Optim;?
lProtection
of Two-Degreekof-Freedom System
from Shock and Vibration
Sergey.V. Purtsezov
RadioPhysics Faculty
Nizhny Novdorod State University
23 Gagarin ave., 603950 N.Novgorod, Russia
pllSV@mdl~.I'U
Abstract
I'roblem of shock and vibration isolation :for
rcctiliiiearly moving isolation system with two in4spes
and passive isolators consisted of dampcr and stifftiess
elements with linear characteristics is investigated. :As
performance criteria pcak forccs transniitted to the njass
being isolated for shock and vibration extchial
disturbances and maximums of rclative displaceniqnts
of the masses arc used. Calculation of parameters of
isolation system for parabolic type of external shock
disturbance is fulfillcd.
1 Introduction
In modern enginecring we are kequcntly faced withlthc
need for protection from shock and vibration. fvlo\Eing
vehicles are subjected to shock and vibration due tojthe
interaction bctwcen the vehicle and the environment.
Shock. and vibration transmitted to equipmcnt placcd un
vehicies can affect the functioning of the cquipmcnt and
in somc cases render it inoperable. To reduce level of
shock and vibration thc cquipmcnt is attachcd to t$eir
hascs with systems callcd shock and vibration isokitors.
Isolators rcdct to external dynamic disturbances j by
regu~;ltlngthe ilnfavorable cffccts n i thesc disturb;lnccs
11.21.
Often it is necdcd to protect the object from both shock
and vibration. In some cases single-degrce-of-frer:dom
system, protecting thc objcct from vibration, cadnot
protcct it from shock. Two-degree-of-freedom system
has more coniplcx construction, hut due to ;the
additional isolator it can bc optimized to protect :the
objcct from both shock and vibration. From :the
technical point of view it is important to minimize jthe
overall dimensions of thc shock and vibration isolajion
systcni. It is proved these dimensions are depend' on
type of external shock disturbance, provided the furcc
transmitted to thc object being isolatsd docs not exceed
thc admissible level.
0-7803-7939-X/03/$17.0002003 IEEE I206
2 Statement of the Problem
Consider a mechanical system shown in Fig. 1. A body
being isolated (upper body) is attached to a base by
means of an isolation system. The isolation system
consists of a lower body, a lower isolator and an uppcr
isolator. Denote by rn, and m 2 the masses of the lower
and upper bodies, respectively. The base moves
rectilinearly. The bodies can move relative to the base
so that the line of motion of the bodies coincides with
that of the base. The basc and the bodies are regarded as
absolutely rigid bodies.
4 7 Upper body
z
Base
Figure I : The mechanical model of rhe shock and
vibration isolation system
'The lower and upper isolators are regarded as passive.
The control force h (the isolator characteristic) of the
lower isolator is assumed to depend on the displacement
of the lower body relative to the base x, and its relativc
velocity x',. Thc control forcefj of the upper isolator is
assumed to depend on difference between the rclative
displacements of thc upper and lower bodies x2 - x, and
diffcrence between thcir relative velocities x '2 - x 5. It's
assumed that each isolator consists of a coil spring and a
damper with lincar characteristics. The lower and uppcr
isolators chwactcristics are given by equations (1)
f,(x,,~~)=~,.r,+k,x,, (1)
f>(&- -r,, X ! ~ i , )= C ? (x,- x , )+
t - k , ( i ,-X,).
PhysCon 2003,St. Petersburg, Russia
I-Icrc, L.,>O, c p 0 and k p O . h,>O are the stiffness and
damping coefficients of the Iowcr and upper isolators,
respectively.
Ilenote by z the displacement o i t h c base relative to an
inertial reference frame. In the case of presuibcd base
displacenient (kinematic external disturbance), where
the tirnc histoiy of the acceleration ?’TI) of the base is
known. the equations governing the rclative motions of
thc lower and upper bodies are given by
ili.C>(X2-“,)+Ki(.i> --.t,)=-t(l),
-MC?(r2 - . Y , ) - ~ M K 2 ( X :-X,)-+
i,
+ Cb.r,+ ~ ,=i-i(/:~.
, the upper body relatively to the lower body,
Here, C,=c,/niJ, C2=.-c2/m, and Ki=kl/mJ,K2=kjm2 are
the relative stiffness and damping coefficitnts of the
lower and upper isdators, rzspectively; M=m2/ml. The
coefticients C, K. and M are’ defined: C,=700 I/?,
K2=5 JLs, M-0.5. To determine uniquely the inntion of
the system from’ the equalions (2). prescribe initial
conditions at time instant 1-0:
~r,(O)=x?(O)=:O.
.tl(0)= .e3(0) =: 0.
It’s assumed that the external disturbance occurs at the
initial time iiisvant t=O. Consider externdl shock
disturbance of parabolic t y p , shown in Fig. 2. The
parabolic shock impulse consists of two parabolas with
different signs. The magnitudes of the first and second
parabolas A,=SOg aud A>=] 7g, respectively, the
durations 7;=10 ms and T2:=30ms, respecdvely. The
magnitudes of the parabolas are chosen so that the
velocity of the external disturbance at the time insPant of
its finish ( ~ 4 m0 . ~is) e q u I to zero.
N17~ ~ ~ ~ - . i- ~
: 1 Thus, the problem of calculation OS the parameters of
i2”1/~. .\’... : . . . ~ .L . . .~. . : .
,.....
At the external shock disturhance the most important
criteria charactel-izing the quality of shock isolation are
the inaximum absolute value o f thc acceleration of. the
body being isolated with respect to an inertial reference
frame (absolute acceleration),
J ; ( C , , K , )= ;$$ IC>(l>(I)F.~,(fW (5)
-t K,(i?(O- X,(f))I,
the maximum absolute value of the relative
displacement of the lower body,
(2) .J:(C,,KO = ytz IX,(O I, (6)
and the maximum iibsolutc value of the displacement of
.I,(C,,K,)= max / . r , ( ~- )x , ( t )
/dIJ.Z 1
I. (7)
The absolute acceleration characterizes the force
transmitted to the object being isolated which can
deteriorate normal functioning of the object. The
relative displacements of the bodies influence the
overall dimensions of the shock isolation system. At the
external vibration disturbance the most important
(3)
criterion characterizing the quality of vibration isolation
is the maximal (amplitude) value of the absolute
acceleration of the body being isolated when this body
performs steady-state oscillations J+,(C,,Kl).
I’arametcrs of lower isolator are assumed to satisfy the
constraints C,>C, K p K , where C, K are the constants.
Thc small value of the coefficient C, corresponds to the
large statical displacement of the lower isolator and,
hence, to the large overall dimensions of the isolation
system. The small value of the coefficient K,
corresponds to the long time of attenuation of the
external shock disturbance.
the shock and vibration isolation system can be
formulated as follows. Let the motion of the mechanical
1
system be governed by equations (2) with the initial
conditions equations (3). It is required to find the region
of parameters of the lower isolator Y=((C,,K,):C,>C,
Kl>K) such that

