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25
Harmonic Motion
Definitions of Terminology:
Natural frequency is the frequency which a system oscillates
without external forces
Phase angle (|) is the angular difference between two
synchronous harmonic motions
( )
( ) ( ) 62 . 1 sin
61 . 1 sin
2 2
1 1
| e
e
+ =
=
t A x
t A x
26
( )
( ) ( ) 62 . 1 sin
61 . 1 sin
2 2
1 1
| e
e
+ =
=
t A x
t A x
27
28
Complex Fourier Series:
The Fourier series can also be represented in
terms of complex numbers.
Harmonic Analysis
) 79 . 1 ( sin cos
) 78 . 1 ( sin cos
t i t e
t i t e
t i
t i
e e
e e
e
e
=
+ =
Also,
) 81 . 1 (
2
sin
) 80 . 1 (
2
cos
i
e e
t
e e
t
t i t i
t i t i
e e
e e
e
e
+
=
+
=
and
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
x(t)
t
undamped
overdamped
underdamped
Critically
damped
d
e
t 2
n d
e e
<
<1
0 =
n
e
t 2
1 =
1 >
x
0
Comparison of motion with different types of damping
OTHER EXAMPLE
53
54
55
56
57
58
59
60
61
62
63
Two-Degree of Freedom Systems
Equation of Motion
64
Two degree of freedom systems are defined as
systems that require two independent
coordinates to describe their motion.
Consider the motor-pump system shown in
Fig.5.1. The vertical displacement of the system
and the angular coordinate denoting the rotation
of the mass about its C.G. make up two
independent coordinates.
Figure 5.1: Motor-pump system
65
Consider the system shown in Fig.5.2.
The general rule for the computation of the
number of degrees of freedom can be stated as
follows:
No. of degrees No. of masses in the system
of freedom of = x no. of possible types of
the system motion of each mass
Figure 5.2: Packaging of an instrument
66
67
68
0
69
0
70
71
72
73
74
75
76
77
78
79
80
81
82
OTHER EXAMPLE
83
84
Deriving 2-DOF mathematical model
85
2 2 2 1 2 2 3
1 1 2 1 2 1 1
) (
) (
x m x x k x k
x m x x k x k
ma F
= +
=
=
+
+
+
)
`
x
x
k k k
k k k
x
x
m
m
87
Free Vibration of an Undamped 2-DOF
System
Assume harmonic motion. Let,
( )
) sin( (
2
) sin(
2
2
1
2
1
2
1
2
1
| e e
| e
+
(
=
(
+
(
=
(
t
X
X
x
x
t
X
X
x
x
88
Subst. (2) into (1)
) 3 ( 0
) (
(
0
) (
) (
0
0
2
1
2
2 3 2 2
2
2
1 2 1
2
1
3 2 2
2 2 1
2
1
2
2
2
1
=
(
(
(
+
+
=
(
+
+
+
(
(
(
X
X
m k k k
k m k k
or
X
X
k k k
k k k
X
X
m
m
e
e
e
e
89
For non-trivial solution,
0 ) )( ( ) )( (
0
' :
12 21 22 11
22 21
12 11
=
=
A A A A
A A
A A
Rule s Cramer Note
{ }
{ }
0
) (
) (
det
3 2
2
2 2
2 2 1
2
1
=
(
(
+ +
+ +
k k m k
k k k m
e
e
90
or
{ }
{ } 0 ) )( (
) ( ) ( ) (
2
2 3 2 2 1
1 3 2 2 2 1
4
2 1
= + + +
+ + +
k k k k k
m k k m k k m m e e
A
AC B B
x
c Bx Ax
x
Substitute
m m
k k k k k k
m
k k
m
k k
2
4
0
,
0
) ( ) ( ) (
2
2
2
2 1
1 3 3 2 2 1
2
2
3 2
1
2 1
4
=
= + +
=
=
(
+ +
+
(
|
|
.
|
\
|
+
+
|
|
.
|
\
|
+
e
e e
91
which is called the frequency or characteristic
equation. Hence the roots are:
The roots are called natural frequencies of the system.
