Harmonic Excitation

of 1-DOF System

Mechanical Vibration
Teknik Mesin - UNDIP

Teknik Mesin-UNDIP Harmonic-1DOF 1

Equation of Motion
k
/\/\/\/\/\/\/\/\
c m
F(t)

x(t)
Persamaan gerak :
meqx(t )  ceqx (t )  keqx(t )  Feq (t )
Atau
x(t )  2 n x (t )   n2 x  Feq (t ) / meq
Harmonic excitation : Feq (t )  F0 sin t   
Teknik Mesin-UNDIP Harmonic-1DOF 2
 Undamped System Response
F0
2
x(t )   x(t ) 
n sin t     PD biasa orde 2
meq tak homogen
Solusi homogen : x h (t )  C1 cos  n t  C 2 sin  n t
F0
Solusi partikular : x p (t )  sin t   
meq  n   
2 2

Solusi total untuk    n :

 F0 sin   1  F0 cos   F0
x(t )   x0   cos  t   
x   sin  t  sint   
meq  n    meq  n    meq  n   
2 2 n 0 2 2 n 2 2
  n 

Teknik Mesin-UNDIP Harmonic-1DOF 3

Undamped System Response

xt(t)
xp(t)
xh(t)
x(t)

2 /  n

2 / 

Teknik Mesin-UNDIP Harmonic-1DOF 4

Undamped System Response
 x 0 F0 cos   F0
Untuk   n : x (t )  x0 cos  n t    2  sin  n t  t cos nt   
 n 2meq n  2meq n
x(t)

Jika frekuensi eksitasi sama dengan frekuensi

natural sistem  resonansi  respon divergen
Teknik Mesin-UNDIP Harmonic-1DOF 5
 Undamped System Response
Untuk    n dan x0  0 ; x 0  0 :
2 F0    n    n 
x(t )  sin  t cos t
meq  n     2 
2 2
 2 

2 /    n
 Beating Phenomenon

Beating period:
2 /    n
x(t)

Vibration period:
4 /    n 4 /    n
t

Teknik Mesin-UNDIP Harmonic-1DOF 6

Damped System Response
Persamaan Standar :
x(t )  2 n x (t )   n2 x  ( F 0 / meq ) sin t   
Solusi partikular :
x p (t )  X sin(t    1 )
F0
sehingga X 
 2
meq   
n   2   
2 2
n
2
1
2

dengan
 2 n 
1  tan  2
1



 n   
Teknik Mesin-UNDIP Harmonic-1DOF 7
Damped System Response
Bentuk non diemensional:
1  2 r 
M (r ,  )  1
1  tan  2 
1  r   2 r 2
2 2
1 r 

meq n2 X
dengan M (r ,  )   Amplitude factor/
F0 magnification
dan r   / n factor
 M=1 jika r=0 : Gaya eksitasi konstan dan sama dengan
gaya maksimum pegas
 M0 jika r : Untuk frekuensi eksitasi tinggi amplitudo
respon sangat kecil
 M 
Teknik Mesin-UNDIP Harmonic-1DOF 8
Damped System Response
5
eta=0,01
eta=0,10
eta=0,25
4
eta=0,50
eta=0,70
eta=1,00
3
M

0
0 1 2 3
r

Teknik Mesin-UNDIP Harmonic-1DOF 9

Damped System Response
180

135
sudut fasa (deg)

90
eta=0,01
eta=0,10

45 eta=0,25
eta=0,50
eta=0,70
eta=1,00
0
0 1 2 3
r

Teknik Mesin-UNDIP Harmonic-1DOF 10

Damped System Response
 Diagram Gaya
ω << ωn ω = ωn ω >> ωn

cωX
mω X 2 cωX mω X 2 cωX mω2X

kX Φl kX
F0 Φ kX F0 X
l F0 Φl
X X

Teknik Mesin-UNDIP Harmonic-1DOF 11

Damped System Response
 Solusi total
Solusi total = solusi partikular + solusi homogen
Respon = respon steady-state + respon transien

x(t ) 
F0
k
1
2

 Ae nt sin 1    n t   d 
  
2
  2
1       2  
   n     n 
 

Teknik Mesin-UNDIP Harmonic-1DOF 12

Rotating Unbalance
Persamaan gerak :
m
d2
e M  m x  m 2 ( x  e sin t )  kx  cx
dt
x(t)
M
Sehingga :
MX r2 
 r
me 1  r   2 r 
2 2 2 n
/\\/\/\/\/\

k c
dan :
 2 r 
  tan 1  2 
1 r 
Teknik Mesin-UNDIP Harmonic-1DOF 13
Rotating Unbalance
4
eta=0,1
3 eta=0,01
eta=0,05
MX/me