J , ( C , , K 1, 5 U ,J,(C, K , 15 D ,
I (8)
. / , ( C , , K , ) < B ,J < ( C , , K , ) S R ,
Figure 2: I’arabolic external shock.disturbnnce
where U, D, B, R are the constants. The external
The equation governing an extcrnal vibration vibration disturbance is governed by equation (4), the
distiirbance is given by equation (4) external shock disturbance is parabolic shock impulse.
The parameters U, D, B, R. C and K are defined: U=3g.
z ( t ) = Lsin(o1t .tp,,) ( 4 ) D=0.05m, B=0.043m, R=0.2g, C=200 /h2,K=10 / / S .
Here, 1.- the amplitude of the acceleration the base This statement corresponds to such requirement that the
vihration, o - the frequency i>f the base vibration, qo - force transmitted to the object being isolated does not
the phase of the base vibration at the time instant t=O. exceed the admissible Ievcl U under the constraints o n
Coefficients L, io, ylli are definecl: f.=lg, m==62.8rud/s, the overall dimensions of the isolation system, time of
ti1,,=0. attenuation o f lhc shock and quality of vihration
isolation. This requirement is intended to ensure the
reliable funclioning of the object.

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 3 Computer Simulation Kerults
'file problem of calculation of the p&r:imetersof shbck
and vibration isolation system was solved by mean; of
numerical simulation of equations (2) with the inkial
conditions equations ( 3 ) by means of sofiwarc
MATLAB. Computer siinulation results iirc represcntcd
by the constant level curves for the functionais .I,,.I.; ,I3
and ,/~,,plotted on the plane of parameters C,, K,. li is
formed thc rccgion
~.SO/ulilJn
and vibration. The restilts show that for parabolic
exlernal shock disrurbancc .there are linear coil spring
and linear damper which can be used in the described
shock and vibration isolation system to meet all
requirements of'thc problem.
References
[ I ] N.N.Holotnik, Optimiza/ion ofShock and Vihrrrrion
.Sy.rlt?mn,Naoka,
I981 (Russian).

= C,',,, + iAC,,
G = ((C,,, K , , ) : C!, (9) Bslandin, N.N. Bolotnik, and W.D. Pilkey, Op-
121 I).\'.
K,]= K,,,i~,jAK,, i,j = 0,1, ...)IO) limo/ Prateclion From Impact, Shock, arid l'ihmtion,
Gordon and Breach Science Publishers, 2001.
where e,,), AC,. K,(!. A K , xrc defined constants: c',o=I
lLs2, dCi-100 I k , K,n=l //s, dKl=lO //S. In eiich
poini of this region (C,;, K,J values of the functioials
.I.I2,
f,.Ij and .laare calculated and Ihcn the consfaill
level curves for thc each functional. Thc constant lqvel
curves of all functionals are plotted on the plane, of
parameters (C,. K,). The constaiii Icvcl curves of'the
and J,, for parabolic shock impulse

Relative darnpiiig coefficiciit K, ( l k )

Figurc 3: Constant level curves of funclionals ,Il>.I1,

.Ji
and .I,,

'The chosen region D of pnrameters (C,, K,), which

inects requirements of the problem (see inequalities (S)),
is marked by grcy color. Thc functional J,(Cl.lKI)
monotonically increases and ,J2(Cl,Kl) decreases when
moving away froin the origin along any ray issuing
from the origin and lying in the first quadrant (CgO,
K 2 O ) of the parameter plane (C,K,-plane). 'rhus,
niiriiinurn of !lie maximum absolute value of the relativc
displacement of the lower body J2 is equal to 0.q3m
under constraint that the force transmitted to the body
bciiig isolated .I f not exceed the admissible level
does
3g.

7 Conclusions

Software is created to analyzc and choose paramcturs o l

IwL.-de~rces-of-freedomsystem, protecting from shock

1208