Vibration and Noise 354

Lecture 1 Free vibration of a single degree of 18 & 19 July

(INMAN pp 1-32) freedom system 2016

What is vibration?
Repetitive motion of a mechanical system in terms of a reference or nominal
position (usually at a fixed frequency or frequencies). Is defined by a
frequency (/s or Hz) and an amplitude (displacement: m, velocity: m/s or an
acceleration m/s/s or m/s2).

Single degree of freedom system

What is the equation of motion?

Equilibrium position
m
st m
mg

x(t)
k fk
k

The spring force is a function of the total displacement from the free length of
the spring:
f k (t ) k st x(t )
Now apply Newtons 2nd law:
Fx (t ) mx(t )

mg k st x(t ) mx(t )

but mg k st kx(t ) mx(t )

or mx(t ) kx(t ) 0

See INMAN: p. 20 Window 1.1 for examples.

Spring-mass Flexible shaft en disk Simple pendulum
mx kx 0 J k 0 g
0 vir 1
l
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Now find the solution of: mx(t ) kx(t ) 0

Try: x(t ) A sin t

x (t ) A cos t
x(t ) 2 A sin t

Substitute the equation of motion:

m 2 A sin t kAsin t 0

m 2

k A sin t 0

A 0 leads to the trivial solution x(t ) 0 t

sin t 0 only if t n n 0, 1, 2, 3

k
so mn2 k 0 or n which is the natural frequency of the system.
m
The natural frequency is the frequency at which the system will vibrate if it is
disturbed from its equilibrium position and no other periodic force is acting on
it.
xt A sinnt

x0 x0 A sin

v0 x0 n A cos

n2 x02 v02
Solve for A and A
n

n x0
tan 1
0
v

2 x02 v02 x
xt sin nt tan 1 n 0
n
Such that:
n v0

Now it is possible to write down the solution for any motion if the initial
conditions are given.

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JL van Niekerk 2016 Lecture 1
Example: x0 10 and v0 0

xt 10 sin n t
2
2
10 cosn t with the natural period n
n
Alternative solution of the equation of motion:
Assume the solution for mx kx 0
is xt ae t

then x ae t x 2 ae t

after substitution into the equation of motion: m2 ae t kaet 0

m 2

k aet 0

Now for a non-trivial solution: m2 k 0

k
2
m
j n

After substituting back: xt a1e jnt a2 e jnt

a1 cos nt j sin n t a2 cos t j sin n t

a1 a2 cos nt j a1 a2 sin nt

NB. a1 and a 2 are complex!

It is possible to write the real (physical) solution as

xt Asin n t

or x(t ) A1 cos nt A2 sin nt

The following relationships hold for the various constants:

A1
A A12 A22 tan 1
A2
A1 a1 a2 A2 (a1 a2 ) j
A1 jA2 A1 jA2
a1 a2
2 2
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JL van Niekerk 2016 Lecture 1
Also see INMAN: p. 31, Window 1.4

Average value:
lim 1 T
xt dt
T T 0
xave

Root-mean-square (rms) value:

1
lim 1 T
2
xrms xt dt
2

T T 0

Expressed in a logarithmic scale:

2
x x
dB 10 log10 rms 20 log10 rms
x
ref xref

v a
Vibration levels: Lv 20 log10 rms La 20 log10 rms
v a
ref ref

Reference values Displacement Velocity Acceleration

Not defined vref = 1 nm /s aref = 1 m /s2
ISO 1683-2008
= 10-9 m/s = 10-6 m/s2

Take note that for: xt Asin n t

Max displacement xt A

Max velocity x t n A

Max acceleration xt n2 A

Also look at INMAN: Examples. 1.1.1, 1.1.2, 1.1.3 and 1.1.4

HOMEWORK: INMAN: 1.1, 1.5, 1.11, 1.16, 1.22, 1.27, 1.29, 1.32, 1.33

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