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Ch. 1: Introduction of Mechanical Vibrations Modeling: Outline
Ch. 1: Introduction of Mechanical Vibrations Modeling: Outline
1.0 Outline
Ch. 1: Introduction of Mechanical Vibrations Modeling
1.1 That You Should Know
Forces add up
Disp. add up
keff
M
keq@A = ⇒ need to write M and θ A as functions of given parameters.
θA
⎡⎣ ∑ M = 0 ⎤⎦ M = M A + FRA and M B = FRB
GJ GJ
by spring stiffness, M A = θ A and M B = θB
L L
R θ
by geometry, n = A = B
RB θ A
GJ
θB
∴M =
GJ
L
θA + L
RB
RA =
GJ
L
(1 + n2 )θA
∴ keq@A =
M
θA
=
GJ
L
(1 + n2 )
keq@A = kA + n 2 kB =
GJ
L
(1 + n2 )
To dissipate energy
f d = − F = −cx
∑ F = ma G
FBD
∑M Gz = I Gω
FBD
∑M Oz = I Oω
I O = I G + md 2 FBD
⎡ L ⎤
F s θ 2 + mg c θ 2 − T c θ 2−1 = m ⎢ L1θ1 s θ 2−1 − L1θ12 c θ 2−1 − 2 θ 22 ⎥
⎣ 2 ⎦
⎡ L ⎤
Fcθ 2 − mgsθ 2 + Tsθ 2−1 = m ⎢ L1θ1cθ 2−1 + L1θ12sθ 2−1 + 2 θ 2 ⎥
⎣ 2 ⎦
L2 L2 mL22
F c θ 2 − T s θ 2−1 = θ2
2 2 12
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
eliminate the constraint force T
Fc + ⎡⎣ k ( x − aθ − x ) + c ( x − aθ − x ) ⎤⎦ a
sf b f sf b f
− ⎡⎣ k ( x + bθ − x ) + c ( x + bθ − x ) ⎤⎦ b = I θ
sr b r sr b r C
k ( x − aθ − x ) + c ( x − aθ − x ) − k x = m x
sf b f sf b f f f f f
k ( x + bθ − x ) + c ( x + bθ − x ) − k x = m x
sr b r sr b r r r r r
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
⎡ mb 0 0 ⎤ ⎡ xb ⎤ ⎡ csf + csr
0 −csf a + csr b −csf −csr ⎤ ⎡ xb ⎤
⎢0
⎢ IC 0 0 ⎥⎥ ⎢⎢ θ ⎥⎥ ⎢⎢ −csf a + csr b csf a 2 + csr b 2 csf a −csr b ⎥⎥ ⎢⎢ θ ⎥⎥
+
⎢0 0 mf 0 xf ⎥ ⎢ ⎥ ⎢ −csf csf a csf 0 ⎥ ⎢xf ⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥⎢ ⎥
⎣0 0 0 mr ⎦ ⎣ xr ⎦ ⎣ −csr −csr b 0 csr ⎦ ⎣ xr ⎦
⎡ k sf + k sr −k sf a + k sr b − ksf −k sr ⎤ ⎡ xb ⎤ ⎡ F ⎤
⎢ − k a + k b k a 2 + k b 2 k a − k b ⎥ ⎢ θ ⎥ ⎢ Fc ⎥
+ ⎢ sf sr sf sr sf sr ⎥ ⎢ ⎥=⎢ ⎥
⎢ −ksf k sf a k sf 0 ⎥ ⎢xf ⎥ ⎢ 0 ⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣ − k sr − k sr b 0 k sr ⎦ ⎣ xr ⎦ ⎣0⎦
1.3 Equations of Motion
Ch. 1: Introduction of Mechanical Vibrations Modeling
Ex. 11 EOM w/ springs in series
ki ( xi − xi −1 ) ki +1 ( xi +1 − xi )
ki ( xi − xi −1 ) ki +1 ( xi − xi +1 )
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
How to find the equilibrium point?
