CHP 6 Vibration Control PDF

Chapter 6
Vibration Control
Dr. Tan Wei Hong

School of Mechatronic Engineering
Universiti Malaysia Perlis (UniMAP)
Pauh Putra Campus
ENT 346 Vibration Mechanics
1 ENT 346 Vibration Mechanics

Chapter Outline
6.1 Introduction
6.2 Vibration Nomograph and Vibration Criteria
6.3 Reduction of Vibration at the source
6.4 Control of Vibration
6.5 Control of Natural Frequencies
6.6 Introduction of Damping
6.7 Vibration Isolation
6.8 Vibration Absorbers

6.1 Introduction
• Vibration leads to wear of machinery and discomfort of humans,

thus we want to eliminate vibration
• Designer must compromise between acceptable amount of vibration

and manufacturing cost
• We shall consider various techniques of vibration control in this

chapter.

• Vibration nomograph displays the variations of displacement,

velocity and acceleration amplitudes wrt frequency of vibration
• Harmonic motion: xt   X sin t
• Velocity: vt   xt   X cos t  2fX cos t
• Acceleration: a t   xt    2 X sin t  4 2 f 2 X sin t

• Amplitude of velocity: vmax  2fX 9.4
• Amplitude of acceleration: amax  4 2 f 2 X  2fvmax 9.5

• Taking log of Eq. 9.4 and Eq. 9.5:
ln vmax  ln 2f   ln X
ln vmax   ln amax  ln 2f 
• When X is constant, ln vmax varies linearly with ln(2πf)
• When amax is constant, ln vmax varies linearly with ln(2πf)
• This is shown as a nomograph in the next slide.
• Every pt on the nomograph denotes a specific sinusoidal vibration.


• Vibration severity of machinery is defined in terms of the root mean

square (rms) value of vibration velocity. (ISO 2372)
• Vibration severity of whole building vibration (ISO DP 4866)
• Vibration limits for human (ISO 2631)

Example 9.1
Helicopter Seat Vibration Reduction
The seat of a helicopter, with the pilot, weights 1000N and is found to
have a static deflection of 10 mm under self-weight. The vibration of
the rotor is transmitted to the base of the seat as harmonic motion
with frequency 4 Hz and amplitude 0.2 mm.
a) What is the level of vibration felt by the pilot?
b) How can the seat be redesigned to reduce the effect of vibration?

Example 9.1
Solution
Mass = m = 1000/9.81 = 101.9368 kg

Stiffness = k = W/δst = 1000/0.01 = 105N/m
105
Natural frequency = ωn = k
  31.3209 rad/s  4.9849 Hz
m 101.9368
 4.9849
Frequency ratio = r =   1.2462
n 4.0
Amplitude of vibration felt by pilot: X  

Y
1 r 2
where Y is the amplitude of base displacement

Example 9.1
Solution
0.2
X  0.3616 mm
1  1.24622
v max  2fX  2 40.3616  9.0887 mm/s

a max  2f  X  228.4074 mm/s2  0.2284 m/s 2
2
At 4 Hz, the amplitude of 0.3616 mm may not cause much discomfort.

However the velocity and acceleration at 4 Hz are not acceptable for a
comfortable ride.
Try to bring amax down to 0.01 m/s2

Example 9.1
Solution
amax  10 mm/s 2  2f  X  8 

2 2
X  0.01583 mm
X 0.01583 1
  or r  3.6923
Y 0.2 1 r 2
 8 k
n    6.8068 rad/s 
3.6923 3.6923 m
m  101.9368 kg  k  4722.9837 N/m
Either use softer material for seat or increase mass of seat.

