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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)
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)
(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
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
=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
> 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
--
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
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
A 0
0 = 1.5 sin + 5.27 cos
(5)
(4) (5)
A = 0.104, = 1.293 rad
(2)
Note
ANS
5. Logarithmic decrement
m k
c
m k
c
under damped motion
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
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)
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
m0 290 kg
Static deflection 0.05
k=
m g = k
m g 1361 9.81
=
= 2.67 105 N /m
0.05
ANS
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
ANS
8.
3
1)
Under damped motion 2)
Critically damped motion
Over-damped motion, Critically damped motion Under-damped motion