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Theory and Vibrations
Theory and Vibrations
Theory and Vibrations
2014 1435
1. simple pendulum.
2. mass-spring systems.
1.2 Introduction
One of the simplest examples of free vibration with negligible damping is the
simple pendulum. The motion is simple harmonic.
1.3Theory of Experiment
(T
en
sio
n)
T
m
m
m
x
mg
Figure ( 1.1 )
T =Tension in wire.
m=mass of ball.
= wire length.
=acceleration.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
g= gravitational constant.
t=periodic time.
( . )= .
(P.E)= Potential energy.
Displace mass by small angle (5° – 10°) and let free resolve forces (use newton's
second law)
=m .……….(1.1)
=0…….…..(1.2)
m + m g = 0…………..(1.3)
+ = 0 …………..(1.4)
= ; = ..….……..(1.5)
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
( . + . )=0
m + mgL sin = 0
m + mgL = 0
m + mgL = 0
+ =0
In this experiment, the object is to analyze the above equation for the periodic time
by varying the length of the pendulum,and timing the oscillations. The
independence of the size of the mass of the particles is demonstrated.
1.4 Apparatus
Figure (1.2) shows the following:-
Inextensible wire
[4]
Frame
1.5 Procedure
Measure and note the lengthL,( the distance from the bottom of the chuck to center
of the ball). Displace the pendulum through a small angle and allow swinging
freely. Once settled measure the time taken for 50 oscillations and record the
periodic time, t.
Repeat the procedure for various values of(L) for both the wooden ball and the
steel ball. Enter the result in table (1.1). Plot a graph for values of against values
of length L.
1.6 Results
Tablet (1.1) Experiment No. 1 Results
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
The graph results in a straight one, giving a relation between ( ) and (L) of
the form:
= KL
Hence the value of g, the acceleration due to gravity, can be determined, also the
natural frequency of the system can be obtain experimental for different length (L)
and compare with theoretical values for different length.
1.7Discussion of Results
1. What inaccuracies exist in this method for calculating a satisfactory value for
(g)?
1.8Conclusions
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
2.2 Introduction
A helical spring, deflecting as a result of applied force, conforms toHooke's Law
(deflection proportional to deflecting force).The graph of force against deflection is
a straight line as shown in.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Figure (2.1 )
Slope ofthe line is the 'deflection coefficient' in meters per Newton. The
reciprocal of this is the stiffness of the spring and is the forcerequired to produce
unit deflection. A rigid body of mass M under elasticrestraint, supported by spring
(S), forms the basis of all analysis of vibrationsin mechanical systems.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
K
Externalspring forces
Equilibrium position
kx
M
x M
M
inertia forces
………….(2.1)
=0 …………(2.2)
Since system perform harmonic force motion , so can obtain the harmonic
oscillating natural frequency .
= …………(2.3)
2.4 Apparatus
Figure ( 2.2) shows the required set-up for the experiment. Suspend anyone of the
three helical springs supplied from the upper adjustableassembly ( )and clamp to
the top member of the portal frame.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
To the lower end of the spring a rod is bolted and integral platform( ) onto which
an increment of 0.4kgmass may be added. The rod passes through a brassguide
bush, fixed to an adjustable plate ( ), which attaches to the lowermember. A depth
gauge is supplied which, when fitted to the uppreassembly withits movable stem
resting on the top plate of the guide rod, canbe used to measure deflection, and
thereby the stiffness, of a given spring.
Figure ( 2.2 )
2.5 Experiment
Fix the specimen spring to the portal frame, with the loadingplatform suspended
underneath and the guide rod passing through the guidebush. Carefully adjust the
system to ensure that the guide bush is directlybelow the top anchorage point,since
any misalignment will produceexperimental errors due to friction. Friction can be
minimized by using greaseor oil around the bush.Using the gauge measure the
length of the spring with the platformunloaded. Add weights in increments taking
note ofthe extension record in Table (2.1),until reaching a suitable maximum load.