6.3 Reduction of Vibration at the Source
• Try to alter the source so that it produces less vibration
• E.g. balance rotating or reciprocating machines, use close

tolerances or better surface finish
• Some sources cannot be eliminated e.g. turbulence, engine

combustion instability, road roughness

6.4 Control of Vibration
• Some import methods to control vibrations:

 Control ωn and avoid resonance under external excitations.
 Introduce damping mechanism to prevent excessive response of
system
 Use vibration isolators to reduce transmission of excitation forces
from one part of the machine to another
 Add an auxiliary mass neutralizer or vibration absorber to reduce
response of system

6.5 Control of Natural Frequencies
• Resonance Large displacements large strains and stresses

failure of system
• Often the excitation frequency cannot be controlled.
• Hence must control natural frequency by varying mass m or

stiffness k to avoid resonance.
• Practically mass cannot be changed easily.
• Hence we change stiffness k by altering the material or number and

location of bearings.

• System may be required to operate over a range of speed, hence

cannot avoid resonance
• Can use material with high internal damping to control the

response.
• Can also use bolted or riveted joints to increase damping.
• Bolted or riveted joints permit slip between surfaces and dissipate

more energy compared to welded joints.
• However they also reduce stiffness of structure, produce debris and

cause fretting corrosion.

• Equation of motion of 1-DOF system with internal damping under

excitation:
mx  k 1  i x  F0 eit
where loss factor  

W / 2 
W
Energy dissipated during 1 cycle of harmonic displacement/radian

M aximum strain energy in cycle
• Amplitude of response at resonance:

F0 F
 0 , a  constant
k aE

• Viscoelastic materials have larger values of η and are used to

provide internal damping.
• Disadvantage is their properties change with temperature,

frequency and strain.
• Sandwich viscoelastic material between elastic layers – Constrained

layer damping
• Material with largest η will be subjected to the smallest stresses.

• Insert isolator between vibrating mass and vibration source to

reduce response
• Passive isolators: springs, cork, felt etc.
• E.g. Mounting of high-speed punch press

• Active isolator comprised of servomechanism with sensor, signal

processor and actuator.
• Effectiveness given in terms of transmissibility Tr which is the ratio

of amplitude of the transmitted force to that of the exciting force
• 2 types of isolation situations:

 Protect base of vibrating machine against large unbalanced or
impulsive forces
 Protect system against motion of its foundation

• Protect base of vibrating machine against large unbalanced or

impulsive forces
Fi t   kxt   cx t 
• Protect system against motion of its foundation
Fi t   mxt   k xt   yt   cxt   y t 

• Vibration Isolation System with Rigid Foundation
Resilient member placed between vibrating machine and rigid

foundation
Member is modeled as a spring k and a dashpot c as shown:

Reduction of force transmitted to foundation:

Equation of motion: mx  cx  kx  F0 cos t
Steady state solution: xt   X cost   

where X  F0  c 
and   tan 1  2 
k  m  2 2
  2c 2  k  m 
Force Ft transmitted to the foundation:

Ft t   kxt   cxt   kX cost     cX sint   
Magnitude of total transmitted force FT:
F0 k 2   2c 2
FT  kx  cx 
2 2
 X k  c 
2 2 2
k  m 
2 2
  2c 2

F k 2   2c 2
Transmissibility Tr  T 
F0 k  m  2 2
  2c 2
1  2r  
2
 where r 
1  r   2r 
2 2 2
n
Following graphs shows the variation of Tr with r.


Reduction of force transmitted to mass:
mz  cz  kz  my where z  x  y
Displacement transmissibility
1  2r 
2
X
Td  
Y 1  r   2r 
2 2 2
Td is also the ratio of the maximum steady-state accelerations of

the mass and the base.

