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Vib 1
Vib 1
1 Fundamentals of Vibration
진동 강체서 변형체
1.2 Brief History of Vibration
M
Dynamics solid
Mechanics
I 진동 Deformable bodyt Motion
fr Energy
정적동적평형상태를 기준으로반복
Aytonequilibriumstate
爬幽
2 진동의 3요소
Mass KE Storage
Energy Storage element
Spring PE Storage
3 주요 용어
K m TY 췼 동적평형상태
쑩籠팖쉾삷떍씨
lf
iii
frequency
Ti 주기 Period
주황 f 주파수 劒 TEE
二
If 거리
r
fu
부표 각도 l
CH.1 Fundamentals of Vibration
1.3 Importance of the Study of Vibration
https://www.youtube.com/watch?v=XggxeuFDaDU
https://www.youtube.com/watch?v=iyw4AcZuj5k
CH.1 Fundamentals of Vibration
• Three degree of
freedom systems
CH.1 Fundamentals of Vibration
• Free Vibration
m it c it k x 1
Only initial disturbances exist in the system
No external force acts on the system
Oscillation of a simple pendulum is an example
• Undamped Vibration
• Damped Vibration
Energy is lost or dissipated during oscillation
In all physical systems, damping exists albeit small
Highly important at near resonance frequencies of
the system
CH.1 Fundamentals of Vibration
• Linear Vibration
x • Nonlinear Vibration
• Deterministic Vibration
The nature of the excitation on a system is known in priori
Resulting dynamic behavior can be expected
Examples are unbalance motion of a rotating system,
periodic motion of a vibration system
• Random Vibration
The nature of the excitation on a system is not known in priori
A large collection of records of the excitation may exhibit
some statistical regularity
Examples are wind velocity, road roughness, and ground
motion during earthquakes
CH.1 Fundamentals of Vibration
1. Mathematical Modeling
F = kx (1.1)
t
Ksc 2 K
Spring constant or spring stiffness
∗ dF
F + ΔF = F ( x ) + ( Δx ) (1.4)
dx x∗
ΔF = k Δx (1.5)
dF
k=
dx x*
CH.1 Fundamentals of Vibration
keq = k1 + k2 + L + kn (1.11)
keqδ st keqδ st
k1δ1 = k2δ 2 = keqδ st + = δ st
k1 k2
keqδ st keqδ st
δ1 = , δ2 = (1.15) 1 1 1
k1 k2 = + (1.16)
keq k1 k2
직렬 1 1 1 1
= + +L+ (1.17)
keq k1 k2 kn
CH.1 Fundamentals of Vibration
Example of a
mdof system
CH.1 Fundamentals of Vibration
Kinematic Relations
K E의 총량은 일정해야됨
Equating 1 1 1 1
m1 x&12 + m2 x& 22 + m3 x& 32 = meq x& eq
2
(1.20)
Kinetic Energy 2 2 2 2
2 2
From ⎛l ⎞ ⎛l ⎞
meq = m1 + ⎜ 2 ⎟ m2 + ⎜ 3 ⎟ m3 (1.21)
Eqs. (1.18)~(1.20)
⎝ l1 ⎠ ⎝ l1 ⎠
CH.1 Fundamentals of Vibration
+ ⎜ ⎟⎜ ⎟ + mc ⎜ ⎟ ( E.2)
Jc = m r c c
2
2 2 ⎝ 2 ⎠ ⎜⎝ rp rc ⎟⎠ 2 ⎜⎝ rp ⎟⎠
1
J 1 = m1 r12 3 T= meq x& 2 ( E.3)
2
Equating Jp
1 m1l12 m2l12 1 mc l12 l12
meq = m + 2 + + 2 + + mc 2 ( E.4)
Kinetic Energy rp 3 rp2 rp 2 rp2 rp
Meq문제 풀어보기
CH.1 Fundamentals of Vibration
• Types of damping
Viscous Damping
– Damping force is proportional to the velocity of the vibrating body
- Examples:
1) fluid film between sliding surfaces
2) fluid flow around a piston in a cylinder
3) fluid flow through an orifice
4) fluid film around a journal in a bearing
CH.1 Fundamentals of Vibration
du
τ =μ (1.26)
dy
du dy = v h
山
µ 可 A μ Av
F =τ A = 쁣
ff
= cv (1.27)
h
Damping constant μA
c= (1.28)
for a linear damper h
dF
For a nonlinear damper c= (1.29)
dv v∗
CH.1 Fundamentals of Vibration
dx
= ω A cos ωt (1.31)
dt
d 2x
2
= −ω 2
A sin ω t = −ω 2
x (1.32)
dt
복소수삼각함수급수
형태변환
CH.1 Fundamentals of Vibration
가능해야함
1.10 Harmonic Motion
x = A cos ωt (1.34)
y = A sin ωt (1.33)
CH.1 Fundamentals of Vibration
Complex number
1.10 Harmonic Motion
r
X = a + ib (1.35)
r
X = A cos θ + iA sin θ (1.36)
where
A = (a 2 + b 2 )1/ 2 (1.37)
b
θ = tan −1 (1.38)
a
Maclaurin seriesθ 2 θ4 ( iθ ) 2 ( iθ ) 4
cos θ = 1 − + −L = 1+ + +L (1.39)
2! 4! 2! 4!