2 eta=0,08
eta=0,2
1 eta=0,5
eta=0,8
0 eta=1
0 1 2 3 eta=2
r

Teknik Mesin-UNDIP Harmonic-1DOF 14

Rotating Unbalance
180
eta=0,1
135 eta=0,01
Sudut fasa (deg)

eta=0,05
90 eta=0,08
eta=0,2
45 eta=0,5
eta=0,8
0 eta=1
0 1 2 3 eta=2
r

Teknik Mesin-UNDIP Harmonic-1DOF 15

Harmonic Excitation of Support
Persamaan gerak :
mx  k x  y   cx  y 
m Substitusi : z  x  y
x(t) diperoleh :
mz  cz  kz  m 2Y sin t
dan :
1  2 r 
2
X
/\\/\/\/\/\

k 
c Y 1  r   2 r 
2 2 2

y(t) 1


2  r 3


  tan  2 
 1  r  2 r  
2

Teknik Mesin-UNDIP Harmonic-1DOF 16

Harmonic Excitation of Support
4

eta=0,1
3 eta=0,01
eta=0,05
eta=0,2
X/Y

2
eta=0,5
eta=0,8
1 eta=1
eta=2

0
0 1 √2 2 3
r

Teknik Mesin-UNDIP Harmonic-1DOF 17

Harmonic Excitation of Support
180
eta=0,1
eta=0,01
135
Sudut fasa (deg)

eta=0,05
eta=0,08
90
eta=0,2
eta=0,5
45
eta=0,8
eta=1
0
0 1 2 3
r

Teknik Mesin-UNDIP Harmonic-1DOF 18

Vibration Isolation
The force transmitted to the foundation is
the sum of the spring force and damping
force

F
m FT  kX 2  cX 2  kX 1  2 r 
2

For harmonic excitation the steady-state

amplitude of the system given by
F0 1
X 
k 1  r   2 r 
/\\/\/\/\/\

2 2 2
k c thus

1  2 r 
2
FT
  TR  transmissibillty
Fo 1  r   2 r 
2 2 2

Teknik Mesin-UNDIP Harmonic-1DOF 19

Vibration Isolation
4

eta=0,1
3 eta=0,01
eta=0,05
eta=0,2
TR

2
eta=0,5
eta=0,8
1 eta=1
eta=2

0
0 1 √2 2 3
r

Teknik Mesin-UNDIP Harmonic-1DOF 20

Vibration Isolation
 Transmissibility can be formulated as
transmitted force
TR 
amplitude of excitationforce
 For r=√2 the full force is transmitted to the base
 For values r >√2 the force transmitted tends to decrease with
increasing driving frequency regardless of damping

 For values r >√2 the larger the damping, the larger the transmitted
force
 Damping does not alleviate the transmissibility of the system

Teknik Mesin-UNDIP Harmonic-1DOF 21

Vibration Isolation
 The amplitude of vibration can be reduced by mounting
the machine on a large mass

M kn

 By keeping kn/(M+m)=k/m  no change in ωn and kn>k.

As the result X will decrease.
F0 1
X 
k 1  r   2 r 
2 2 2

Teknik Mesin-UNDIP Harmonic-1DOF 22

Vibration Isolation
 If the damping is neglected the equation of
transmissibility become ;
(note that r >√2)
1 1
TR  2 
r  1 2f 2 
1
g
 g = gravity acceleration and ∆ = static
displacement

Teknik Mesin-UNDIP Harmonic-1DOF 23

Vibration Measuring Instruments
 Time histories of vibrations are sensed by using seismic
transducer
 Transducer is a device that converts mechanical motion
into voltage
mx  k x  y   cx  y 
m Housing z  x y
2
x(t)
mz  cz  kz  m Y sin t
 
/\\/\/\/\

k c
Z r2  2 r 
| |   tan 1  2 
Y 1  r   2 r 
2 2 2
 1  r 
y(t)
Teknik Mesin-UNDIP Harmonic-1DOF 24
Vibration Measuring Instruments
3,5
3
eta=0,00
Accelerometer

2,5 eta=0,25
Seismometer
2 eta=0,50
Z/Y

1,5 eta=0,70

1 eta=1,00
r^2
0,5
0
0 1 2 3 4 5 6 7 8
r

Teknik Mesin-UNDIP Harmonic-1DOF 25

Vibration Measuring Instruments
180
Phase Angel (deg)

135
eta=0,50
90 eta=0,70
eta=1,00
45

0
0 1 2 3 4 5 6 7 8
r

Teknik Mesin-UNDIP Harmonic-1DOF 26

Vibration Measuring Instruments
 For large r (r > 3) |Z/Y| |Z| = |Y|. It means
that the mass m will be stationary and the
housing moves together with measured object
 A seismic transducer that requires a large
frequency ratio is called seismometer
 A large frequency ratio requires a small natural
frequency for the transducer  requires a large
seismic mass and very flexible string
 Because of the required size for accurate
measurement, seismometers are not practical for
many application
Teknik Mesin-UNDIP Harmonic-1DOF 27
Vibration Measuring Instruments
 For small r, ω/ωn 0 and 1  r 2  2 r 2 1
 2Y acceleration
Z 2 
n  n2
 A vibration measuring instrument that works at
low frequency ratio is called accelerometer
 A low frequency ratio requires a high natural
frequency for the transducer
 In order to minimize the amplitude distorsion
an accelerometer should be built with ≈0.7

Teknik Mesin-UNDIP Harmonic-1DOF 28

Vibration Measuring Instruments

1,05
1,04
eta=0,00
1,03
eta=0,60
Abs(G(omega))

1,02
1,01 eta=0,65
1 eta=0,70
0,99 eta=0,75
0,98
eta=0,80
0,97
0,96 eta=1,00
0,95
0 0,1 0,2 0,3 0,4 0,5 0,6 0,7
r

Teknik Mesin-UNDIP Harmonic-1DOF 29