• Isolation of Source of Vibration from Surroundings

1
Tr  2 for r  2 and small 
r 1
By defining r    2N  st 2R

 where R  1  Tr
n 60 g 1 R
30 g  2 R 2R
N    29.9092
  st  1  R   st 1  R 


Reduction of force transmitted to foundation due to rotating

unbalance
Excitation force: F t   F0 sin t  me 2 sin t

Force transmissibility: Tr  FT  FT

FT
F0 me 2
mer 2n2
1  2r 
2
FT
 r 2
men2 1  r   2r 
2 2 2

• Vibration Isolation System with Flexible Foundation
If the foundation moves, the system has 2 DOF
Equations of motion: m1 x1  k x1  x2   F0 cos t

m2 x2  k x2  x1   0
Assuming solution of the form xj=Xjcosωt, j=1,2
 
X 1 k  m1 2  X 2 k  F0
 
 X 1k  X 2 k  m2 2  0

Natural frequencies given by roots of

k  m  
1
2
k
0
k 
k  m2 2

  0, 
2 2

m1  m2 k
1 2
m1m2
Amplitude of m1 at steady-state:

k  m  F 2
k  m  k  m   k 
2 0
X1 2 2 2
1 2

Amplitude of m2 at steady-state:
kF0
X2 
k  m  
1
2

k  m2 2  k 2 
Force transmitted to structure:
 m k 2
F0
Ft  m 2  X 2 
 
2
 
2
k  m1 2 k  m2 2  k 2

Transmissibility of isolator:
Ft  m2 k 2
Tr  
F0   
k  m1 2 k  m2 2  k 2 
 
 
1 m2  1 
 
 m1  m2 m1  m1  m2   2
2 
   1 2 
 m2 k   2 
where ω2 is the natural frequency of the system
Ft decrease as ω2 decrease

Example 9.4
Spring Support for Exhaust Fan
An exhaust fan, rotating at 1000rpm, is to be supported by 4 springs,

each having a stiffness of K. If only 10% of the unbalanced force of
the fan is to be transmitted to the base, what should the value of K?
Assume the mass of the exhaust fan to be 40kg.

Example 9.4
Solution
Transmissibility = 0.1
2
 
1   2 
  n 
0.1  2
    2   
2
1       2 
  n    n 
1000  2
Forcing frequency    104.72 rad/s
60

Example 9.4
Solution
Natural frequency: n  k  4 K  K
m 40 3.1623
Assuming ζ=0, 1
0.1 
  104.72  3.1623  2 
1    
  K  
To avoid imaginary values, 331.1561  3.3166 or K  9969.6365 N/m

K

Example 9.6
Isolator for Stereo Turntable
A stereo turntable, of mass 1kg, generates an excitation force at a

frequency of 3Hz. If it is supported on a base through a rubber mount,
determine the stiffness of the rubber mount to reduce the vibration
transmitted to the baes by 80%.

Example 9.6
Isolator for Stereo Turntable
Solution
Using N=3x60=180 cpm and R=0.8,
2  0.80
180  29.9092 or  st  0.1657m
 st 1  0.80
mg
 st 
k
19.81
0.1657  or k  59.2179 N/m
k

Example 9.8
Isolation from Vibrating Base
A vibrating system is to be isolated from its supporting base. Find the

required damping ratio that must be achieve by the isolator to limit
the transmissibility at resonance to Tr=4. Assume the system to have
a single degree of freedom.

Example 9.8
Isolation from Vibrating Base
Solution
1  2 
2
Setting ω=ωn, Tr 
1 1
or     0.1291
2 2 Tr  1 2 15
2

• Vibration Isolation System with Partially Flexible Foundation
Base of isolator is partially flexible is as shown.
Mechanical impedance of base:
Applied force of frequency 

Z   
Displacement

Equations of motion: m1x1  k x1  x2   F0 cost

k x2  x1    x2 Z  
Harmonic solution: x j t   X j cost , j  1,2

k  Z  X 2

k  Z  F0
X1
k Z  k  m   km  
1
2
1
2
kF0
X2 
 
Z   k  m1 2  km1 2  
kZ  F0
Amplitude of transmitted force: Ft  X 2 Z   
  
Z   k  m1 2  km1 2 
Ft kZ  
Transmissibility of isolator Tr  
  
F0 Z   k  m1 2  km1 2 
Z(ω) can be found experimentally by measuring the displacement

produced by a vibrator.