) 10 . 5 (
) )( (
4
) ( ) (
2
1
) ( ) (
2
1
,
2 / 1
2 1
2
2 3 2 2 1
2
2 1
1 3 2 2 2 1
2 1
1 3 2 2 2 1
2
2
2
1
)
`
+ +
)
`
+ + +
)
`
+ + +
=
m m
k k k k k
m m
m k k m k k
m m
m k k m k k
e e
92
The normal modes of vibration corresponding to
1
2
and
2
2
can
be expressed, respectively, as
) 11 . 5 (
) (
) (
) (
) (
) 3 (
3 2
2
2 2
2
2
2 1
2
2 1
) 2 (
1
) 2 (
2
2
3 2
2
1 2
2
2
2 1
2
1 1
) 1 (
1
) 1 (
2
1
k k m
k
k
k k m
X
X
r
k k m
k
k
k k m
X
X
r
From
+ +
=
+ +
= =
+ +
=
+ +
= =
e
e
e
e
To determine the values of X
1
and X
2
,
) 12 . 5 ( and
) 2 (
1 2
) 2 (
1
) 2 (
2
) 2 (
1 ) 2 (
) 1 (
1 1
) 1 (
1
) 1 (
2
) 1 (
1 ) 1 (
=
X r
X
X
X
X
X r
X
X
X
X
Known as the modal vectors of the system.
93
Modal vector
First mode
Second mode
.
) 2 (
2
) 2 (
1 2
) 1 (
2
) 1 (
1 1 2 1
X and X as at and
X and X as to correspond X and X of Values
e
e
94
Initial conditions. The initial conditions are
(5.13) mode second
) cos(
) cos(
) (
) (
) (
mode first
) cos(
) cos(
) (
) (
) (
2 2
) 2 (
1 2
2 2
) 2 (
1
) 2 (
2
) 2 (
1
) 2 (
1 1
) 1 (
1 1
1 1
) 1 (
1
) 1 (
2
) 1 (
1
) 1 (
=
+
+
=
=
=
+
+
=
=
| e
| e
| e
| e
t X r
t X
t x
t x
t x
t X r
t X
t x
t x
t x
95
Thus the components of the vector can be expressed
as
) 15 . 5 ( ) cos( ) cos(
) ( ) ( ) (
) cos( ) cos( ) ( ) ( ) (
2 2
) 2 (
1 2 1 1
) 1 (
1 1
) 2 (
2
) 1 (
2 2
2 2
) 2 (
1 1 1
) 1 (
1
) 2 (
1
) 1 (
1 1
| e | e
| e | e
+ + + =
+ =
+ + + = + =
t X r t X r
t x t x t x
t X t X t x t x t x
where the unknown constants can be determined
from the initial conditions:
96
Substituting into Eq.(5.15) leads to
) 16 . 5 ( ) 0 ( ) 0 ( ), 0 ( ) 0 (
), 0 ( ) 0 ( ), 0 ( ) 0 (
2 2 2 2
1 1 1 1
x t x x t x
x t x x t x
= = = =
= = = =
) 17 . 5 ( sin sin ) 0 (
cos cos ) 0 (
sin sin ) 0 (
cos cos ) 0 (
2
) 2 (
1 2 2 1
) 1 (
1 1 1 2
2
) 2 (
1 2 1
) 1 (
1 1 2
2
) 2 (
1 2 1
) 1 (
1 1 1
2
) 2 (
1 1
) 1 (
1 1
| e | e
| |
| e | e
| |
X r X r x
X r X r x
X X x
X X x
=
+ =
=
+ =
97
The solution can be expressed as
)
`
=
)
`
=
)
`
+
=
)
`
=
) (
) 0 ( ) 0 (
sin ,
) (
) 0 ( ) 0 (
sin
) 0 ( ) 0 (
cos ,
) 0 ( ) 0 (
cos
1 2 2
2 1 1
2
) 2 (
1
1 2 1
2 1 2
1
) 1 (
1
1 2
2 1 1
2
) 2 (
1
1 2
2 1 2
1
) 1 (
1
r r
x x r
X
r r
x x r
X
