Vibration = Periodic Function

Basic Theory of Vibration • A periodic function can be expressed as

x( t )  x( t  T )
where t = time and T = period (constant)
• Period (T) : time required to complete one cycle of
oscilation  unit of T : seconds.
• Frequency (f) : the number of oscilation in one second
 unit of f : Hertz (Hz).

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Linear Frequency, Angular Frequency, Exercise:

Rotational Speed
• In practice, people often use: • A machine rotate at 1200 rpm. What is the rotational
 Linear frequency (f)  Hz [cps]
frequency [cps]. If the machine vibrate due to
unbalance, what is the frequency of unbalance?
 Angular Frequency (w)  rad/s
 Rotational speed (n)  rpm • Answer:
 Rotational frequency  rps (rps = rpm/60)
• Each parameter can be recognized from its unit.
: 60

n f (Hz)
(rpm)
x 2p
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(rad/s)
 Harmonic Function Convesion from Displacement
Velocity  Acceleration
• A harmonic function can be expressed as: • If x is displacement then the velocity is
x  A cos wt  dx
x  Aw sin wt
where x is the displacement [m]. dt

Simple harmonic an and the acceleration is

function  d2x
x  Aw2 cos wt  w2 x
dt 2

• Understanding this conversion is very important

since vibration can be measured three type of
sensors that is displacement sensor, velocity sensor, or
accelerometer.
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Nomograf Units used in Vibration Measurement

See point G. Vibration
with frequency of 5 Hz
and displacement
amplitude of 10 mm,
what is the velocity and
acceleration
amplitudes?
Answer: velocity
amplitude is 314
mm/s and the Displacement  peak-to-peak (m, 1 mil = 25,4 m)
acceleration amplitude
is 9860 mm/s2 (read Velocity  RMS (mm/s, 1 IPS = 25,4 mm/s)
directly in the Acceleration  peak (m/s2, 1g = 10 m/s2)
nomograf).
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Teori Getaran

RMS (Root Mean Square)

• RMS (Root Mean Square) value is the root of
average of the square of the signal.
• So the signal must be squared first, then being
averaged.
• RMS is often used in vibration standard/criteria.
• If no information then:
RMS = 0,707 x amplitude  actually only valid
for sinusoidal signal without offset.

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Analisis Fourier Analisis Fourier

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Analisis Fourier Homework Vibration1
1. A machine working at 1200 rpm has a vibration limit of
100 um peak-peak. Calculate the velocity limit in RMS
(mm/s) and the acceleration limit (in g peak).

2. Vibration velocity v(t) = 10.sin(2.pi.1.t) + 10.sin(2.pi.10.t)

+ 10.sin(2.pi.100.t) mm/s
a. In a piece of white paper, draw spectrum of v(t), i.e.
plot of magnitude v(iw) vs f in semilog scale.
b. Integrate v(t) to x(t) then plot the spectrum of x(iw).
c. Differentiate v(t) to a(t) then plot the spectrum of a(iw).
d. Compare the spectrum of x(t), v(t, and a(t). What is
your conclusion?

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Degrees of Freedom
Dasar Teori • Degrees of freedom : the number of coordinates
required to describe the movement at any time.

• One degree-of-freedom
One Degree-of-freedom vibration  vibration
k k
Free Vibration can be described using
only one coordinate. m m

• Two degree-of-freedom k
1 dof
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One DoF Vibration Systems One DoF Vibration Animation

• Every system with mass and stiffness can vibrate.

• If the system vibrate freely (no external force, only due
to initial condition), it will vibrate at its natural
frequency.
• For simple spring mass system:
• Persamaan:

kx 
k m x  kx  0
..
m mx m k
wn  rad / s
m
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Natural Frequency Why The Natural Frequency

Importance?
Small mass, large stifness >  high wn System tends to vibrate at its natural frequency.
k • Natural Frequency: the frequency at which system
m “like to” vibrate.

• If the system is given initial condition and then

k released, it will vibrate at its natural frequency.

Large mass, small stiffmess  small wn • If the system is excited using external force with
m
frequency equal to natural frequency, the amplitude of
vibration is very large. This condition is called
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Animation
The Breakdown of Tacoma Bridge Due to Resonance Forced Vibration
• Structure/systems will vibrate if there is an external
force continuously excite the system.

• External forces working on the mass: force due to

rotating unbalance, or external displacement working
on the basement.
External force
• Equation:
 
m x  c x kx  Fo

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Vibration due to External Force Rotating Unbalance

Vibration amplitude change if we vary the frequency even • Rotating unbalance in any element of rotating
the amplitude of force is constant. machine is the source of excitation, since it is
impossible in practice to balance perfectly.
• Persamaan:
 
M x  c x  kx  mew2 sin( wt )
dimana
M : massa mesin
m : massa takseimbang

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Vibration due to Rotating Unbalance
• Simpangan dan sudut fasa getaran akibat massa tak Dasar Teori
seimbang

Two DoF Vibration Systems

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Two DoF Vibration Systems A Two DoF Vibration System

• Two DoF Vibration System is a system that requires two
coordinates to describe its condition at any time.
• Examples:
• 1. It has two natural frequencies fn1 and fn2.
• 2. It has two mode shapes (A1/A2)1 and (A1/A2)2.
• 3. So, if the system is given an initial condition similar to
• mode shape 1, it will vibrate at fn1.
• 4. Similarly, if the system is given an initial condition similar
• to mode shape 2 it will vibrate at fn2.

• What happen if the system is given an arbitrary initial

condition ?
Answer : The system vibrates as a combination of two
modes: mode shape 1 + mode shape 2.

