than critically damped system

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