r r
x x r
X
r r
x x r
X
e
|
e
|
| |
98
from which we obtain the desired solution
{ } | { } |
{ }
{ }
{ } | { } |
{ }
{ }
) 18 . 5 (
) 0 ( ) 0 ( [
) 0 ( ) 0 (
tan
cos
sin
tan
) 0 ( ) 0 ( [
) 0 ( ) 0 (
tan
cos
sin
tan
) 0 ( ) 0 (
) 0 ( ) 0 (
) (
1
sin cos
) 0 ( ) 0 (
) 0 ( ) 0 (
) (
1
sin cos
2 1 1 2
2 1 1
1
2
) 2 (
1
2
) 2 (
1
1
2
2 1 2 1
2 1 2
1
1
) 1 (
1
1
) 1 (
1
1
1
2 / 1
2
2
2
2 1 1
2
2 1 1
1 2
2 / 1
2
2
) 2 (
1
2
2
) 2 (
1
) 2 (
1
2 / 1
2
1
2
2 1 2
2
2 1 2
1 2
2 / 1
2
1
) 1 (
1
2
1
) 1 (
1
) 1 (
1
)
`
+
=
)
`
=
)
`
+
=
)
`
=
(
+ +
=
+ =
(
=
+ =
x x r
x x r
X
X
x x r
x x r
X
X
x x r
x x r
r r
X X X
x x r
x x r
r r
X X X
e |
|
|
e |
|
|
e
| |
e
| |
99
Example 5.3
Find the free vibration response of the system
shown with k
1
= 30, k
2
= 5, k
3
= 0, m
1
= 10, and
m
2
= 1 for the initial conditions
). 0 ( ) 0 ( ) 0 ( , 1 ) 0 (
2 2 1 1
x x x x
= = =
100
Solution: For the given data, the eigenvalue problem,
Eq.(5.8), becomes
(E.1)
0
0
5 5 -
5 35 10
0
0
2
1
2
2
2
1
3 2
2
2 2
2 2 1
2
1
)
`
=
)
`
(
(
+
+
)
`
=
)
`
(
(
+ +
+ +
X
X
X
X
k k m k
k k k m
e
e
e
e
or
101
from which the natural frequencies can be found as
By setting the determinant of the coefficient matrix in
Eq.(E.1) to zero, we obtain the frequency equation,
(E.2) 0 150 85 10
2 4
= + e e
) 2 (
1
) 2 (
2
2
2
2
) 1 (
1
) 1 (
2
2
1
2
2 1
2
2
2
1
5 ) 1 ( 0 . 6
2 ) 1 ( 5 . 2 Subst
E.3) ( 4495 . 2 , 5811 . 1
0 . 6 , 5 . 2
X X to leads E in
X X to leads E in
= = =
= = =
= =
= =
e e
e e
e e
e e
102
The normal modes (or eigenvectors) are given by
E.5) (
5
1
E.4) (
2
1
) 2 (
1
) 2 (
2
) 2 (
1
) 2 (
) 1 (
1
) 1 (
2
) 1 (
1
) 1 (
X
X
X
X
X
X
X
X
)
`
=
)
`
103
By using the given initial conditions in Eqs.(E.6) and
(E.7), we obtain
The free vibration responses of the masses m
1
and m
2
are given by (see Eq.5.15):
(E.7) ) 4495 . 2 cos( 5 ) 5811 . 1 cos( 2 ) (
(E.6) ) 4495 . 2 cos( ) 5811 . 1 cos( ) (
2
) 2 (
1 1
) 1 (
1 2
2
) 2 (
1 1
) 1 (
1 1
| |
| |
+ + =
+ + + =
t X t X t x
t X t X t x
(E.11) sin 2475 . 12 1622 . 3 ) 0 (
(E.10) sin 4495 . 2 sin 5811 . 1 0 ) 0 (
(E.9) cos 5 cos 2 0 ) 0 (
(E.8) cos cos 1 ) 0 (
2
) 2 (
1
) 1 (
1 2
2
) 2 (
1 1
) 1 (
1 1
2
) 2 (
1 1
) 1 (
1 2
2
