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3

1.

(Free vibration)

2.

2 ( 4 2-3)


(3-1)
mx(t ) + cx (t ) + kx(t ) = F (t )

()


(3-1)
(3-2)
mx(t ) + cx (t ) + kx(t ) = 0

(3-2)
(3-2)

(3-2)
a1

d2y
dy
+ a2
+ a3 y = 0
2
dx
dx

(3-3)

(3-3) (Auxiliary equation)


(3-3) ( d

y
dx2

( r ) ( dy ) ( r ) y
2

dx

(3-3)

(3-4)
r1 r2 (3-4) r1 r2 3 1) r1
r2
2) r1 r2 3) r1 r2
(3-3) 3
r1 r2
1: r1 r2 ( r r )
(3-3)
(3-5)
y = C e +C e
C1 C2
2: r1 r2 ( r = r )
(3-3)
(3-6)
y = (C + C x)e
C1 C2
3: r1 r2
r = a + bi r
r = a bi (3-3)
(3-7)
y=C e
+C e
C1 C2

e = cos + i sin
(3-7)
(3-8)
y = e ax ( A1 cos(bx) + A2 sin(bx))
ax
(3-9)

y = Ae sin(bx + )
A1, A2 A,


a1r 2 + a 2 r + a3 = 0

r1 x

r2 x

r1 x

( a + bi) x

( a bi) x

3.

(3-2)

mx(t ) + kx(t ) = 0

(3-10)
m r2 + k = 0

(3-10)
(3-11)

i ( k m )
k m (3-11)
(3-8) (3-9) (3-10)


k
k
t)
t ) + A2 sin(
m
m

x = A1 cos(

x = A sin(

k
t + )
m

(3-12)
(3-13)


A1, A2 A, (initial condition)
x
(3-13) A

3-1


(3-13)

2
k m

k m

3-1

2
k m

(3-14)

f (frequency)
(angular velocity of the cyclic motion circular frequency)
=

1 2
=
f

= k m
(3-15)


k m



(3-15)

(natural frequency) n
(3-15)
n = k m
(3-16)

fn =

1
k m
2

(3-17)




Note


rad/s

f Hz
n = k m

(Initial condition)

( t = 0)

3-1
mx(t ) + kx(t ) = 0


1. t = 0 x0 x(0) = x0
2. t = 0 v0 x (0) = v0

k
x(t ) = 0
m
x(t ) + n2 x(t ) = 0

x(t ) +


(1)
x(t ) = A sin(n t + )
(2)
(1) x (t ) = An cos(n t + )
t = 0 (1) (2)
(3)
x(0) = x0
x0 = A sin()
(4)
x (0) = v0
v0 = An cos()
(3) (4) 2 A (3) (4)
A=

2n x02 + v02
n

= tan 1

n x0
v0

(1)
A
x(t ) =

2n x02 + v02
n

sin( n t + tan 1

n x0
)
v0

ANS

Note

A
1. ( x0 )

A
( x0 )
2. x0 v0
3. x0 v0

3-2
A vehicle wheel, tire, and suspension assembly can be modeled crudely as a single-degree-offreedom spring-mass system. The mass of the assembly is measured to be about 300 kilograms
(kg). Its frequency of oscillation is observed to be 10 rad/s. What is the approximate stiffness of the
tire, wheel, and suspension assembly? [Inman ex1.1.2]
1-dof



k
= 10 rad/s
m
k = m n2 = 300 10 2 = 30,000 N/m

n =

ANS


(3-18)
x(t ) = A sin(n t + )

(3-19)
x (t ) = n A cos(n t + )

x(t ) = n2 A sin(n t + )
(3-20)
3-2


(3-18) (3-20)

A , n A


2n A
90

3-2

4.

