DYNAMICS OF STRUCTURES

MT11

Prof J A Wium
University of Stellenbosch

Lecture 5

MACHINE FOUNDATIONS

CONTENTS

1. GENERAL : Single degree of freedom under harmonic loading

2. Foundations for operating equipment
3. Coupled horizontal and rocking motion:
4. Dissipation of vibration with distance from source
5. Larger structures on soil
6. Examples :
7. Procedure
8. Further reading :
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1 GENERAL : Single degree of freedom under harmonic loading

c k wn=SQRT(k/m)

For the system shown in the figure the basic equation of motion is given by :

kx + cx& + m&x& = F sin ωt with

ωD = ωn 1− D2 (1)

with ω n = k / m ; (2)

c
D= = damping ratio (3)
cc

cc = 2. k .m = critical damping (4)

F = A sin ω .t (5)

F .M
Displacement = (6)
k.

With Magnification Factor

1
M = (7)
2 2
⎡ ω 2⎤ ⎡ ω⎤
⎢1 − ( ) ⎥ + ⎢2 D ⎥
⎣ ωn ⎦ ⎣ ωn ⎦

1
≈ for small damping ratios (8)
ω
1 − ( )2
ωn
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Magnification

5% Damping 10% Damping

12
10
Magnification

8
6
4
2
0
0.0 0.2 0.6 1.0 1.4 1.8 2.2 2.6 3.0 3.4 3.8 4.2 4.6
Frequency Ratio

2. 2. FOUNDATIONS FOR OPERATING EQUIPMENT

M system

K soil

F = meω 2 sin ω .t

with Fhor and Fver with 90 degree phase difference

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Table : Lumped parameter values for foundation on homogeneous half space

Mode Vertical Horizontal Rocking Torsion

Stiffness 4GR 8GR 8GR 3 16GR 3

1−υ 2 −υ 3(1 − υ ) 3

Mass ratio m(1 − υ ) m(2 − υ ) 3I x (1 − υ ) Iz

m 4 ρ .R 3 8 ρ .R 3 8 ρ .R 5 ρ .R 5

Damping 0.425 0.29 0.15 0.50

ratio m 1/ 2 m 1/ 2 ( )
1 + m 1/ 2 m 1/ 2 (1 + 2m )
Fictitious 0.27m 0.095m 0.24 I x 0.24 I z
added mass m m m m

With :

I x , I z = mass moments of inertia around a horizontal, vertical axis

Damping ratio = C / C cr , with C rc = 2. k .m = critical damping
.m = total mass = equipment plus base
G= dynamic shear modulus (N/mm2)

Note :

Soil stiffness values are functions of :

- depth to bedrock
- depth of embedment
- dimensions :

For rectangular footings :

1/ 2
⎛ 2 B.2 L ⎞
R=⎜ ⎟ translation; width = 2B, length = 2L
⎝ π ⎠

1/ 4
⎛ 16 L.B 3 ⎞
R = ⎜⎜ ⎟⎟ for rocking around the x-axis (parallel to L)
⎝ 3 π ⎠

( )
1/ 4
⎛ 16.B.L. B 2 + L2 3
⎞
R=⎜ ⎟ for rocking around vertical axis
⎜ 6π ⎟
⎝ ⎠
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Table : Soil damping values (From Richart, Hall, Woods, 1970)

Figure : Effect of depth of embedment (From Richart, Hall, Woods, 1970)

Vibration limits
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3. Coupled horizontal and rocking motion:

m&x&g + c x x& g + k x x g − h0 c xψ& − h0 k xψ = 0

with m = mass
xg = horizontal translation due to sliding
cg = damping for horizontal translation
kg = horizontal stiffness
h0 = height of COG above sliding level
ψ = rotation about footing COG

4. Dissipation of vibration with distance from source

r
w = w1
r1

with w = vibration at known position

r = distance of known position from source
subscript 1: position of unknown vibration

5. Larger structures on soil

6. Examples :

-Turbine foundations
-Shredder
-Kane knifes
-Saw mills

7. Procedure :

- Obtain all necessary information :

i. Mass of equipment
ii. Mass of rotating parts
iii. Centre of gravity of equipment
iv. Centre of gravity of operating parts
v. Structural dimensions
vi. Mass on floors (imposed, dead load)
vii. Client’s requirements (criteria for vibration)

- Decide on modelling approach :

i. Mass of equipment vs mass of structural elements
ii. Hand calculation vs software model
iii. 2-D vs 3-D model
iv. Damping
v. Cracking (concrete)
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vi. Connection stiffness (steel)

vii. Foundations and boundary conditions
viii. Infill wall panels
- Analyse :
i. Modes and frequencies
ii. Harmonic load
iii. Horizontal and vertical components
iv. Phase angles
v. Full load/ Empty load
- IMPORTANT : Sensitivity analysis by varying parameters which
are not fixed or unknown

8 Further reading :

1. Richardt F. E., Hall J. R., Woods R.D., Vibrations of Soils and

Foundations, Prentice Hall 1970
2. Gazettas G., Analysis of Machine foundation vibrations: State of the
art, Soil Dynamics and Earthquake Engineering, 1983, Vol. 2, No. 1pp
1 to 41.
(excellent reference)
3. Arya S., O’Niell M., and Pincus G., Design of Structures and
Foundations for Vibrating Machines, Gulf Publishing Company, 1981.
(excellent reference)