) 2 (
1 1
) 1 (
1 1
|
| |
| |
| |
X X t x
X X t x
X X t x
X X t x
+ = =
= = =
= = =
+ = = =
104
while the solution of Eqs.(E.10) and (E.11) leads to
The solution of Eqs.(E.8) and (E.9) yields
(E.12)
7
2
cos ;
7
5
cos
2
) 2 (
1 1
) 1 (
1
= = | | X X
(E.13) 0 sin , 0 sin
2
) 2 (
1 1
) 1 (
1
= = | | X X
Equations (E.12) and (E.13) give
(E.14) 0 , 0 ,
7
2
,
7
5
2 1
) 2 (
1
) 1 (
1
= = = = | | X X
105
Thus the free vibration responses of m
1
and m
2
are
given by
(E.16) 4495 . 2 cos
7
10
5811 . 1 cos
7
10
) (
(E.15) 4495 . 2 cos
7
2
5811 . 1 cos
7
5
) (
2
1
t t t x
t t t x
=
+ =
106
Free Vibration of an Undamped 2-DOF
System
k
2
k
1
x
1
x
2
m
1
m
2
1 1 1 1 2 2 1 1
1 1 1 2 1 2 2
( ) 0
( ) 0
m x k x k x x F
m x k k x k x
+ = =
+ + =
2 2 2 2 1 2
2 2 2 1 2 2
( ) 0
0
m x k x x F
m x k x k x
+ = =
+ =
1 1 1 2 1 2 2
2 2 2 1 2 2
1 1 1 2 2 1
2 2 2 2 2
( ) 0
0
can be written in matrix
0 ( ) 0
0 0
m x k k x k x
m x k x k x
m x k k k x
m x k k x
+ + =
+ =
+
( (
+ =
` ` `
( (
) ) )
1 1 2 2
sin( ) sin( ) x A t x A t e e = =
2 2
1 1 2 2
sin( ) sin( ) x A t x A t e e e e = =
107
1 1 1 2 2 1
2 2 2 2 2
0 ( ) 0
0 0
m x k k k x
m x k k x
+
( (
+ =
` ` `
( (
) ) )
1 1
2 2
sin( )
sin( )
x A t
x A t
e
e
=
=
2
1 1
2
2 2
sin( )
sin( )
x A t
x A t
e e
e e
=
=
2
1 1 2 2 1 1
2
2 2 2 2 2
( ) 0 0
0 0
A k k k A m
A k k A m
e
e
+ ( (
+ =
` ` ` ( (
) ) )
2
1 2 1 2
1
2
2
2 2 2
( )
0
0
k k m k
A
A
k k m
e
e
(
( +
(
=
` `
(
( ) )
Can be solved
only if
2
1 2 1 2
2
2 2 2
( )
0
k k m k
k k m
e
e
( +
=
(
108
| |
2
1 2 1 2
2
2 2 2
4 2 2
1 2 1 2 2 2 1 1 2 2 2
( )
0
( ) ( ) ( ) 0
k k m k
k k m
mm k k m k m k k k k
e
e
e e
( +
=
(
+ + + + =
| | | |
2
2
1 2 2 2 1 1 2 2 2 1 1 2 1 2 2 2
2 2
1 2
1 2
( ) ( ) 4( ) ( )
,
2( )
k k m k m k k m k m mm k k k k
mm
e e
( + + + + +
=
1 1
2 2
first natural frequency
first natural frequency
n
n
e e
e e
= =
= =
109
2
1 2 1 1 2
1
2
2
2 2 2 1
( )
0
0
n
n
k k m k
A
A
k k m
e
e
(
( +
(
=
` `
(
( ) )
1
at first natural frequency =
n
e e
2 (1) (1)
1 2 1 1 1 2 2
( ) 0
n
k k m A k A e ( + =
2 (1)
1 2 1 1 2
1
(1)
1 2
( )
n
k k m A
r
A k
e +
= =
2 (2) (2)
1 2 1 2 1 2 2
( ) 0
n
k k m A k A e ( + =
2 (2)
1 2 1 2 2
2
(2)
1 2
( )
n
k k m A
r
A k
e +
= =