3-3

mx(t ) + cx (t ) + kx(t ) = 0
(3-21)
(3-21)


mr 2 + cr + k = 0

(3-21)

r1, 2 =

c c 2 4mk
2m

(3-22)

k
m
c

3-3

1.

c 2 4mk < 0 :
(3-9)
y = Ae ax sin(bx + )

2.

c 2 4mk = 0
r1 = r2 = r =

c
2m

r1

r2

(3-9)

(3-6)

(3-6)
3. c 2 4mk > 0 : r1 r2 2
m, c k c > c 2 4mk
(3-5)
(3-5)
y = C e +C e
(3-5), (3-6) (3-9) y m
(3-9)

( )

(3-5) (3-6)

exponential 2

2
c 4mk = 0
c = ccr = 2 mk = 2m n
(3-23)

c (3-23)

(Critical damping coefficient, ccr )


(3-23)

(3-23)


(Damping ratio, )
y = (C1 + C 2 x)e r1x

r1 x

r2 x

c
c
c
=
=
ccr 2m n 2 km

(3-24)


(3-1) c (3-24)
(3-16)

x + 2 n x + n2 x = 0
(3-25)
(3-22)
r1, 2 = n n 2 1
(3-26)

1. c 2 4mk < 0 2 1 < 0 0 < < 1

Under damped motion


2. c 2 4mk = 0 2 1 = 0 = 1


Critically damped motion
3. c 2 4mk > 0 2 1 > 0 1 <

Over damped
motion
4.1 Under damped motion
( 0 <
(3-26)

< 1)

r1, 2 = n n 1 2 j

(3-9)
x(t ) = Ae nt sin( d t + )

(3-27)
(3-28)

d = n 1 2

A
(3-27) exponential

(3-27)
3-4

(3-27)



d d
(Damped natural frequency)

0
(3-27) (3-28) (3-13)

3-4

Under damped motion


4.2 Critically damped motion
(

=1)

(3-26)

r1, 2 = n = n

(3-6)
x(t ) = (a1 + a 2 t )e nt

(3-29)

a 2

(3-29)
m
3-5
(3-29)
a1

3-5 Critically damped motion


4.3 Over damped motion
(
(3-26)

> 1)

r1, 2 = n n 2 1

(3-5)
x(t ) = e nt (a1e (n

2 1 ) t

+ a 2 e + ( n

2 1 ) t

(3-30)

a 2

(3-30)


Critically damped motion
(3-30) 3-6

a1

3-6 Over damped motion


Over damped motion Critically damped motion

Critically damped motion
Over damped motion
3-3 A Spring-mass-damper system has mass of 100 kg, stiffness of 3000 N/m and
damping coefficient of 300 kg/s. Calculate the undamped natural frequency, the damping ratio
and the damped natural frequency. Does the solution oscillate? This system is given a zero
initial velocity and an initial displacement of 0.1 m. Calculate the vibration response. [inman
1.40, 1.42]
k
m
c

Undamped natural frequency


Damping ratio

--



mx + cx + kx = 0
k
3000
=
= 5.477 rad/s
m
100
c
300
=
=
= 0.274
2 km 2 (3000)(100)

n =

ANS
ANS

1 Under-damped motion

Damped natural frequency

Damped natural frequency

d = n 1 2 = 5.477 1 0.274 2 = 5.27 rad/s

ANS

Under-damped motion



x(t ) = Ae t sin(d t + )
(1)
n

, n d
x(t ) = Ae ( 0.274 )(5.477 )t sin(5.27t + )
x(t ) = Ae 1.5t sin(5.27t + )

(2)

A
(2)
v = x (t ) = A(1.5)e 1.5t sin(5.27t + ) + Ae .15t (5.27) cos(5.27t + )
v = x (t ) = Ae 1.5t [(1.5) sin(5.27t + ) + 5.27 cos(5.27t + )]

(3)

(2)
(3)
t = 0, x = 0.1 m
0.1 = Ae 0 sin(0 + ) = A sin

(4)

t = 0, v = 0 m/s

0 = Ae 0 [ 1.5 sin(0 + ) + 5.27 cos(0 + )]


