Earthquake Geotechnical Engineering

Module 4: Machine Foundations

Dr. Shiv Shankar Kumar

Assistant Professor
Department of Civil Engineering
NIT Patna, Bihar – 800005
 Machine foundations
• Machine Foundation
 Machine foundations are special types of foundations required for
machines, machine tools and heavy equipments.
 having wide range of speeds, loads and operating conditions.
» Designed of these foundations consider, shocks and vibrations
(dynamic forces) resulting from the operation of machines.
• Dynamic load on the foundation depends upon the type of machine.
 Types of machine
 Reciprocating machine
» produce periodic, unbalanced force, e.g., reciprocating engines and
compressor. Operating speeds are less than 1000 rpm.
 Impact machine
» produce Impact load e.g., forge hammer. Operating speeds 60-150
blows per minute.
 Rotary machine
» Medium and high speed machine e.g., turbo-generator and rotary
compressor. Operating speeds are in the range of 1500-10000 rpm.
 Machine foundations
 Types of machine foundations
 Depends on the type of machine
1. Block Type Machine Foundation
2. Box or Caisson Type Machine Foundation
3. Wall Type Machine Foundation
4. Framed Type Machine Foundation
5. Non-Rigid or Flexible type of Machine Foundation

1. Block Type Machine Foundation

 This type of foundation consists of a
pedestal resting on a footing have has
large mass and a small natural
frequency.
2
 Machine foundations
2. Box or Caisson Type Machine
Foundation
 The mass of this foundation is less than
block type machine foundation as it is
hollow.
» The natural frequency of the box type
machine foundation is increased.

3. Wall Type Machine Foundation

 This type of machine foundation consists
of a pair of walls with a slab resting on
top.
» Constructed of homogeneous materials.
» It is used for small machines and the
machine is rested on the top slab.
3
 Machine foundations
4. Framed Type Machine Foundation
 This type of machine foundation consists
of vertical columns with horizontal frame
at their tops.
» It is used for larger machines.
» Machines are rested on the top of frames.
» Vertical and horizontal members of this
foundation can be constructed by different
materials.
5. Non-Rigid or Flexible type of Machine Foundation

 Overall, these foundation consists of wall column and beam slabs and, each
element of this kind of foundation is quite flexible.
4
 Machine foundations
• General requirements of machine foundations shall be
satisfied and results checked prior to detailing the
foundations:
1. The foundation should be able to carry the superimposed loads
without causing shear or crushing failure.
2. The settlements should be within the permissible limits.
3. The combined centre of gravity of machine and foundation should,
as far as possible, be in the same vertical line as the centre of
gravity of the base plane.
4. No resonance should occur, hence the natural frequency of the
foundation–soil system should be either too large or too small
compared to the operating frequency of the machine.
For low-speed machines, the natural frequency should be high.
5
 Machine foundations
• General requirements of machine foundations shall be
satisfied and results checked prior to detailing the
foundations:
5. The amplitudes under service conditions should be within
permissible limits, which are prescribed by the machine
manufacturers.
6. All rotating and reciprocating parts of a machine should be so well
balanced as to minimize the unbalanced forces or moments.
7. Where possible, the foundation should be planned in such a
manner as to permit a subsequent alteration of natural frequency
by changing base area or mass of the foundation as may
subsequently be required.
IS: 2974 (Part - I)-1982 provide the guidelines for preliminary
design. 6
 Machine foundations
The zone of resonance
should be generally
defined, and the natural
frequency of the soil-
foundation system must lie
outside this zone (See
Figure).
Therefore, the foundation
must be designated as
"high tuned" when its
fundamental frequency is
greater than the operating
speed and, designed as
“low tuned” when its
fundamental frequency is
Figure. Tuning of a foundation
lower than the operating (source: Prakash & Puri, 1987)
7
speed.
 Machine foundations

Figure. Criteria for vibrations

of rotating machinery
(Prakash & Puri, 1987)

AA Dangerous. Shut it down now to avoid danger.