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
Ex. 13 Inverted pendulum
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
l l
⎡⎣ ∑ M O = I Oα ⎤⎦ − 2k sθ × cθ + mglsθ = ml 2θ
2 2
Find the equilibrium position θ = θ e
kl 2 2mg
− sθ e cθ e + mglsθ e = 0, sθ e = 0 or cθ e = 2k(l/2)sθ
2 kl
Linearize about θ e = 0 for which θ = θ e + φ mg
l l ⎛ kl 2 ⎞
(l/2)cθ
−2k sθ × cθ + mglsθ = 0 + ⎜ − + mgl ⎟ φ
2 2 ⎝ 2 ⎠
⎛ kl 2 ⎞
∴ ml φ + ⎜
2
− mgl ⎟ φ = 0, φ measured from θ = 0
⎝ 2 ⎠
2mg 4m 2 g 2
Linearize about θ e such that cθ e = , sθ e = 1 − 2 2 for which θ = θ e + φ
kl k l
l l ⎛ kl 2 6m 2 g 2 ⎞
−2k sθ × cθ + mglsθ = 0 + ⎜ − + ⎟φ
2 2 ⎝ 2 k ⎠
⎛ kl 2 6m 2 g 2 ⎞ −1 ⎛ 2mg ⎞
∴ ml φ + ⎜
2
− ⎟ φ = 0, φ measured from θ = cos ⎜ ⎟
⎝ 2 k ⎠ ⎝ kl ⎠
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
l l
⎡⎣ ∑ M O = I Oα ⎤⎦ − 2k θ × + mglθ = ml 2θ
2 2
⎛ kl 2 ⎞
∴ ml θ + ⎜
2
− mgl ⎟ θ = 0
⎝ 2 ⎠ 2k(l/2)θ
mg
(l/2)
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
Ex. 14
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
kl1θ
mg
small angle approx.
⎡⎣ ∑ M O = I Oα ⎤⎦ − mgl2θ − kl1θ × l1 = ml 2θ
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
Ex. 15
equilibrium position
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
Let the equilibrium position the spring deforms by δ eq .
⎡⎣ ∑ Fy = 0 ⎤⎦ mg − kδ eq cα = 0 _____________________ (1)
Let y be the displacement measured from the equilibrium,
corresponding to the spring being deflected by angle θ .
⎡⎣ ∑ Fy = my ⎤⎦ mg − cy − k ( Δ + δ eq ) c (α − θ ) = my ____ ( 2 )
From the geometry, Δ is the difference of the spring length
between two postures.
h h2 h
Δ= ( h tan α ) + ( h + y ) − = 2 + 2hy + y 2 −
2 2
cα cα cα
From the geometry,
h h+ y h tan α
sα = s (α − θ ) ⇒ tan (α − θ ) =
cα c (α − θ ) h+ y
⎡ 2 1 ⎤ h+ y
⎢ c β = ⎥ c (α − θ ) =
⎣ 1 + tan β ⎦
2
h2
+ 2hy + y 2
cα
2
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
Subs. the findings into ( 2 ) and recognize (1) :
⎛ h2 h ⎞ h+ y
mg − cy − k ⎜ 2 + 2hy + y 2 − + δ eq ⎟ = my
⎜ cα cα ⎟ 2
⎝ ⎠ h
+ 2hy + y 2
cα
2
kh h+ y mg h+ y
EOM: my + cy + k ( h + y ) − = mg −
cα h2 cα h2
+ 2 hy + y 2
+ 2 hy + y 2
c 2α c 2α
I II
⎬ ( y − 0) + O ( y )
kh kh
I = kh − + ⎨k − 2
h ⎪ cα h 2
⎪
cα + 2hy + y 2
cα ⎪ cα
2
⎪
⎪ ⎪
⎪⎩ ⎪⎭ y =0
I ≈ kc 2α ⋅ y
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
⎧ h2 ( h + y )( 2h + 2 y ) ⎫
⎪ 2 + 2hy + y − ⎪
2
⎪ cα h2 ⎪
2 + 2 hy + y 2
mgh mg ⎪⎪ cα ⎪⎪
⎬ ( y − 0) + O ( y )
2
II = mg − − ⎨
2
h cα ⎪ h2 ⎪
cα + 2hy + y 2
cα ⎪ cα
2
⎪
⎪ ⎪
⎪⎩ ⎪⎭ y =0
mg 2
II ≈ s α⋅y
h
Subs. I and II into EOM,
⎛ mg 2 ⎞
my + cy + ⎜ kc 2α − s α⎟y=0
⎝ h ⎠
If α − θ ≈ α , i.e. θ is very small, which requires small enough α , then ( 2 ) becomes
mg − cy − k ( Δ + δ eq ) cα = my
Make use of (1) , it becomes my + cy + k Δcα = 0
Subs. Δ and linearize about y = 0 to get
my + cy + kc 2α ⋅ y = 0
Note that the linearized Δ = ycα which makes sense from the figure
by projecting y onto the line of spring.
1.4 Equilibrium
Ch. 1: Introduction of Mechanical Vibrations Modeling
1.4 Equilibrium