0 = A[ 1.5 sin + 5.27 cos ]

A 0
0 = 1.5 sin + 5.27 cos

(5)

(4) (5)
A = 0.104, = 1.293 rad

(2)

x(t ) = 0.104e 1.5t sin(5.27t + 1.293)

Note

ANS

5. Logarithmic decrement

m k
c
m k

c
under damped motion


Logarithmic decrement

3-7 Logarithmic decrement

3-7 Logarithmic
decrement
= ln

x(t )
x(t + T )

(3-31)

t
T

x(t + T )

1 t

t
t 3-7 t1 t t2
t + T
x(t )

x(t )

x(t + T )

(3-27) (3-31)
Ae nt sin( d t + )
= ln n (t +T )
sin( d (t + T ) + )
Ae

(3-32)

t 1 ( t + T )
(3-32)
= ln e T = nT
(3-33)
n

T = 2

d
2
2
2
= n
=
= n
d
n 1 2
1 2

(3-34) Logarithmic decrement, damping ratio,


4 2 + 2

(3-34)

(3-35)


3-7

x(t ) x(t + T )
Logarithmic decrement, (3-35)
Logarithmic decrement 1
n
1
x(t )
= ln
n x(t + nT )

(3-36)

3-4

--

2 kg
1.5 kN/m

9 .

1 .
Logarithmic decrement
= ln

9
x(t )
= ln = 2.1972
x(t + T )
1

Logarithmic decrement

4 +
2

2.1972
4 + 2.1972 2
2

= 0.33



= 0.33 =

c = 36.15

c
c
c
=
=
ccr 2 km 2 (1.5 10 3 )(2)

kg/s

ANS

6.
6.1


x = x = 0 = = 0
3-5

ml 2 + mgl sin = M (t )
g

M(t)

= 0

= = 0


mgl sin 0 = 0

sin 0 = 0
0 = n n = 0, 1, 2,
2
0 180

6.2


3-8 3-x
0

) 180 180

Equi.

Equi.

Stable at = 0

Unstable at =

3-8

(3-2)
(3-2)
x(t ) , x (t ) x(t ) ( m
c k ) (32)

Under damped motion, Critically damped motion


Over damped motion 4

x = 0
(3-2)
x(t ) , x (t ) x(t ) ()
4 (3-22)

3-9
t
mx(t ) + cx (t ) + kx(t ) = 0

x(t ) , x (t )

x(t )

()

Flutter instability

3-9
3-6

3-x

ml 2 + mgl sin = 0

M(t)

0 =
sin 0 =
sin sin 0 + ( 0 ) cos 0

sin 0 + ( )(1) = ( )

sin


ml 2 + mgl ( ) = 0
ml 2 mgl = mgl


0 =
3-8

7.


Under-damped motion, Over-damped motion Critically damped motion

3-7

1-dof


mx(t ) + cx (t ) + kx(t ) = 0

1361 kg Static deflection 0.05 . c k


Critically damped motion

m0 290 kg
Static deflection 0.05
k=

m g = k

m g 1361 9.81
=
= 2.67 105 N /m

0.05

ANS

Critically damped motion = 1 c


c = c cr = 2 km = 2 (2.67 105 )(1361) = 3.81 104 kg/s

ANS

290 kg


1361+ 290 = 1651kg

c
2 km

3.81 104
2 (2.67 105 )(1651)

= 0.91


Static deflection:

m g 1651 9.81
=
= 0.06 m
k
2.67 105

n =

k
=
m

2.67 105
= 12.7 rad/s
1651

d = n 1

= 12.7 1 0.912 = 5.27 rad/s

ANS

Note Critically damped motion

8.

3
1)


Under damped motion 2)
Critically damped motion

3) Over damped motion



Over-damped motion, Critically damped motion Under-damped motion

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