A Failure is near. Correct within two days to avoid breakdown.
B Faulty. Correct it within 10 days to save maintenance dollars.
Figure. Limiting amplitudes of vibrations for a C Minor faults. Correction wastes dollars.
particular frequency (Prakash & Puri, 1987) D No faults. Typical new equipment
 Machine Foundations
• Permissible values of amplitudes for foundations

9
 Machine foundations
• From the practical point of view, the following
requirements should be fulfilled:
1. The groundwater table should be as low as possible and groundwater
level deeper by at least one-fourth of the width of foundation below
the base plane. This limit the vibration propagations, ground water
being a good conductor of vibration waves, especially p-wave.
2. Machine foundations should be separated from adjacent building
components by means of expansion joints.
3. Any steam or hot air pipes, embedded in the foundation must be
properly isolated.
4. The foundation must be protected from machine oil by means of
acid-resisting coating or suitable chemical treatment.
5. Machine foundations should be taken to a level lower than the level
of the foundations of adjoining buildings. 10
 Machine foundations
• IS Code; IS: 2974 – Code of Performance for Design and
Construction of machine Foundations:
 Part – I
» Foundation for reciprocating type machines
 Part – II
» Foundation for Impact type machines (Hammer foundations)
 Part – III
» Foundation for Rotary type machines (Medium & High
Frequency)
 Part – IV
» Foundation for Rotary type machines (Low Frequency)
 Part – V
» Foundation for Impact machines other than Hammer
(Forging and Stamping Press, Pig Breaker, Drop Crusher
and Jolter) 11
 Machine foundations
• Important points:
 Machine Foundations are subjected to dynamic loads.
 These loads develop the vibratory motions which transmit into
the soil below the foundation.
» The effect on soil caused by these vibrations is analysed using
principles of soil dynamics and theory of vibrations.

 Types of Vibrations in Machine Foundation

 Free vibration

 Forced vibration

12
 Machine foundations
• Design of Block Type Foundations for Reciprocating
Machines
 Typical examples of reciprocating machines are steam engines,
internal combustion engines (e.g., petrol, diesel, and gas engines),
pumps and compressors.

 These machines may consist of a single cylinder and a piston

which may be single acting or double acting, may consist of
multi-cylinders with pistons operating in a regular pattern and
mounted on a common crank.

» Most reciprocating machines have operating speeds that are

smaller than 1200-1500 rpm (< 1000 rpm sometimes).

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 Machine foundations
• Design of Block Type Foundations for Reciprocating
Machines
Design Requirements
 Ensuring Static and Dynamic stability for long-term performance.

Foundation requirements for reciprocating machines with

respect to dynamic stability are as follows:
 There should be at least 30 percent difference between the
operating speed of the machine and the natural frequency of the
soil foundation system.
 The amplitudes of vibration must be less than the specified
permissible values.
 In the soil, the resultant stresses occasioned by the combined
action of static and dynamic loads should not exceed the
permissible values. 14
 Machine foundations
• Design of Block Type Foundations for Reciprocating
Machines
Important points:
 The natural frequency of the soil-foundation system is strongly
influenced by the base contact area of the foundation, its
geometry, mass, depth of embedment, and stiffness and damping
properties of the soil.
 Soil may be assumed to behave as an elastic material under
such loading conditions.
» The fact that permissible static soil pressures below machine
foundations are generally smaller than the corresponding soil
pressures beneath ordinary footings.
 Residual or plastic settlement of a soil below an adequately
designed machine foundation is generally negligible.
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 Machine foundations
• Design of Block Type Foundations for Reciprocating
Machines
Modes of Vibration of a Rigid Foundation Block
 Assumed that the rigid foundation experiences only rigid body
displacements.
 Due to the superimposed forces and moments, rigid concrete block
vibrates in six different modes.
1. Translation along the Z-axis
2. Translation along the X-axis
3. Translation along the Y-axis
4. Rotation around the Z-axis (Yawing)
5. Rotation around the Y-axis (Rocking)
6. Rotation around the X-axis (Pitching)
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 Machine foundations
• Design of Block Type Foundations for Reciprocating
Machines:
 Methods for analysis of vibration characteristics of machine
foundations:

1. Elastic half-space method (Rechart, 1962)

2. Linear elastic weightless spring method (Barkan, 1962)

3. Linear elastic weighted spring method, and

4. Empirical methods

» the first two methods are mostly used in practice

17
 Machine foundations
• Elastic half-space method
 Ground is assumed to be an elastic, homogeneous, isotropic, semi-
infinite body, which is referred to as an elastic half-space.
 Elastic half-space method idealizes the machine foundation as
a vibrating mechanical oscillator with a circular base resting
on the surface of the ground.