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 Example of 2 DoF Vibration System
Example of 2 DoF Vibration System Given Initial Condition Similar to Mode Shape 1

• Free Body Diagram:

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Example of 2 DoF Vibration System 2 DoF Vibration Systems

Given Initial Condition Similar to Mode Shape 2 Given Arbitrary Initial Condition

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Vibration Animation: 2 DoF Vibration Systems Forced Vibration of 2 DoF Systems

• Similar to forced vibration of 1 DoF systems 

vibration amplitude very large when the excitation
frequency (of the external force) is the same with the
natural frequency of the system.

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Forced Vibration of 2 DoF Systems Forced Vibration of 2 DoF System

• In 1 DoF system has only one dangerous condition • Vibration spectrum contents not only its natural frequency but
(one resonance), while 2 DoF has two dangerous also excitation frequency (of external force).
conditions (two resonances). • Example: system is excited at 0.4 Hz.

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 Dynamic Absorber Dynamic Absorber
• Take a close look in the following curve of 2 DoF • Dynamic absorber is very effective to minimize
system. vibration due to external force with excitation frequency
almost the same with natural frequency of the main
• Basic concept: mass.
If the system is excited by
an external force with
frequency w2, then the • The dynamic absorber natural frequency is design close
main mass (M) will not to the excitation frequency.
vibrate at all.
• Basic concept:
Change 1 DoF system to 2 DoF system.

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Dynamic Absorber Video

Dasar Teori

CONTINUOUS SYSTEMS

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Continuous System FEM Model of A continuous System
Is a system with distributed mass.
• Example: a cantilever beaml or a bridge.
M,EI
x

y
• Since it is not a lumped mass, the analysis must be
performed using a numerical calculation (Finite
Element Method). A continuous system has infinite
number of degrees thus it has infinite number of
natural frequencies.

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Displacement Sensor/Proximity Probe

VIBRATION SENSORS

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Displacement Sensor/Proximity Probe
Velocity Sensor (Magnet & Coil)
• 1. No need power supply
Modulator produce 3 MHz signal as a carrier • 2. Dia 30 mm, height 80 mm
Disadvantage: • weight approximately 250 grams
 Non-circularity and material un-homogenity (ERO) • 3. Sensor natural frequency 6 Hz
effect on the result of measurement. • 4. Meas. range 10 – 1000 Hz
Advantages: • 5. Usually installed on the bearing
 A lot are used in a fluid film bearing • housing.
• 6. Usually used as a safety device
 Monitor whether fluid bearing working or not
(when the vibration reach
 Non contact sensor certain level, output signal of
 No moving part so that no wear this sensor is used to trigger
 Can measure at 0 Hz frequency (DC signal): trip system).
can detect position & migration of shaft axis.

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Piezoelectric Accelerometer

• Basic principle :
piezoelectric
effect 
electrical charge
is produced at
the surface of
piezoelectric
material when
there is pressure
or tension.
Frequency range:
1-10000 Hz
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 Sensor Mounting Sensor Installation

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Classification Based on Power, Type,

LABORATORIUM DINAMIKA ITB And Height of The Mechine (H)
Grup:
1: Large Machine > 300 kW; electric machine with
H ≥315 mm (H see Figure 1 !). Usually with
jurnal bearing, speed 120 up to 15000 rpm.
ISO 10816-3 2: Medium size machine, 15 up to 300 kW; electric
machine with 160 mm ≤ H ≤ 315 mm. Usually
with rolling bearing, speed > 600 rpm.
3: Pump with multivane impeller and separate driver
Industrial Machine > 15 kW, (centrifugal, axial or mixed flow) > 15 kW.
4: Pump with multivane impeler with integrated
120 – 15000 rpm, in Situ
driver (centrifugal, axial or mixed flow) > 15 kW.
Condition: A = New machine, B = Long life,
C = Short life, D = Danger
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 Table A.1 – Evaluation Zone of Grup 1 Table A.3 – Evaluation Zone of Grup 3

Table A.2 – Evaluation Zone of Grup 2 Table A.4 – Evaluation Zone of Grup 4

ISO 10816-1: Class I P<15 kW, Class II: 15 <P< 75 kW,

Class III and IV: P> 75 kW

Dasar Pengukuran

SPECTRUM ANALYZER

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 Osciloscope VS Spectrum Analyzer
Osciloscope:
 Works in time domain
 Price 4 - 50 MRp.
 Choose: time record (time/div)
 Sampling frequency: maximum
 No Anti Aliasing Filter
Spectrum Analyzer
 Works in frequency domain
 Price 600 MRp - 2 GRp
 Choose: fspan and line number
 With Anti Aliasing Filter
 FFT, route, bearing data etc
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Cara FFT dalam Matlab
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Parameters in Osciloscope and SA
In osciloscope:
 Dt = sampling time
 T = record time T = N. Dt
 N =number of data fsampling = 1/Dt
 fsampling = sampling frequency
In Spectrum Analyzer:
 fspan = span frequency fspan = fsampling /2
 N = line number fspan = N. Df
Df = resolution frequency Df = 1/T
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Hasil Plot Spektrum
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Homework: Plot Spectrum Aliasing

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Aliasing Homework: Aliasing

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 Dynamic Signal Analyzer (DSA)
Basic Construction of DSA

Uniform
Analog to Convertion to frequency
Digital domain (Fast Fourier
Converter Transform, FFT)
Flat top

Anti Aliasing Hanning Advance signal proc:

Input Filter • Auto power spectrum
signal (Low Pass • FRF
Filter, LPF) • Coherensi
• Spectral map, etc

Multiply with
First signal Window Display
condition

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