Remove the Weights, again notingthe length at each increment, as the system
unloaded. From these valuesdetermine the mean value of extension for the spring.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Table (2.1)
Plot a graph for the extension against load, and from this determinethe spring
stiffness, k.
2.6 Experiment:
(B) Determination of natural period of oscillation then obtain natural
undamped frequency for system.
Add masses-to the platform in varying increments, pull down on theplatform and
release to produce vertical vibrations in the system. For eachincrement of Weight
note the time taken for 20 complete oscillations record in Table (2.2 )and from this
calculate the periodic time, T.
T=2
K= ; G =modulus of rigidity
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Also from known the experimental and theoretical values of natural frequency can
obtain the mass of spring
=
+
Table (2.2)
Note that =
The mass of the rod and platform are included in (M) above. FromTable (2.2) plot a
graph of T against M and find the slope ofthe graph, Figure (2.4)
2.7 Results
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Deflection (mm)
(Square of
periodic time of
one oscillation)
Mass , M (kg)
From the intercept of the line on the M-axis, the effective mass of thespring can be
found (m). Compare the value of m obtained with thegenerally accepted value, that
is, mass of spring. Repeat the procedurewith the other springs provided.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
3.1 Object
1. Determining the damping period of oscillation.
2. Determining the logarithmic decrement.
3. Determining the damping coefficient of oil.
4. Determining how damping coefficient depends on the depth immersion of
the rotor in oil.
3.2 Introduction
In This experiment, the effect of including a damper in a system undergoing
torsional oscillations is investigated. The amount of damping in the system depends
on the extent to which the conical portion of a rotor is exposed to the viscous
effects of a given oil.
3.3 Theory
I = mass moment of inertia.
= angular displacement.
K = shaft stiffness.
C = fluid damping coefficient.
= damping period.
=
The equation of the angular motion is:
.
+ + =0
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Where: = =
The angular displacement is:
( )= cos ( + )
Where:(U) and ) are constants
The periodic time is : =
Where: is the damped natural freqancy
Measuring amplitudes on the same side of the near position, the nth oscillation is
( )
=
Where( ): is a positive integer corresponding to the number of complete
oscillations starting at a convenient datum (t=0)
Putting ( ) =1 gives the logarithmic
Decrement log = . which is required by basic theory.
3.4 Apparatus
Figure (3.1) shows the apparatus, and consists of a vertical shaft gripped at is upper
end by a chuck attached to a bracket ( ) and by a similar chuck attached to a
heavy rotor ( ) at its lower end.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Figure (3.1)
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Fill the cylindrical container K4 with oil to within 10mm of the top.Adjust the
knobs underneath to level the oil surface with one of the upper graduations on the
conical portion of the rotor, K3.A depth, d of 175mm is suggested for maximum
damping. Details of the graduations on the rotor are in Figure(3.2).
G d=175 G
F d=150 F
E d=125 E
D d=100 D
hi
C d=75 C
B d=50 B
d=25
A A
The system is now ready for recording torsional oscillations. Raise the pen to the
top of the paper on the drum and rotate the rotor to an angle of approximately 40 o
and then release. A trace of the oscillations can be obtained by bringing the pen
into contact with the paper using the thumbnut on the support and allowing the pen
to descend.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Figure(3.3)
Record a trace of the amplitude of oscillation showing decay of vibration due to the
damping. The rate of descent of the pen previously carried out will provide suitable
time scale.
From the trace given in Figure(3.3),measure five successive amplitudes starting
with the initial one (n=0) and tabulate the results in Table (3.1) below.
Table (3.1)
Logarithmic decrement
n (mm)
( ) = Damping factors
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
0 =
1 =
2 =
3 =
4 =
5 =
3.6 Part B;
Investigation of How TheDamping Coefficient Depends on The
Depth of Immersion of The Rotor in The Oil
Repeat part A for each oil level as defined by the seven graduation on the conical
portion of the rotor.The damping Coefficient depends on the area A of the curved
surface of the conical portion of the rotor exposed to viscous damping.
This area is equal to , where ( ) is the radius of base of core and ( ) is the slant
height equal to + .