Figure. Lamb’s problems (Lamb, 1904) for steady-state oscillating force or pulse loading acting
at a point (three-dimensional) or along a line (two-dimensional) (a) For vertical loading at the
surface (b) For horizontal loading at the surface (c) For vertical loading within the body. (d) For
horizontal loading within the body (Source: Prakash & Puri, 1987)
 Machine foundations
• Elastic half-space method
 Vertical Vibrations of a Footing
 Reissner (1936, 1937) examined a vibrating rigid, circular
footing resting on the surface of an elastic half-space.
Vertical displacement at the center of the footing was based upon
the solution obtained by Lamb (1904):
Po eit Po eit
Zo  f   f1  if 2 
G ro G ro
where, Po = the magnitude of the oscillating force
ω = forcing frequency (rad/sec)
G = the dynamic shear modulus of the medium
ro = radius of the footing and
f1 & f2 = Reissner's displacement functions (Reissner, 1936)
Note: The displacement functions, f1 & f2 , dependent on the Poissons’
ratio, ν, of the medium and the frequency of the exciting force. 19
 Machine foundations
Now, define;
  ro
2 fro m W
ao   ro   and b  
G Vs Vs  ro  s ro
3 3

where, ao = dimensionless frequency ratio

Vs = shear wave velocity
m = mass of the footing (including the mass of the machine)
b = mass ratio
γs = unit weight of soil
ρ = unit mass density of soil
 Effect of three types of vertical contact pressure below the base due to
oscillating vertical force:
1. Pressure distribution for Rigid base:
Po eit
z  for r  ro
2 ro ro  r 2 2

 z  0 for r  ro 20
 Machine foundations
2. Pressure distribution for Uniform base:

Po eit
z  for r  ro
 ro 2

 z  0 for r  ro

3. Pressure distribution for Parabolic base:

z 
2 Po e it
r
o
2
r 2
 for r  ro
 ro 4

 z  0 for r  ro
21
 Machine foundations
 Effect of pressure distribution on the theoretical response of
vertically vibrating rigid footing (After Richart and Whitman,
1967):

22
 Machine foundations
 Effect of Poisson's ratio on theoretical response of a vertically
vibrating footing (After Richart and Whitman, 1967):

23
Machine foundations

Figure. Amplitude
versus frequency
relations for vertical
oscillation of a rigid
circular on elastic
half-space (ν = 1/4 )

(a) For constant

amplitude of exciting
force

(b) For exciting force

amplitude dependent
on exciting
frequency. (After
Richart, 1962)

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 Machine foundations
 Displacement functions for a rigid circular footing vibrating
vertically on the surface of an elastic half-space (After Rycroft,
1956):

25
 Machine foundations
 Further, Hsieh (1962), Lysmer (1966) and Hall (1967) have
proposed Hsieh’s Analog, Lysmer's Analog and Hall’s Analog
approach to examine the vertical vibrations.
» Hsieh’s Analog illustrates that vertical vibrations of a footing on
an elastic half-space can be represented in terms of an equivalent
damped spring-mass model with the difference that both the
spring constant and damping are frequency dependent.

» Lysmer's Analog (Lysmer and Richart, 1966) proposed a

simplified mass-spring-dashpot model for calculating the
response of a rigid circular footing subject to vertical oscillations.

» Hall’s Analog (Hall, 1967) developed an analog between the

elastic half-space solution and an equivalent damped-spring-mass
system.
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 Machine foundations
• Linear Elastic Weightless Spring Method
 This concept commonly known as the elastic subgrade reaction
theory has been described by Hayashi (1921), Heteyni (1946), and
Terzaghi (1943, 1955).
 The idea of using elastic springs was extensively developed by
Barkan (1962) for the purpose of predicting the dynamic
response of machine foundations.
Concept is based upon the following assumptions:
1. The foundation block is infinitely rigid compared with the soil.
2. The soil underlying the foundation is weightless.
3. The soil can be simulated by linear elastic springs.
4. Damping in the soil beneath a foundation may be neglected.
5. The foundation is resting on the surface of the soil.
These assumption represents the foundation-soil system as an equivalent mass-spring system
where mass represents the foundation and machine, and spring represents the elasticity of soil.
 Machine foundations
• Methods to determine elastic soil springs for different
modes of vibration:
Vertical Vibrations of a Block Foundation
Consider an unbalanced force:
Pz (t )  Pz sin t
Equation of motion for the undamped
SDOF system in forced vibration:
mz  k z z  Pz sin t

Figure. Vertical vibrations of a rigid block: (a) actual case

(b) soil replaced by equivalent spring kz and,
(c) equivalent model 28
 Machine foundations
• Define equivalent spring constant

29
 Machine foundations
 Then, the equation of motion will be:

 Therefore, the natural frequency of a vertically vibrating system:

where, ωnz = The circular natural frequency (undamped) of the soil

foundation system in vertical vibration (rad/sec)
fnz = Natural frequency of vertical vibrations (Hz)

30
 Machine foundations
 Amplitude of the vertical vibrations, Az, is:

 Maximum amplitude of motion is:

31
 Machine foundations
Sliding Vibrations of a Block Foundation
Consider a horizontal unbalanced force, Px(t) = Px sin ωt, to act on a
block foundation.

