Professional Documents
Culture Documents
Fundam Mech Vibration
Fundam Mech Vibration
Topics:
Background concepts
SDOF free vibration
SDOF forced vibration
FRF
Experimental parameter estimation
2DOF free vibration
Modal analysis basics
2DOF forced vibration
Direct/cross FRFs
Modeling physical systems
Types of Mechanical Vibrations
1) Free vibration
Initial conditions applied to
body (possessing mass/
x(t)
elasticity) leads to exponential
decay of periodic vibration at
damped natural frequency.
t (sec)
2) Forced vibration
Resonance
Continuing periodic force excites
system. Steady-state response
Magnitude
matches forcing function
frequency with magnitude and
phase governed by system
characteristics. Describe
behavior using FRF.
n
Types of Mechanical Vibrations
3) Self-excited vibration
Steady input force is
x(t)
modulated into vibration at the
system natural frequency.
k
2(x)
1(x)
n =
m
where,
3EI
k=
4(x)
3(x)
L3
etc. m = 0.24 mbeam
x x
Periodic Motion
Important concept in mechanical vibrations is periodic motion.
x (t + ) = x (t )
x(t)
t (sec)
x (t ) = X sin (t ) 2
where, = (rad/s)
1
+X f = = (cycle/s or Hz)
2
X - magnitude
x(t)
-X
t (sec)
Velocity
dx
v(t ) = = X cos (t ) = X sin t +
dt 2
Acceleration
dv
a (t ) = = 2 X sin (t ) = 2 X sin (t + )
dt
SDOF Free Vibration
Consider only damped systems (structural, sliding friction, viscous).
Model by lumped parameters.
F = m&x& + cx& + kx = 0
x (t ) = Xe st
( )
ms 2 Xe st + csXe st + kXe st = ms 2 + cs + k Xe st = 0
ms 2 + cs + k = 0 (s = i ) Trivial solution
(no motion)
Characteristic equation is quadratic in Laplace variable s.
c k
s2 + s+ =0
m m
Determines system behavior;
Roots: underdamped if:
2 2
c c k c k
s1,2 = <0
2m 2m m 2m m
Underdamped SDOF Free Vibration
Time domain solution: 1
c 2 k 2
1
c 2 k 2
c t t
t 2m m 2m m
x (t ) = Ae + Be = e
s1t s2t 2 m
Ae
+ Be
damping envelope
oscillatory part
Rewrite in more familiar form:
[Ae ]
c k
x (t ) = e n t i d t
+ Be i d t
where; = n =
2 km m
Equivalent forms:
d = n 1 2
x (t ) = Ce n t cos ( d t + c )
x (t ) = Ce n t sin ( d t + s ) where; A,B - complex conjugates
C,D,E - real
x (t ) = e n t (D cos ( d t ) + E sin ( d t ))
Underdamped SDOF Free Vibration
Numerical Example: m = 1 kg, k = 1x107 N/m, c = 126.5 N-s/m,
x0 = 100 m, x&0 = 0
Calculate:
1 107 rad
n = = 3162
1 s
c 126.5
= = = 0.02
2 km 2 1 107 1
2 2 rad
d = n 1 = 3162 1 0.02 = 3161 .6
s
Select form for time-domain solution:
x (t ) = Ce n t sin ( d t + s )
where C and s are determined from initial conditions
Underdamped SDOF Free Vibration
Numerical Example:
x0 d
s = tan 1
x (t ) = Ce n t sin ( d t + s ) x&0 + n x0
x0
C=
sin s
1 x0 d 1 100 3161 .6
s = tan = tan = 0.87 rad
x&0 + n x0 0 + 0.02 3162 100
x0 100
C= = = 130.6 m
sin s sin (0.87 )
( m 2
)
+ ic + k Xe it = Fe it
X 1
Rearrange to obtain Frequency ( ) =
Response Function (FRF): F m 2 + ic + k
FRF describes complex displacement/force ratio as function of .
SDOF Forced Vibration
Rewrite FRF as Real/Imaginary vs. frequency
2
1
1
Real (X/F)
X n
Re ( ) = 2
n
F k 2
2
1 + 2
n n
n
2
X 1 n
Im ( ) =
Imag (X/F)
2
F k 2 2
1 + 2
n n
SDOF Forced Vibration
May also write FRF as Magnitude/Phase vs. frequency
1
2
Magnitude (X/F)
X 1 1
( ) = 2
F k 2 2
1 + 2
n
n n
0
2
Phase (deg)
X
( ) = tan 1
n
n
-90
F 2
1
-180
n
SDOF Forced Vibration
Alternately, can combine Real and Imaginary parts to obtain
Nyquist diagram -- contains Re/Im/Mag/ information.