Plot a graph of damping coefficient to a base of A times mean radius .
Tabulate these as in Table (3.2).
Table (3.2)
3.7 Results
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Plot a graph of log to a base of n. Confirm that the damping is viscous, and
Damping torque
per unit angular
velocity
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
4.2Introduction
When external forces act on a system during it’s vibratory motion, it is termed
forced vibration. Under condition of forced vibration, the system will tend to
vibrate at it’s own natural frequency superimposed upon the frequency of the
excitation force.
Friction and damping effects, though only slight are present in all vibrating system;
that portion of the total amplitude not sustained by the external force will gradually
decay. After a short time, the system will vibrate at the frequency of the excitation
force, regardless of the initial conditions or natural frequency of the system.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
4.3Theory
FO sin t
A CB
L1mg
Mg
Figure (4.1)
1. A beam AB, of length b, sensibly rigid, of mass m, freely pivoted at the left-
hand end.
2. A spring of known stiffness S attached to the beam at the point C, at L2
from pivot.
3. A motor with out-of-balance discs attached to the beam at D, at L1 from
pivot.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
=F0
=M +
+ = sin t
= e
+ b0 = A
natural frequency = b0 =
= ( ) +
3
A= =
. =
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Resonance condition
=0
Note that in practical circumstances the amplitude, although it may be very large,
does not become infinite because of the small amount if damping that it always
present.
4.4 Apparatus
Figure (4.2)
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
bracket C1 fixed to the top member of the frame. This bracket enables fine
adjustments of the spring, thus raising and lowering the end of the beam.
The DC motor rigidly bolts to the beam with additional masses placed on the
platform attached. Two out-of-balance discs on the output shaft of the belt driven
unit (D4) provide the forcing motion. The forcing frequency adjusts by means of
the speed control unit. The safety stop assembly (D5) limits the beam movement
for safety reasons. It is not a rest for the beam and should not be touching it during
the experiment or the reading will be false.
The chart recorder (D7) fits to the right-hand vertical member of the frame and
provides the means of obtaining a trace of the vibration. The recorder unit consists
of a slowly rotating drum driven by a synchronous motor, operated from auxiliary
supply on the Speed Control unit. A roll of recording paper is adjacent to the drum
and is wound round the drum so that the paper is driven at a constant speed. A felt-
tipped per, fits to the free end of the beam; means are provided for drum adjustment
so that the pen just touches the paper. A small attachable weight guides the paper
vertically downwards. By switching on the motor, we can obtain a trace showing
the oscillations of the end of the beam.
If the amplitude of vibration near to the resonance condition is too large we can
introduce extra damping into the system by fitting the dashpot assembly (pan
numbers D2, D3 and D9) near to the pivoted end of the beam.
4.5 Experimental Procedure
First plug the electrical lead from the synchronous motor into the auxiliary socket
on the Exciter Motor and Speed Control. Adjust the hand wheel of bracket C1 until
the beam is horizontal and bring the chart recorder into a position where the pen
just touches the recording paper. Switch on the speed control unit so the resulting
forced vibration causes the beam to oscillate. lt has been found that a frequency of
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
about 2Hz is suitable; the position of the motor can be adjusted accordingly. The
time for 20 oscillations will then be approximately 10 seconds. The chart recorder
can record the number of cycles performed by the beam in a given time (calculated,
knowing the speed of the paper or, better still, by visual counting).
Bring the pen into contact with the paper, then record the number of cycles and
calculate the cycles per unit time {i.e. the frequency) of the forced vibration beam.
You need to known the speed of the paper on the chart recorder. To obtain this,
record a trace for 20 seconds, for example, measure the length of the trace, thus
calculating the speed in mm/s. Determine the values of the relevant parameters as
described in the theory: lengths , magnitude of the masses m and M, also the
stiffness of the spring.
4.6 Results and Calculations
Using a stopwatch, time the linear speed of the drum for 20 vibrations and
determine the time for one cycle (period of vibration). Using the two different
methods determine the corresponding frequency. Calculate the relevant moment of
inertia.
