2103433 Introduction to Mechanical Vibration

Nopdanai Ajavakom (NAV)

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Course Topics
Introduction to Vibration
What is vibration? Basic concepts of vibration Modeling Linearization

Single-Degree-of-Freedom Systems
Free Vibration
Undamped Damped Measurement and Design Considerations
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Course Topics
Forced vibration
Harmonic

Applications
Rotating Unbalance Base Excitation Measurement Devices

Forced vibration (more)

Periodic Impact Arbitrary

Multi-Degree-of-Freedom Systems Vibration Isolation and Suppression

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Road Map

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What is Vibration?
Vibration is the study of repetitive motion of relative to the reference position or frame. Examples:
Swinging pendulum

Spring mass system

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Where to find vibration?

Car

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Where to find vibration?

Machine

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Where to find vibration?

Structure
The collapse of Tacoma Bridge

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Where to find vibration?

Structure
Earthquake

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Elementary parts of vibrating systems

A vibrating system is a model consisting of 1. Elastic components 2. Inertia (mass) components 3. Damping components

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Elementary parts of vibrating systems

1. Elastic components
store or release potential energy as its displacement increases or decreases. e.g. linear spring, helical spring, thin rod, elastic torsion bar, cantilever beam etc.

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Elementary parts of vibrating systems

1. Elastic components

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Elementary parts of vibrating systems

1. Elastic components
Thin rod

Torsion bar

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Elementary parts of vibrating systems

1. Elastic components
Cantilever beam

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Elementary parts of vibrating systems

1. Elastic components
Combination of springs Parallel Series

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Elementary parts of vibrating systems

1. Elastic components
Proofs

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Elementary parts of vibrating systems

2. Inertia components
store or release kinetic energy as velocities increase or decrease. e.g., mass (translation), mass moment of inertia (rotation)

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Elementary parts of vibrating systems

3. Damping components
Dissipate energy out of system into heat or sound e.g. shock absorber, damper, material strain

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Elementary parts of vibrating systems

3. Damping components
Viscous damper

No damping

With damping
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Elementary parts of vibrating systems

Summary Linear Rotational

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Elementary parts of vibrating systems

Exercises
Find the equivalent single stiffness representation of the five-spring system shown in the figure.

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Modeling of Vibration Systems

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Modeling of Vibration Systems

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Modeling of Vibration Systems

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Modeling of Vibration Systems

Wing flutters due to excitation e.g. from wind Simplify the model of the wing as a beam Continuous system with structural stiffness and damping

Physical model turns into a math model with a governing partial differential equation

Simplify more and make the mass lumped together

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Modeling of Vibration Systems

A reciprocating engine is mounted on a foundation as shown. The unbalanced forces developed in the engine are transmitted to the frame and the foundation. An elastic pad is placed between the engine and the foundation block to reduce the transmission of vibration. Develop the physical model.

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Degree of Freedom (DOF)

Degree of freedom (DOF): The minimum number of independent coordinates required to determine all positions of all parts of a system at any time. Single degree of freedom systems

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Degree of Freedom (DOF)

Two degrees of freedom systems

Three degrees of freedom systems

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Degree of Freedom (DOF)

Infinite degree of freedom systems (continuous systems, distributed systems)

By increasing number of degrees of freedom More accurate result More complexity

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Mathematical Model Equation of Motion (EOM)

Math modeling to find the equation that describe the motion of our system. In our class, it is a linear second order differential equationscalled Equation of Motion, EOM Procedures (1) Define coordinates and their positive directions Note the degrees of freedom (DOF) Write geometric constraints (2) Write necessary kinematic relations (3) Draw free-body diagram (4) Apply Newtons 2nd law on the free body (5) Combine all relations
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Mathematical Model Equation of Motion (EOM)

Example 1: Spring mass system Find the EOM of the mass attached to a spring as shown.

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Equation of Motion (EOM)

Example 2: Hanging mass Find EOM of the system

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 Example 3: Pendulum Find EOM of the system

Equation of Motion (EOM)

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 Example 4: 2-DOF system

Equation of Motion (EOM)

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 Example 4: 2-DOF system

Equation of Motion (EOM)

Ans

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 Example 5: Pulley and mass system

Equation of Motion (EOM)

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Consider the EOM of a simple pendulum

Linearization

It is non-linear, which is difficult to solve by hand for the exact solution. To make it simpler to solve, we linearize it into this form.

where How to linearize?

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Linearization

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Linearization

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 Example 6: Accelerator

Linearization

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 Example 7: Pendulum Mechanism

Linearization

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