• Shock Isolation
Shock load is a force load applied for less than one natural time
period of the system
Impulse: F   F t dt
T
F
Velocity imparted to the mass, v 
m
i.e. application of shock load is equivalent to giving an initial
velocity to the system
Initial conditions: x0  x0  0, x 0  x0  v

• Shock Isolation
Free vibration solution: xt   ve nt

sin d t where d  1   2 n
d
Force transmitted to the foundation due to spring and damper:

Ft t   kxt   cx t 
Ft t   2 k  c n 2  cd 2 e  t sin d t   

v n
d
 cd 
where   tan  1

 k  c n 

Example 9.11
Isolation Under Shock
An electronic instrument of mass 20kg is subjected to a shock in the

form of a step velocity of 2m/s. If the maximum allowable values of
deflection (due to clearance limit) and acceleration are specified as
20mm and 25g respectively, determine the spring constant of an
undamped shock isolator.

Example 9.11
Solution
Magnitude of velocity of mass: xmax  Xn

Magnitude of acceleration of mass: xmax  Xn where X is the
displacement amplitude
xmax xmax 2
X  0.02 or n    100 rad/s
n X 0.02
xmax
Xn2  259.81  245.25m/s 2 or n 
245.25
  110.7362 rad/s
X 0.02
100 rad/s  n  110.7362 rad/s
Example 9.11
Solution
Selecting the value of ωn as 105.3681,
k  mn2  20105.3681  2.2205 105 N/m

2

Example 9.12
Isolation Under Step Load
A sensitive electronic instrument of mass 100 kg is supported on

springs and packaged for shipment. During shipping, the package is
dropped from a height that effectively applied a shock load of intensity
F0 to the instrument, as shown below.

Example 9.12
Determine the stiffness of the springs used in the package if the

maximum deflection of the instrument is required to be less than 2
mm. the response spectrum of the shock load is shown below with F0
=1000 N and t0 = 0.1s.

Example 9.12
Solution
Response spectrum xmax k  1  1 21  cos 2 t 

n t0
n 0
F0
k k
n    0.1 k
m 100
Making use of the known data, xmax k
1000
 1
1
0.1 k 0.1
   
2 1  cos 2 0.1 k 0.1 
2  k 
 
1000  1000 
100
k
 
2 1  cos 0.02 k  2 10 6 k  1  0
The root can be found by MATLAB.

• Active Vibration Control
An active vibration isolation system is shown below.

• Active Vibration Control
System maintains a constant distant between vibrating mass and

referee
Depending on the types of sensor, signal processor and actuator

used, the system can be electromechanical, electrofluidic,
electromagnetic, piezoelectric or fluidic.

• When the excitation freq coincides with the ωn, the system may
experience excessive vibration.
• Dynamic vibration absorber is another spring mass system designed

to shift ωn of the resulting system away from the excitation freq.

• Undamped Dynamic Vibration Absorber
m1x1  k1 x1  k2 x1  x2   F0 sin t

m2 x2  k2 x2  x1   0

Assuming x j t   X j sin t , j  1,2
Amplitude of masses:
X1 
k  m  2
F0
  
2 2
k1  k 2  m1 2 k 2  m2 2  k 22
k 2 F0
X2 
  
k1  k 2  m1 2 k 2  m2 2  k 22
We want to reduce X1. Thus set numerator of X1 to zero.
k2 k
2  ,  2  12  1
m2 m1
X1 and X2 can be rewritten as:

2
 
1   
X1  2 

 st  k   2     2  k
1  2     1      2
 k1  2     2   k1
X2 1

 st  k   2     2  k
1  2     1      2
 k1  2     2   k1

2 peaks correspond to 2 ωn of composite sys.