Table (4.1)
i.eS = =
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
b0 =
ƒ= i.e =( ) cycles
Measure the amplitude of forced vibration (A) from the plot for different exciting
(forced) frequency, and compare with theoretical values using derived formula,
also at resonance condition ( = ).
4.7 Conclusions
1. Make comparison between measured frequencies (theoretical and
experimental) for forced vibration.
2. Make comparison between angular amplitudes. .
3. Measured resonance amplitude with calculated.
Experiment No. (5 )
FORCED DAMPING (UNDAMPED) VIBRATION
5.1 Object
To study the amplitude and phase characteristics of single mass damped system
excited by rotating unbalance.
5.2 Theory
m =
h
b
beam
Beam cross section
m
2 2
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
= resonance amplitude.
E = young's modulus of beam material.
b = width of beam.
h = depth of beam.
=
12
1
= + +
2
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
( – m) + m(x+c ) = -kx - c
Solution supposed
= X sin( ) …………..(5.2)
=m sin( )
= ( )
X ( )+ c X ( + )+kX ( )=
m sin( ) ……….....(5.3)
X
C
kX
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
X= ; tan =
( )
( )
= …………(5.4)
( ( ) ) ( )
in resonance =
.
= , = ….………..(5.6)
5.6 Procedure
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
5.7 Requirements
1. Determine the equivalent mass;
1
= + +
2
5.8 Discussion
1. Discuss the effect of ( ) on the amplitude and phase angle .
2. Discuss your results.
3. Discuss the effect of unbalance of the vibration.
4. State the advantages of oil on damping vibration.
5. State the application of vibration absorber.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Experiment No.(6)
Torsional Oscillations of Two Rotor System
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
6.2 Introduction
Figure (6.1)
Systems that require two independent coordinates to describe their motion are called two
degree of freedom system. The general rule for the computation of the number of
degree of freedom can be stated as follows
Number of degree of Number of masses in the system ×number of
=
freedom of the system possible types of motion of each mass
So there are two equations of motion for a two degree system ,one for each degree they
are generally in the form of coupled differential equations in values all the coordinate
,the equations of motion lead to a frequency equation that give two natural frequencies
for the system.
Thus a two degree system has two normal modes of vibration corresponding to the two
natural frequencies .In multi degree of corresponding to the two natural frequencies .In
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
multi degree of freedom systems there is semi definite systems which known
unstrained or degenerate systems in this case we have two degree
System an two masses connected by spring { e.g (1) two railway cars, (2)turbine and
air blower connected by shaft ,( 3) gear train}
k in
out
gear
gear in mesh.
It can be seen from solution of frequency equation that one of natural frequencies of
the system is zero ,which means that the system is not oscillating .In other word the
system as a whole without any relative motion between the two masses (rigid body
translation).
6.3 Theory
= Moment of inertia of rotor 1
= ( ) .………..(6.1)
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
( ).………. (6.2)
+ =0……….….(6.3)
+ =0……….….(6.4)
Assumed solution
( ) =
( )
[( ) ]=0
…….… (6.5)
[(
( )
( )
=0 …….….(6.6)
( )
[ ( + )] =0 …….….(6.7)
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
( )
either =0 or = ……..…(6.8)
( )
= rad/sec
Even it is two degree of freedom system but one can notice only one frequency
because the system is degenerated.
= And using ( )=
1 2
Then: = 2
( 1+ 2
This period can be calculate and compared with that obtained from the
experimental values, also the value of obtained theoretically be compared with the
experimental from previous experiments, and the mass moment of inertia of each
disc can be compared from results.
The periodic time of the system may be determined and compared with the
theoretical value given by the formula quoted in the theory section determine the
moment of inertia of each by measuring the time for 20 oscillation ,This system is a
single degree of freedom.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
2
=2 = =
So
=
4
6.5 Results and discussion
Obtain the period of oscillation for the system for certain number of Oscillation for
different diameters and length of shafts and arrange in table and obtain the
theoretical values using the equation for period and make comparison and discuss
the effect of varying the length and diameter.