Figure. Block foundation that slides only, and its equivalent model
32
 Machine foundations
Equation of motion will be: mx  k x x  Px sin t
Where, x = sliding displacement of the foundation, from its equilibrium position
A = the base area of the foundation; and
kx = the equivalent spring constant of the soil in sliding;
= Cτ A

Equation of motion become: mx  C Ax  Px sin t

Frequency of sliding vibrations of the system is:

where, ωnx = Circular natural frequency sliding vibration (rad/sec)

fnx = Natural frequency of sliding vibrations (Hz) 33
 Machine foundations

Amplitude of the sliding vibrations of the system is:

The expressions for frequency and amplitude in sliding

are similar to the expressions for vertical vibrations.

34
 Machine foundations
Rocking Vibrations of a Block Foundation

Consider only rocking

vibrations induced in a
foundation block by an
external moment:

M y (t )  M y sin t

where, My is the moment

acting in the X-Z plane

Figure. Rocking vibrations of a rigid block: (a) Block

under excitation due to an applied moment (b) Soil 35
reaction below the base.
 Machine foundations
 Equation of motion can be obtained by applying Newton's second law
of motion:

 Step-1: Moment Mi caused by the inertia of the foundation is:

M i   M mo
where, Mmo = moment of inertia of the mass of the foundation
and machine with respect to the axis of rotation
 Step-2: Moment Mw caused by the displaced position of the center of
gravity of the foundation is:
M w  WL tan 
If the displacement angle ϕ is small, tan ϕ ≈ ϕ in radians and then, M w  WL 
where, L = the distance between the center of gravity and the axis
of rotation and,
W = the weight of the foundation.
36
 Machine foundations
 Step-3: Moment MR caused by the soil reaction:
Soil reaction over the elementary area dA is:

dR  C l dA
where, Cϕ = coefficient of elastic non-uniform compression.
Reactive moment dMR caused by the soil reaction dR is:

dM R  l dR  C l 2 dA
If the foundation does not lose contact with the soil, then the total reactive
moment MR against the foundation area in contact with the soil is given by:
A A
M R    C l  dA  C   l 2 dA  C I 
2

where, I = moment of inertia of the foundation area in contact

with the soil with respect to the axis of rotation.
37
 Machine foundations
 Step-4: Equation of motion can be written as:

or

Therefore, natural frequency of the system is:

where, ωnϕ = Circular natural frequency of rocking vibration (rad/sec)

fnϕ = Natural frequency of sliding vibrations (Hz)
38
 Machine foundations
If the value of Cϕ I is much greater than WL, then WL may be neglected, therefore

where, kϕ = Cϕ I = Equivalent spring for rocking vibrations

Amplitude of rocking vibrations, Aϕ, will be:

The effect of rocking is to increase the amplitudes of the vertical and horizontal
vibrations. Therefore, the maximum amplitude of vertical motion caused by
rocking is:
a
Av  A where, a is the dimension of the footing perpendicular
to the axis of rotation.
2
39
 Machine foundations
Similarly, the contribution of rocking, towards the horizontal amplitudes is given
by Ax1:

Ax1  h A where, h is the height of the point above the base

where amplitude is to be determined.

Note: For a footing that rocks about Y-axis and has dimensions, a
and b along the X and Y axis, respectively, I is given by:
3
ba
I
12
Thus, the response of the footing to rocking is affected by the
dimension of the footing perpendicular to the axis of vibration
o this principle may be used to an advantage in proportioning the
foundations undergoing rocking vibrations.
Rocking vibrations occur mostly in machines that are mounted on
high pedestals and have unbalanced horizontal forces and exciting
moments. 40
 Machine foundations
Torsional (Yawing) Vibrations of a Block Foundation

Consider a foundation excited in

torsional vibration, when it is
acted upon by a horizontal
moment;

M z (t )  M z sin t

Figure. Torsional vibrations of rigid block:

(a) Block subjected to horizontal moment.
(b) Development of non-uniform shear below the base.
41
 Machine foundations
Equation of motion for torsional vibrations can be expressed by:
M mz  C J z  M z sin t
where, Mmz = Mass moment of inertia of the machine and foundation about
the vertical axis (z-axis) of rotation (polar mass moment of inertia) and,
J = Polar moment of inertia of the foundation’s base area
Cψ = Coefficient of elastic non-uniform shear
ψ = angle of rotation of foundation about z-axis
Natural frequency of the torsional vibrations is:

where, kψ = Cψ J = spring constant for torsional vibrations (non-

uniform shear conditions at the base). 42
 Machine foundations

Amplitude of torsional vibrations, Aψ, will be:

Horizontal displacement, Ah, caused by torsion is:

Ah  r A
where, r = horizontal distance of the point on the foundation
from the axis of yawing.

43
 Machine foundations
Vibrations Accompanied by Simultaneous Rocking, Sliding, and
Vertical Displacement of a Block foundation

Figure. Block subjected to the action of simultaneous vertical Pz(t),

horizontal Px(t) forces and moment My(t). 44
 Machine foundations
Block foundation excited by the following forces and moments:
Vertical force: Pz (t )  Pz sin t
Horizontal force: Px (t )  Px sin t

Moment: M y (t )  M y sin t

→ It is assumed that all the loads are acting at the combined center of
gravity, O, of the machine and the foundation.

→ It is assumed that the center of gravity of the machine and

foundation and centroid of the foundation base area are lie on one
vertical axis.
45
 Machine foundations
If the origin of coordinates is located at the center of gravity, O, the
following displacements of the foundation will occur:
1. Displacement in the vertical direction, z
2. Displacement in the horizontal direction, x0 at the base and
3. Rotation of the base, ϕ
Three equations of motion referred to the center of gravity, O, can be
written by applying D'Alemberts principle as follows:
Zi = projection of all external forces acting on the foundation
mz  Z i  0 on the Z-axis
Xi = projection of all external forces acting on the foundation,

mx  X i  0
on the X-axis
Mi = sum of all external moments acting on the foundation
and lying on the XZ plane, and
 M m  M i  0 Mm= mass moment of inertia of the machine and foundation
about an axis passing through combined center of gravity
and perpendicular to the plane of vibrations.
 Machine foundations
Frequency equation for combined rocking and sliding:
   2   2   nx  n 
2 2

n    n 
n
0
4 nx 2

   
 
where,
12
 C I  WL  12

rad / sec and nx    

C A
n    rad / sec
 M mo   m 
Mm
and,   ; where 0    1
M mo
where, Mmo = Mass moment of inertia of the machine and foundation about an axis
passing through the centroid of the base area and perpendicular to the plane of
vibration
Mm = Mass moment of inertia of the machine and foundation about its c.g.
47
 Machine foundations

Thus, M mo  M m  mL 2

► This equation has two positive roots, ωn1 and ωn2, corresponding to
the two natural frequencies of the system, ωn1 and ωn2 and, having
inter-relationship with the limiting natural frequencies, ωnx and ωnϕ.
► The smaller of the two natural frequencies or lower natural frequency,
ωn2, is the smaller than the smallest of the two limiting frequencies,.
and the larger natural frequency is always larger than ωnx and ωnϕ.

 Amplitudes of Vibrations:
Case I, if only Horizontal force acts: Px (t )  Px sin t

C AL2  C I  WL  M m 2
Ax  Px
( )
2
48
 Machine foundations
Case II if only moment acts: M y (t )  M y sin t
C AL C A  m  2
Then, Ax  M and A  
My
( ) 
( )
2 y 2

Case III If both the unbalanced force Px and moment My are

acting:

Then,
Ax 
 
C AL2
 C I  WL  M m 2
 Px   C AL  M y
( 2 )

 C AL  Px   C A  m 2  M y
A 
( 2 )
49
 Machine foundations
For the total amplitude of the vertical and horizontal vibrations:

where, h = height of the top of the foundation above the combined

center of gravity.

References:
1. Shamsher Prakash and Vijay K. Puri (1987) “Foundations for Machines: Analysis
and Design” A Wiley-lnterscience Publication, John Wiley and Sons.
2. Gopal Ranjan and A.S.R. Rao (2006) “Basic and Applied Soil mechanics” New Age
International Publishers.
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 Machine foundations
 Question_ Assignment:

Dynamic elastic constants are:-

Cu = 3.62 ×104 kN/m3
G = 1.10 ×104 kN/m3
E = 2.98 ×104 kN/m3
Poisson’s ratio = 0.35

51
Thank you
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