0
Imag (X/F)
n(1+) n(1-)
Real (X/F)
SDOF Forced Vibration
In general, we do no know parameters for model of system
Rather, we have an experimental FRF. Simple fitting algorithm
may be used to extract SDOF n, k, and .
Imag (X/F)
Real (X/F)
3
2
f (Hz) f (Hz)
998.2
Real [X/F] (m/N)
-6
-2.119x10
f (Hz) f (Hz)
b) fn = 998.2 Hz.
1038 .1 958.2
c) = = 0.04 = 4%
2 998.2
1 6
d) k = = 5 . 9 10 N/m
2.119 10 (2 )0.04
6
SDOF Forced Vibration
Numerical example: For identified system, determine
displacement amplitude if 100 N force is exciting at resonance
k 5.9 106
m= = = 0.15kg
n2 (998.2 2 ) 2
N s
c = 2 km = 2(0.04 ) 5.9 10 0.15 = 75.3
6
m
FRF magnitude at resonance:
X
( = n ) = 1
F 2 k
2 2
s
3) Calculate eigenvalues from roots of characteristic equation i = n ,i
4) Use one equation of motion to determine eigenvectors. Normalize
to coordinate of interest.
[
5) Assemble modal matrix (P) from eigenvectors (i) P = 1 2 ... ]
6) Transform local to modal coordinates. Modal matrices are diagonal
and uncoupled.
{q0 } = [P ]1{xo }
{q&0 } = [P ]1{x&o }
9) Determine solutions to uncoupled (SDOF) equations of motion.
10) Transform from modal to local coordinates.
{x} = [P ]{q}
2DOF Free Vibration
Consider 2DOF chain-type lumped parameter model.
Coupled equations of motion are:
m1&x&1 + (c1 + c2 )x&1 + (k1 + k 2 )x1 c2 x&2 k 2 x2 = 0
m2 &x&2 + c2 x&2 + k 2 x2 c2 x&1 k 2 x1 = 0
In matrix form:
m1 0 &x&1 c1 + c2 c2 x&1
&& + & +
0 m2 x2 c2 c2 x2
k1 + k2 k 2 x1 0
=
k2 k 2 x2 0
[c ] = [m] + [k ]
As in SDOF case, assume harmonic solution and substitute:
x (t ) = Xe st Trivial solution
[[m]s 2
]
+ [k ] {X }e st = {0}
[ ]
det [m ]s 2 + [k ] = 0
(m s
1
2
)
+ (k1 + k 2 ) X 1 k 2 X 2 = 0 Evaluate at s12, s22
X1 k2 X2 Normalized to
= =1
X 2 m1s 2 + (k1 + k 2 ) X2 coordinate 2.
X1 X 1
1 = X 2 2 = X 2 P = [ 1 2 ]
1 1 1 2
[mq ] mq11
= [P ] [m ][P ] =
T 0
[kq ] k q11
= [P ] [k ][P ] =
T 0
0 mq 22 0 k q 22
x1 (t ) q1 (t ) x1 (t ) = p11q1 (t ) + p22 q2 (t )
= [P ]
x
2 (t ) q
2 (t ) x2 (t ) = q1 (t ) + q2 (t )
Sum of modal responses
2DOF Free Vibration
Numerical Example: m1 = 1 kg, k1 = 1x107 N/m, m2 = 0.5 kg, k2 =
2x107 N/m, x1(0) = 1 mm, x2(0) = -1 mm, x&1 (0 ) = x&2 (0 ) = 0
m1 0 1 0
[m] = = kg
0 m2 0 0.5
k1 + k 2 k 2 3 107 2 107 N
[k ] = = 7 m
k2 k 2 2 107 2 10
[ ]
2 7
s + 3 10 2 107
det [m ]s 2 + [k ] = =0
2 10 7 2
0.5s + 2 10 7
X1 2 107 2 107
X = s 2 + 3 107 = 6.37 107 + 3 107 = 0.593
2 2 2
[ ] 1.211
mq = [P ] [m ][P ] =
T 0
kg
0 0.852
7.6 10 6 N
[kq ] = [P ] [k ][P ] =
T 0
7 m
0 5.43 10
Substitution gives:
x1 (t ) = 0.239 cos (2506t ) + 0.761 cos (7981t )
x2 (t ) = 0.283 cos (2506t ) 1.283 cos (7981t )
2DOF Forced Vibration
Harmonic forcing functions applied to lumped parameter coordinates.
Assuming linear system, may treat separately and apply superposition.