Modal vector
1 1
1 1 1
1 1
2 1 1
A A
A r A
= =
` `
) )
( ) ( )
( )
( ) ( )
A
(2) (2)
(2) 1 1
(2) (2)
2 2 1
A A
A r A
= =
` `
) )
A
First mode
Second mode
110
k
k
x
1
x
2
m
m
For a case
| |
2 4 2 2
( ) 3 0 m km k e e + =
2 2 2 2 2 2
2
1
2 2
2
2
1
2
3 9 4 3 5
2 2
3 5 3 5
2 4 2 4
1.618
0.618
n
n
n
km k m m k km m k
m m
k k k k
m m m m
k
m
k
m
e
e
e
+ +
= =
= + = +
=
=
| |
4 2 2
1 2 1 2 2 2 1 1 2 2 2
( ) ( ) ( ) 0 mm k k m k m k k k k e e + + + + =
m
1
= m
2
= m
k
1
= k
2
= k
111
Mode shapes
(1) 2
2
(1)
1
(2 ) (1.618) ( / )
0.618
A k m k m
A k
= =
(1) 2
2
(1)
1
(2 ) (0.618) ( / )
1.618
A k m k m
A k
= =
1.0
-0.618
1.0
1.618
1
1.0
0.618
|
=
`
)
2
1.0
1.618
|
=
`
)
112
Free vibration with initial conditions
For a specific condition, the system can be made to
vibrate in its ith normal mode (i = 1, 2) by subjecting it to
the specific initial conditions
. 0 ) 0 (
, ) 0 (
, 0 ) 0 (
constant, some ) 0 (
2
) (
1 2
1
) (
1 1
= =
= =
= =
= = =
t x
A r t x
t x
A t x
i
i
i
113
However, for any other general initial conditions, both
modes will be excited. The resulting motion can be
obtained by a linear superposition of the two normal
modes
) ( ) ( ) (
2 2 1 1
t x c t x c t x
+ =
) cos( ) cos( ) ( ) ( ) (
) cos( ) cos( ) ( ) ( ) (
2 2
) 2 (
1 2 1 1
) 1 (
1 1
) 2 (
2
) 1 (
2 2
2 2
) 2 (
1 1 1
) 1 (
1
) 2 (
1
) 1 (
1 1
| e | e
| e | e
+ + + = + =
+ + + = + =
t A r t A r t x t x t x
t A t A t x t x t x
as expressed be can vector the of components the Thus
. generality of loss no with choose can we and
constants unknown the involve already and Since
constants. are and where
) (
1 ,
) ( ) (
2 1
) 2 (
1
) 1 (
1
) 2 ( ) 1 (
2 1
t x
c c A A
t x t x
c c
= =
114
: conditions initial the from
determined be can and constants unknown the where
2 1
) 2 (
1
) 1 (
1
, , | | A A
) 0 ( ) 0 ( ), 0 ( ) 0 (
) 0 ( ) 0 ( ), 0 ( ) 0 (
2 2 2 2
1 1 1 1
x t x x t x
x t x x t x
= = = =
= = = =
2
) 2 (
1 2 2 1
) 1 (
1 1 1 2
2
) 2 (
1 2 1
) 1 (
1 1 2
2
) 2 (
1 2 1
) 1 (
1 1 1
2
) 2 (
1 1
) 1 (
1 1
sin sin ) 0 (
cos cos ) 0 (
sin sin ) 0 (
cos cos ) 0 (
| e | e
| |
| e | e
| |
A r A r x
A r A r x
A A x
A A x
=
+ =
=
+ =
Example
115
116
117
118
Example
119
120
121
122