At X1=0, ω= ω1, k1 F0
X 2    st  
k2 k2
Size of absorber can be found from: k2 X 2  m2 2 X 2   F0
Absorber introduces 2 resonant frequencies Ω1 and Ω2, at which the

amplitudes are infinite.
2
k 2 k 2 m2 m1 m2  2 
Values of Ω1 and Ω2 can be found by noting    
k1 m2 m1 k1 m1  1 

X1
Setting denominator of  0,
 st

4 2
 2    
2
  m    2 
       1  1  2  2    1  0
 2   1   2    m1  1  
2 roots of the equation:

2
 1  
2   m    2
   m    2
  2 
2
   1  1  2  2   1  1  2  2    4 

 2     m1  1     m1  1    1 
2
 2
 2    
   2 2 
 2    1 
Example 9.15
Vibration Absorber for Diesel Engine
A diesel engine, weighing 3000 N, is supported on a pedestal mount.

It has been observed that the engine induces vibration into the
surrounding area through its pedestal at an operating speed of 6000
rpm. Determine the parameters of the vibration absorber that will
reduce the vibration when mounted on the pedestal. The magnitude of
the exciting force is 250 N, and the amplitude of motion of the
auxiliary mass is to be limited to 2 mm.

Example 9.15
Vibration Absorber for Diesel Engine
Solution
We have f  6000  100Hz or   628.32 rad/s

60
Amplitude of motion of auxiliary mass is equal and opposite to that of

the exciting force. F  m  2 X
0 2 2
250  m2 628.32 0.002 

2
m2  0.31665 kg
k 2   2 m2  628.32 0.31665  125009 N/m
2

Example 9.16
Absorber for Motor-Generator Set
A motor-generator set shown below is designed to operate in the speed range

of 2000 to 4000 rpm. However, the set is found to vibrate violently at a speed
of 3000 rpm due to a slight unbalance in the rotor. It is proposed to attached
a cantilever mounted lumped mass absorber system to eliminate the problem.
When a cantilever carrying a trial mass of 2 kg tuned to 3000 rpm is attached
to the set, the resulting natural frequencies of the system are found to be
2500 rpm and 3500 rpm. Design the absorber to be attached (by specifying
its mass and stiffness) so that the natural frequencies of the total system fall
outside the operating speed range of the motor-generator set.

Example 9.16

Example 9.16
Solution k1 k2 m2
1  , 2  , 
m1 m2 m1
1  261.80 rad/s,  2  366.52 rad/s
1 261.80
r1    0.8333
2 314.16
2 366.52
r2    1.1667
2 314.16
   
2
r12 , r22  1    1    1
 2  2
Example 9.16
Solution
 r14  1 
   2   2  0.1345
 r1 
m2
m1   14.8699 kg
0.1345
1  209.44 rad/s
1 209.44
r1    0.6667
2 314.16
Example 9.16
Solution
m2  m1  m1 0.6942  10.3227 kg
   
2
r  1    1    1  2.2497
2
2
 2  2
 2  4499.4 rpm, larger tha n the specified upper limit
k 2  22 m2  314.16 10.3227   1.0188 106 N/m
2

• Damped Dynamic Vibration Absorber
Amplitude of machine can be reduced by adding a damped vibration

absorber as shown.

Equations of motion
m1x1  k1 x1  k2 x1  x2   c2 x1  x2   F0 sin t

m2 x2  k2 x2  x1   c2 x2  x1   0
Assume solution: x j t   X j eit , j  1,2
Steady-state solutions:
X1 

F0 k 2  m2 2  ic 2 
k  m  
1 1
2
  
k 2  m2 2  m2 k 2 2  ic 2 k1  m1 2  m2 2 
X 1 k 2  ic 2 
X2 
k 2  m2 2  ic 2 
  m2 / m1  M ass ratio  Absorber mass/main mass

 st  F0 / k1  Static deflection of the system
a2  k 2 / m2  Square of natural frequency of absorber
n2  k1 / m1  Square of natural frequency of main mass
f  a / n  Ratio of natural frequencie s
g   / n  Forced frequency ratio
cc  2m2n  Critcial damping constant
  c2 / cc  Damping ratio

