B59MC- Vibration Analysis and Control

(Part 1: Mechanical Vibrations)

Introduction to Mechanical Vibrations

Simple Vibrating Systems
Lecture 1

Dr Fadi Ghaith
 Introduction
VIBRATIONS

USEFULL HARMFULL

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 USEFUL

• Mechanical Tools

• Music

• Energy Harvesting

• Accelerometers

• Speakers
• AFM

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3
 HARMFUL

• Turbulence
• Earthquake
• Sea waves
• Unbalanced parts

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4
 & DVH6WX G LHVIURP ,Q G X VWU\
1. Dynamic Modeling of AIRBUS A380 Wing
 This case study addresses the
dynamics of AIRBUS A380 wing. The
wing consists basically of the wing
structure of about 36 m long and
carrying two Trent‐900 engines on its
span.
 The dynamic analysis would help
create an understanding of vibrations
and deflections caused on the wing
and thus would allow for the design
improvements of the structure.
 On the other hand, it is of prime
importance to understand the
complex vibrational mechanisms
experienced by similar systems in
order to better control their
functional operation and improve
their performance.
5 MSc Program - Renewable Energy Engineering
 & DVH6WX G LHVIURP ,Q G X VWU\
2. Flow Induced Vibrations in Double Pipe
Heat Exchanger
This case study represents a double
pipe heat exchanger which is used
to cool the lubricating oil of a large
industrial gas turbine. In this type
of heat exchangers, water flows
through the inside pipe (tube‐side
flow) and the oil through the
annular space between the outside
and the inside pipe (shell‐side flow)

6 Fadi Engineering
MSc Program - Renewable Energy A. Ghaith
 & DVH6WX G LHVIURP ,Q G X VWU\
3. Flow Induced Vibrations in Rotating
Oil Drillstring
One of the most challenging Fluid-Structure
Interaction (FSI) models that have not been
addressed completely until now is a rotating pipe
conveying fluid and subjected to external axial
flow. The complexity of this model arise from the
influence of rotation on the flow induced vibration and
stability of the system. This case represents a system
inspired by Oil drilling applications. The system
consists of a cantilevered hollow rotating pipe
conveying circulation fluid, which flows downwards
through the bit, and upwards through the borehole to
the surface.

7 MSc Program - Renewable Energy Engineering

 Introduction
 Simple vibrating systems consist of:
 An inertial element (a mass)
 Connected to:
 An elastic element (a spring)
 Hence known as “a mass/spring system”

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 Introduction
 Modelling

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 Introduction
 Interested in vertical motion only

Single Degree of Freedom System

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SDOF 10
 Introduction
 More detailed modelling

Multi Degree of Freedom System

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MDOF
 Co-ordinates
 We will require only one independent co-
ordinate to describe the position of every
particle in any given system which we will
consider
 Hence known as “a single degree of
freedom system”
 The co-ordinate will be either a linear
displacement (x) or an angular
displacement (θ)

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 Example

vibration

k
Mass
M

Frictionless rollers
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13
 We need to decide on a displacement
coordinate. Let us say x

k
Mass x
M

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 Nomenclature
 If we have assumed the symbol “x” represents
the displacement of the mass M at any time t
and that it is positive in the direction shown then:
 The velocity dx/dt of the mass is represented by
which is assumed to be positive in the same
x
direction as x
 The acceleration d2x/dt2 of the mass is
represented by x which is assumed to be
positive in the same direction as x

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 Free body diagram

If we assume that we examine the system

when it possess a positive displacement x
we may draw a free body diagram for the
mass:
Spring force in this direction

kx M

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X positive in this direction
 Modelling 1
We may apply Newton’s second law to this
free body diagram to obtain the equation of
motion:
 Net force = mass*acceleration
Or
 F  Ma
Or using our “dot” notation

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F  Mx
 Modelling 2
In this case the only force applied to the
system is the spring force which acts in the
negative direction.

F   kx
Thus Newton’s 2nd law for this system may
be written:
 kx  Mx
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 Equation of Motion
 The above equation may be re-arranged
to give:

Mx  kx  0 Equ 1

 We note that this is an ordinary differential

equation (ode) of the second order with
constant coefficients
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 Equation of Motion

Mx  kx  0
Second Order ODE – two constants

Required two Initial Conditions (ICs)

x  A cos nt  B sin nt

ICs are given for a problem

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 Simple Harmonic Motion 1
We recognise this equation as representing
simple harmonic motion and therefore we
know that a solution is:
x  X 0 sin nt
Where X is the amplitude of the sine wave,
ωn is the frequency and t represents time.
 There are other solutions which need not concern us at
the moment

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 Simple Harmonic Motion 2
 If position
x  X 0 sin nt
 Then velocity
x  n X 0 cos nt

 And acceleration x   X 0 sin nt

2
n

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 Simple Harmonic Motion 3
If we substitute the above into equation 1 we
obtain:

 M X 0 sin nt  kX 0 sin nt  0

2
n
i.e.  M  k  0
2
n

Hence k
 
M
n

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 Simple Harmonic Motion 4
 This is telling us that the frequency at
which the system will vibrate freely (no
external forces) is determined solely by
the system parameters. In this case the
spring stiffness and the system mass.

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 General form of E.o.M.
 If we return to the equation of motion as
developed in equ 1:
Mx  kx  0
 This may be re-written:
k
x  x0
M
 Or:

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x   x  0
n
2
 x   x  0
n
2

 This is the general form of the equation of

motion for our vibrating systems. Our aim
is to reduce ALL such systems to an
equation of this form. Note that in this
particular example we have identified ωn
with the system stiffness and mass. In
general we will have:
displacement _ coefficient
 
acceleration _ coefficien
26 t
n
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 Simple Harmonic Motion
x  X 0 sin nt [ωn]– rad/sec

ωn=1 ‐blue
T ‐ period ωn=2 ‐ red

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T =2ωn
 Simple Harmonic Motion
x  X 0 sin nt X0 – Amplitude

X0=1
ωn=1 – blue
‐blue
X0=3 ‐ red
ωn=2 ‐ red

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 Modelling
 Orientation doesn’t matter!

vibration
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 Equilibrium position as coordinate reference

L L

 Equilibrium y
position
m
mg x
m
k=mg
 k(x)
md 2 x dt 2  mg  k   x
 md 2 x dt 2   kx
mg  k

 md 2 x dt 2  kx  0 This is the standard

equation of motion
mg

Take the spring mass into account?

 Example (Solved in the pre-
recorded lecture)
A mass m drops onto the table of mass M
mounted on four elastic supports. Find the
natural frequency of the system and the
system response x(t)
( M  m) x  4kx  0
x(0)  ?, x (0)  ?

4k

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32
 Example

 Let x be a motion in the vertical

direction, then
( M  m) x  4kx  0
x(0)  ?, x (0)  ?
 Velocity of the mass m at impact
K TOP  PTOP  K B  PB
mgl  mv / 2
2

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 Example

 Conservation of momentum
( M  m) x (0)  vm
m m
x (0)  v 2 gl
M m M m

 Initial displacement will be

mg
x ( 0)  
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4k
 Example
4k

M m

x(t )  A sin(t )  B cos(t )

mg mg
x ( 0)  B  1   B
4k 4k
x (t )  A cos(t )  B sin(t )
m 4k m
x (0)  A  2 gl  A  2 gl
M m M m M m
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 Example
4k m
A  2 gl
M m M m
gl
Am
2k ( M  m)
 Thus
gl mg
x(t )  m sin(t )  cos(t )
2k ( M  m) 4k

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