Also material (G) and state why there are differences and give reasons.
Shaft
Time for 20 Period Theoretical value of
diameter
oscillation Sec period
mm
3.17
4.76
6.35
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
ExperimentNo.(7)
CRITICAL WHIRLING SPEED OF SHAFT
7.1 Introduction
For any rotating shaft, a certain speed exists at which violent instability occurs. The
shaft suffers excessive deflection and bows – a phenomenon known as “whirling” .
Dunkerley first investigated the centrifugal forces involved and determined that the
only stabilizing force was that due to the elastic properties (“stiffness”) of the shaft.
Hence, he was able to deduce the speed at which the shaft would suffer an infinite
deflection due to whirling
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
end of the shaft, which is designed to prevent the transmission of any restraining
forces by the motor of the shaft. The second features is a sliding bushed end which
affords sliding motion of the shaft on a longitudinal phosphor bronze bearing ,
whilst revolving in a radial ball bearing.
(a)
(b)
Figure (7.1) whirling of shaft apparatus (a) and shaft (b)
Shaft No. d
mm m
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
1. 3 0.750
2. 3 0.900
3. 6 0.900
4. 7 0.900
The Kinematic coupling and sliding end bearings have been so designed as to allow
the shaft movement in a longitudinal direction, for the purpose of location before
tightening, and so provide directional clamping of the shaft end.With the standard
apparatus, the sliding end bearing provides directional fixing to the end of the shaft,
although an interchangeable sliding end bearing is available which provides a
directionally free support. These bearings are showninfigures (7.2) and (7.3).
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
7.4 Theory
= Natural frequency of transverse vibration mode
E= Young's modulus
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
d = shaft diameter
=shaft length
A = amplitude
M = disc mass
= eccentricity
K = shaft stiffness
= exciting speed
= critical speed
= weights
= constants
If we examine the simplest case of a single, heavy rotor rigidly attached to a light
(inertia-less) spindle, then the physical situation can be expressed in Figure (7.4)
O D O
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
The system consists of a disc of mass (M) located on a shaft simply supported by
two bearings. The center of gravity (G) of the disc is at a radial distance from
the geometric centre C. The centre line of the bearings OO intersects the plane of
the disc at D, at which point the disc center C is deflected a distance A
(A+ ) ………….(7.1)
Therefore
( + )= …………… (7.2)
= …………… (7.3)
= …………. (7.4)
= ………….. (7.5)
Therefore, at < then A and have the same sign, i.e. the centre of gravity G is
situated as shown in Figure (7.4) .
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
At > , A and are of opposite sign and hence the centre of gravity now
lies between C and D, inferring that the disc has become rotated through 180 from
its rest position.
For very high speeds where , the amplitudes A , hence the disc rotates
about G with perfect stability
Dunkerley deduced that the whirling speeds were equal to the natural frequencies
of transverse vibration, there being the same number of whirling speeds as natural
frequencies for a given system. Thus a theoretical value for the critical speed may
be obtained from the formula for the fundamental frequency of transverse
vibrations.
The value of is that resultant from beam theory and for various end conditions,
the values are shown in Table (7.2).The value c is the constant for use in
calculating the first natural frequency and c is that necessary for the second mode.
From the Table (7.2)cases 3 is included for comparative purposes only, since it is
obviously unsuitable for experimentation.
Table(7.2)
Case Ends
1 Free-Free 1.572 6.3
2 Fixed-Fixed 3.75 8.82
3 Cantilever 0.56 --
4 Fixed-Free 2.459 7.96
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Figure (7.5)
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
Figure (7.6)
Which shows the first and second whirl mode .these values can be compared with
the theoretical ones for each boundary conditions ,the difference between them is
due two experiment environment.. etc
7.6 Conclusions:-
1. What can you deduce from the increase in speed on, shape…
2. Effect of boundary conditions on shapes and critical speed values.
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September 14 2014 Lab. of Theory and Vibrations Electromechanical Eng. Dept
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