X1

2g  2

 g f
2

2 2
 st 2g 2 g 2  1  g 2 2  f 2 g 2 2  1g 2  f 2 2

 g
X2

2g 2  f 4
 st 2g 2 g 2  1  g 2 2  f 2 g 2  g 2  1g 2  f 2 2

If c2=ζ=0, resonance occurs at 2 undamped resonant frequencies
If ζ=∞, m2 and m1 are clamped together and system behaves as 1-

DOF system. Resonance occurs at
 1
g   0.9759
n 1 
All curves intersect at pt A and B which can be located by
 1  f 2  f 2  2 f 2
g  2 g 
4 2
  0
 2   2 
The most efficient absorber (tuned vibration absorber) is one where

pts A and B coincides.
Make curve horizontal at either A or B.
Set slope =0 at A and B:

  
 3  
 2
2  for point A
81   
3
  
 3  
 2
 
2
for point A
81   
3

Average value of ζ2 used in design:
3
 2

81   
optimal 3
 X1   X1  2
   
    1
  st  optimal   st  max 

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Chapter 6

Dr. Tan Wei Hong

ENT 346 Vibration Mechanics

1 ENT 346 Vibration Mechanics

2 ENT 346 Vibration Mechanics

• Vibration leads to wear of machinery and discomfort of humans,

• Designer must compromise between acceptable amount of vibration

• We shall consider various techniques of vibration control in this

3 ENT 346 Vibration Mechanics

• Vibration nomograph displays the variations of displacement,

• Harmonic motion: xt   X sin t

• Velocity: vt   xt   X cos t  2fX cos t

• Acceleration: a t   xt    2 X sin t  4 2 f 2 X sin t

4 ENT 346 Vibration Mechanics

• Taking log of Eq. 9.4 and Eq. 9.5:

• When amax is constant, ln vmax varies linearly with ln(2πf)

• This is shown as a nomograph in the next slide.

• Every pt on the nomograph denotes a specific sinusoidal vibration.

5 ENT 346 Vibration Mechanics

6 ENT 346 Vibration Mechanics

• Vibration severity of machinery is defined in terms of the root mean

• Vibration severity of whole building vibration (ISO DP 4866)

• Vibration limits for human (ISO 2631)

7 ENT 346 Vibration Mechanics

8 ENT 346 Vibration Mechanics

Mass = m = 1000/9.81 = 101.9368 kg

Amplitude of vibration felt by pilot: X  

9 ENT 346 Vibration Mechanics

v max  2fX  2 40.3616  9.0887 mm/s

At 4 Hz, the amplitude of 0.3616 mm may not cause much discomfort.

10 ENT 346 Vibration Mechanics

amax  10 mm/s 2  2f  X  8 

Either use softer material for seat or increase mass of seat.

11 ENT 346 Vibration Mechanics

• Try to alter the source so that it produces less vibration

• E.g. balance rotating or reciprocating machines, use close

• Some sources cannot be eliminated e.g. turbulence, engine

12 ENT 346 Vibration Mechanics

• Some import methods to control vibrations:

13 ENT 346 Vibration Mechanics

• Resonance Large displacements large strains and stresses

• Often the excitation frequency cannot be controlled.

• Hence must control natural frequency by varying mass m or

• Practically mass cannot be changed easily.

• Hence we change stiffness k by altering the material or number and

14 ENT 346 Vibration Mechanics

• System may be required to operate over a range of speed, hence

• Can use material with high internal damping to control the

• Can also use bolted or riveted joints to increase damping.

• Bolted or riveted joints permit slip between surfaces and dissipate

• However they also reduce stiffness of structure, produce debris and

15 ENT 346 Vibration Mechanics

• Equation of motion of 1-DOF system with internal damping under

where loss factor  

• Amplitude of response at resonance:

16 ENT 346 Vibration Mechanics

• Viscoelastic materials have larger values of η and are used to

• Disadvantage is their properties change with temperature,

• Sandwich viscoelastic material between elastic layers – Constrained

• Material with largest η will be subjected to the smallest stresses.

17 ENT 346 Vibration Mechanics

• Insert isolator between vibrating mass and vibration source to