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Mechanical Vibration
Mechanical Vibration
5
A single-degree-of-freedom spring-mass-damper system has a mass og 60 kg and a spring
stiffness of 6000 N/m. Determine:
(a) the critical damping coefficient
(b) the damped natural frequency when c 2Cc / 3
(c) the logarithmic decrement.
Solution:
(a) Cc 2 km 2 6000 60 600 Ns/m
(b) c
2Cc
400 Ns/m
3
c
k
1
m
Cc
Find
k 20 N/mm 20kN/m
Fig
x Ce J nt sin d t
x2 Ce J n t2
2
J n
x1
e J n t1 t2 e
x2
2 J
1 J 2
Since t1 t2 T and d n 1 J 2
C ?
x1
2 J
x
1 J 2
2
ln
logarithmic decrement.
c 2 J km
We have
x1
x x x x x
1
4 1. 2. 3. 4. 5
x6 0.25
x2 x3 x4 x5 x6
x2
x4 x5
x1
x3
ln ln ln ln
x2
x3
x4
x5 x6
2 J
5 0.28
1 J 2
ln 4 l n
J 0.044
c 2 J km
N-aec
m
We are all aware of the sound which is radiated from an object for given a sharp
blow.
When a busy (float) is made to bob up and down in the water, waves radiate out
and away from it, thereby resulting in its loss of energy.
The loss of energy from the oscillatory system results in the decay of amplitude of
free vibration.
A vibrating system may encounter many different types of damping forces, from
internal molecular friction to sliding friction and fluid resistance.
Generally their mathematical description is quite complicated and not suitable for
vibration analysis.
Thus simplified damping models have been developed that in many cases are
found to be adequate in evaluating the system response.
For example, the viscous damping model, designated by the dashpot, which leads
to manageable mathematical solutions.
In all cases, however, the force-displacement curve will enclose an area, referred
to as the hystersis loop, that is proportional to the energy lost per cycle.
The energy lost per cycle due to damping force Fd is computed from the general
equation.
Wd Fd dx
(1)
In general, Wd depends on many factors, such as temperature, frequency, or
amplitude.
X& X cos t
(2)
the energy dissipated per cycle, from eqn,(1), becomes (for viscous damping)
& cx&2 dt
Wd cxdx
c 2 X 2 cos 2 t dt c 2 X 2
2 /
cos 2 t dt
c 2 X 2
2 /
1
2 1 cos 2 t dt
0
sin 2 t
c X
2
2
2 /
c 2 X 2 2 0 0
2
2
Wd c X 2
(3)
Substituting n
k
m
We get,
Wd 2 J km
k 2
X 2 J kX 2
m
(4)
The energy dissipated per cycle by the damping force can be represented
graphically as follows.
(5)
Fd Cx& c X 2 x 2
Fd2 c 2 2 X 2 x 2
or
or
2
d
F
x2 X 2
c 2 2
Fd
x
c X X 1
(7)
Eqn. (7) is the equation of an ellipse with Fd and x plotted along the vertical and
horizontal axes, as shown in Fig 1(a).
FIG
-
The energy dissipated per cycle is then given by the area enclosed by the ellipse.
If we add to Fd the spring force kx (i.e. of the losses spring), the hysteresis loop
is rotated as shown in Fig 1.(b)
x0
Fd kx Fd 0 c X
xX
Fd kx 0 kX
Fd kx c X 2 x 2 kx 0
c
2
or
x 2 k 2 c 2 2 c 2 2 X 2 x 2
c 2 2 X 2
c 2 2
c X
k c 2 2
2
The Fig. 1(b) conforms to the Voigt model, which consists of a dashpot in
parallel with a spring.
Specific damping capacity: is defined as the loss per cycle Wd divided by the peak
potential energy U.
Wd
U
(8)
Loss coefficient : is defined as the ratio of damping energy loss per radian Wd / 2
divided by the peak potential or strain energy U.
Wd
2 U
(9)
For the case of linear damping where the energy loss is proportional to the square
of he strain or amplitude (eq.4) the hysteresis curve is an ellipse.
When the damping loss is not a quadratic function of the strain or amplitude, the
hysteresis is no longer as ellipse.
In the case of viscous damping, the amplitude at resonance, equation was found to
be
X
F0
Cn
(10)
Example 3.3
A single degree-of-freedom viscosity damped system has a spring stiffness of 6000
N/m, critical damping constant 0.3 Ns/mm, and a damping ratio of 0.3. If the system I
given an initial velocity of 1 m/sec, determine the maximum displacement of the system.
Solution:
The natural frequency of the system is given by
n
Given
k
m
or
hence
6000
40 rad/sec
3.75
Damping ratio
or
c
0.03
Cc
Now assuming x0 0 and x&0 1 m/s, the general expression for displacement is:
x t e n t
x&0
n 1 2
sin 1 2 n t
xmax e
0.3
and sin 1 2 n t 1
2
1
40 1 0.32
1 0.01636 m