Series Expansion
⎡ θ3 θ5 ⎤ ( iθ ) 3 ( iθ ) 5
i sin θ = i ⎢θ − + − L ⎥ = iθ + + + L (1.40)
⎣ 3! 5! ⎦ 3! 5!
(iθ ) 2 (iθ )3
(cos θ + i sin θ ) = 1 + iθ + + + L = eiθ (1.41)
2! 3!
(iθ ) 2 (iθ )3
et cosOtisinA (cos θ − i sin θ ) = 1 − iθ + − + L = e −iθ (1.42)
2! 3!
r
X = A(cos θ + i sin θ ) = Aeiθ (1.43)
CH.1 Fundamentals of Vibration
r
X = Aeiωt (1.51)
r
dX d r
= ( Ae ) = iω Ae = iω X
iωt iωt
(1.52)
dt dt
r
2
d X d r
2
= ( iω Ae ) = −ω Ae = −ω X
iωt 2 iωt 2
(1.53)
dt dt
displacement = Re ⎡⎣ Aeiωt ⎤⎦ = A cos ωt (1.54)
velocity = Re ⎡⎣iω Aeiωt ⎤⎦ = −ω A sin ωt
= ω A cos(ωt + 90°) (1.55)
acceleration = Re ⎡⎣ −ω 2 Aeiωt ⎤⎦ = −ω 2 A cos ωt
= ω 2 A cos(ωt + 180°) (1.56)
CH.1 Fundamentals of Vibration
0
CH.1 Fundamentals of Vibration
x1 (t ) = X cos ωt (1.63)
Beatperiod x2 (t ) = X cos(ω + δ )t (1.64)
x(t ) = x1 (t ) + x2 (t ) = X [ cos ωt + cos(ω + δ )t ] (1.65)
⎛ A+ B ⎞ ⎛ A− B ⎞
cos A + cos B = 2 cos ⎜ ⎟ cos ⎜ ⎟ (1.66)
⎝ 2 ⎠ ⎝ 2 ⎠
δt ⎛ δ⎞
x(t ) = 2 X cos cos ⎜ ω + ⎟ t (1.67)
2 ⎝ 2⎠
https://www.youtube.com/watch?v=z9mXOygAQ-A
Amplitude
CH.1 Fundamentals of Vibration
ω 2π / ω 함수
주기
2 τ
an = ∫ x(t ) cos nωtdt = ∫ x(t ) cos nωtdt (1.72)
π 0 τ 0
ω 2π / ω 2 τ
bn = ∫ x(t ) sin nωtdt = ∫ x(t ) sin nωtdt (1.73)
π 0 τ 0
x(t ) = d 0 + d1 cos(ωt − φ1 ) + d 2 cos(2ωt − φ2 ) +L (1.74)
d 0 = a0 / 2 acoswttb.sinut (1.75)
d wtcos tsinwt.in
cos
0 d n = (an2 + bn2 )1/ 2 (1.76)
⎛ bn ⎞
φn = tan −1 ⎜ ⎟ (1.77)
a
⎝ ⎠n
CH.1 Fundamentals of Vibration
=e i (0)ωt
⎜ −
⎝ 2 2
⎟ + ∑ ⎨e ⎜ −
⎠ n =1 ⎩ ⎝ 2 2
i
⎛ a0 ib0 ⎞ ∞ ⎧ inωt ⎛ an ibn ⎞ −inωt ⎛ an ibn ⎞ ⎫
⎟+e
⎠
⎜ +
⎝ 2 2
⎟⎬
⎠⎭
(1.82)
a n − ib n
cn = (1 .8 3)
Let 2
a + ib n
c− n = n (1 .8 4 )
2
∞
Then x (t ) = ∑
n = −∞
c n e inω t (1.85)
a n − ibn 1 τ
where, cn = = ∫ x (t ) [ cos nω t − i sin nω t ] dt
2 τ 0
1 τ
= ∫ x (t ) e − inω t dt (1.86)
τ 0
CH.1 Fundamentals of Vibration
frequency domain
timedomain
time frequency
CH.1 Fundamentals of Vibration
• Even Functions
x(−t ) = x(t ) (1.87)
a0 ∞
x(t ) = + ∑ an cos nωt (1.88)
2 n =1
• Odd Functions