[ ]
det [m ]s 2 + [k ] = 0
Obtain uncoupled equations of motion in modal coordinates:
[mq ]{q&&} + [cq ]{q&} + [kq ]{q} = {R}eit where R is the modal force vector
2DOF Forced Vibration
Modal force vector R is written as:
Qi 1 1 (ri )2
Re ( ) =
Ri
( 2
) (
kqii 1 (ri )2 + 2 qi ri
)
2
where ri = /ni
and i = 1, 2
Qi 1 2 qi ri
Im ( ) =
R
i k
(
qii 1 (r )
i
2
) (
2
+ 2 qi ri )
2
2DOF Forced Vibration
Finally, transform back into local coordinates.
Re[X2/F2]
Re[X1/F2]
p12Q2/R2 Q2/R2
Modeling Physical Systems
Typically, do not know parameters for model and we must start with
experimental FRF measurements of mechanical structure.
n1 n2
n1(1+ q1)
n2(1+ q2)
Re[X2/F2]
-1
Im[X2/F2]
-1 2kq22 q2
2kq11 q1
Use simple fitting procedure to identify modal parameters.
Modeling Physical Systems
Cross FRF provides eigenvectors and modal matrix.
2kq11 q1
-p11 p11 p12
2kq11 q1
1 = 2 =
1 1
Force applied to X2.
Mode 1: X1 Mode 2: p12 X1
p11 Im
Im
2k q11 q1 F2 1 2kq 22 q 2 F2 2
p11 = = p12 = =
1 X2 1 X2
Im Im
2k q11 q1 2kq 22 q 2
F2 1 F2 2
Modeling Physical Systems
Determine 2DOF chain-type lumped parameter model.
[m] = [P ] T
[mq ][P] 1 m1 0
=
0 m
2
[k ] = [P ]
T
[kq ][P ] 1 k1 + k 2
=
k2
k2 k2
[c] = [P ]T
[cq ][P] 1 c1 + c2
=
c2
c2 c2
where
p11 p12
P=
1 1
Example: Modeling Physical Systems
Direct/cross FRFs measured on cantilever beam; determine
mode shapes.
X1
Direct:
F1
Cross: X2 X3 X4 X5
F1 F1 F1 F1
-5
x 10
5
X1/F1 FRF
From direct FRF, we see
three modes within the Imag (m/N)
measurement bandwidth 0
(at 100, 300, and 400 Hz),
although an infinite
number actually exist.
-5
0 100 200 300 400 500
f (Hz)
Example: Determining 1st Mode Shape
-5 -5 -5
x 10 x 10 x 10
5 5 5
X1/F1 FRF X2/F1 FRF X3/F1 FRF
Imag (m/N)
Imag (m/N)
Imag (m/N)
0 0 0
-5 -5 -5
0 100 200 300 400 500 0 100 200 300 400 500 0 100 200 300 400 500
f (Hz) f (Hz) f (Hz)
-5 -5
x 10 x 10
5 5
X4/F1 FRF X5/F1 FRF
Imag (m/N)
Imag (m/N)
0 0
1(x)
-5 -5
0 100 200 300 400 500 0 100 200 300 400 500
f (Hz) f (Hz)
x
Example: Determining 2nd Mode Shape
-5 -5 -5
x 10 x 10 x 10
5 5 5
X1/F1 FRF X2/F1 FRF X3/F1 FRF
Imag (m/N)
Imag (m/N)
Imag (m/N)
0 0 0
-5 -5 -5
0 100 200 300 400 500 0 100 200 300 400 500 0 100 200 300 400 500
f (Hz) f (Hz) f (Hz)
-5 -5
x 10 x 10
5 5
X4/F1 FRF X5/F1 FRF
Imag (m/N)
Imag (m/N)
0 0
-5 -5
2(x)
0 100 200 300 400 500 0 100 200 300 400 500
f (Hz) f (Hz)
x
Example: Determining 3rd Mode Shape
-5 -5 -5
x 10 x 10 x 10
5 5 5
X1/F1 FRF X2/F1 FRF X3/F1 FRF
Imag (m/N)
Imag (m/N)
Imag (m/N)
0 0 0
-5 -5 -5
0 100 200 300 400 500 0 100 200 300 400 500 0 100 200 300 400 500
f (Hz) f (Hz) f (Hz)
-5 -5
x 10 x 10
5 5
X4/F1 FRF X5/F1 FRF
Imag (m/N)
Imag (m/N)
0 0
3(x)
-5 -5
0 100 200 300 400 500 0 100 200 300 400 500
f (Hz) f (Hz)