Dr. Y.K.

Lee

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Vibration 3.0

Textbook: Sec 3.5~3.9, 3.11, 4.7

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Resonance condition

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WHEN TO USE MATLAB

FREE BODY DIAGRAM (FBD) SOLVE BY NUMERICAL INTEGRATION

EQUATIONS OF MOTION NONLINEAR LINEAR PLOT RESPONSE

LINEAR OR NONLINEAR?
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Micro sensor design

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Xp
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1 + (2r ) 2 = (1 r 2 ) 2 + (2r ) 2 Y

1/ 2

Eq.(3.68):

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= Td

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Displacement Transmissibility

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Displacement Transmissibility

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The following aspects of displacement transmissibility can be noted from the figure: 1. The value of Td is unity at r = 0 and close to unity for small values of r. 2. For an undamped system ( = 0), Td at resonance (r = 1). 3. The value of Td is less than unity (Td < 1) for values of r >2 (for any amount of damping ). 4. The value of Td = 1 for all values of at r =2.
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5. For r <2, smaller damping ratios lead to larger values of Td. On the other hand, for r >2, smaller values of damping ratio lead to smaller values of Td. 6. The displacement transmissibility, Td, attains a maximum for 0 < < 1 at the frequency ratio r = rm < 1 given by:
1 rm = 2

[ 1 + 8 1]
2

1/ 2

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X 1 + ( 2r ) 2 = Y (1 r 2 ) 2 + (2r ) 2

1/ 2

FT 1 + (2r ) 2 =r kY (1 r 2 ) 2 + (2r ) 2
2
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1/ 2

(3.74)

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Force Transmissibility

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Relative Motion Relative displacement z = x - y The equation of motion can be written as m&& + cz + kz = m&& = m 2Y sin t z & y The steady-state solution is given by:
z (t ) = m 2Y sin(t 1 )
2 2

(3.75)

[(k m
m 2Y

) + (c )

2 1/ 2

= Z sin(t 1 )

(3.76)

where, the amplitude,

Z= (k m ) + (c )
2 2 2

=Y

r2 (1 r ) + (2r )
2 2 2

(3.77)

and
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1 = tan 1

2r c = tan 1 k m 2 1 r2

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Relative Motion

Z /Y =
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r2 (1 r 2 ) 2 + (2r ) 2

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Ex 3.3 Vehicle Moving on a Rough Road

displacement transmissibility

The figure below shows a simple model of a motor vehicle that can vibrate in the vertical direction while traveling over a rough road. The vehicle has a mass of 1200kg. The suspension system has a spring constant of 400 kN/m and a damping ratio of = 0.5. If the vehicle speed is 20 km/hr, determine the displacement amplitude of the vehicle. The road surface varies sinusoidally with an amplitude of Y = 0.05m and a wavelength of 6m.

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Example 3.3

Solution

The frequency can be found by

v 1000 1 = 2f = 2 = 0.290889v rad/s 3600 6

For v = 20 km/hr, = 5.81778 rad/s. The natural frequency is given by,

k 400 10 n = = m 1200
3

1/ 2

= 18.2574 rad/s

Hence, the frequency ratio is

5.81778 = = 0.318653 r= n 18.2574
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Example 3.3
X 1 + (2r ) = Y (1 r 2 ) 2 + (2r ) 2 = 1.469237
2 1/ 2

Solution
1/ 2

The amplitude ratio can be found from Eq.(3.68):

1 + (2 0.5 0.318653) = (1 0.318653) 2 + (2 0.5 0.318653) 2
2

Thus, the displacement amplitude of the vehicle is given by X = 1.4692Y = 1.4692(0.05) = 0.0735 m 7.3cm This indicates that a 5cm bump in the road is transmitted as a 7.3cm bump to the chassis and the passengers of the car.
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mX r2 = = r 2 H (i ) m0 e (1 r 2 ) 2 + (2r ) 2
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Similr to Relative motion response, Z/Y Slide 40

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Self-Excitation and Stability Analysis

Dynamic Stability Analysis Consider the equation of motion of a single degree of freedom system:

m&& + cx + kx = 0 x &

(3.107)
(3.108)

This leads to a characteristic equation c k 2 s + s+ =0 m m The roots of the equation are:

s1, 2
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c 1 c k = 4 2m 2 m m
2

1/ 2

Flutter of turbine blade, flowinduced vibration of pipe, automobile wheel shimmy

(3.109)

Self-excited vibrating system = force is fun of motion variable (x,v,a)

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Self-Excitation and Stability Analysis

Let the roots be expressed as s1 = p + iq, s2 = p iq where p and q are real numbers so that
( s s1 )( s s2 ) = s 2 ( s1 + s2 ) s + s1s2 = s 2 + c k s+ =0 m m (3.111)

(3.110)

Hence,
c = ( s1 + s2 ) = 2 p, m k = s1s2 = p 2 + q 2 m (3.112)

If c & k are positive, then the system is dynamically stable

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Ex 3.8 Instability of Spring-Supported Mass on Moving Belt

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Consider a spring-supported mass on a moving belt, in Fig (a). The kinetic coefficient of friction between the mass and the belt varies with the relative (rubbing) velocity, in Fig (b). As rubbing velocity increases, the coefficient of friction first decreases from its static value linearly and them starts to increase. Assuming that the rubbing velocity, v, is less than the transition value, vQ, the a = 0 v coefficient of friction can be expressed as W where a is a constant and W=mg is the weight of the mass. Determine the nature of free vibration about the equilibrium position of the mass.

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Ex 3.8 Solution Let the equilibrium position of mass m correspond to an extension of x0 of the spring. Then, W = kx0 W 0W aV
x0 = k = k k

where V is the velocity of the belt. Hence, the rubbing velocity v is given by:

x0

& v =V x
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k(x0+x)

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Ex 3.8 Solution The equation of motion for free vibration is

a & m&& = k ( x0 + x) + W = k ( x0 + x) + W 0 (V x) x W i.e., m&& ax + kx = 0 x &

(E.1)

The solution is given by

x(t ) = e

( a / 2m)t

{C e
1
2

r1t

+ C2 e
1/ 2

r2t

(E.2)

where C1 and C2 are constants and,

1 a k r1 = 4 2 m m

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2 1 a k r2 = 4 2 m m

1/ 2

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Self-Excitation and Stability Analysis Dynamic Instability Caused by Fluid Flow The figure illustrates the phenomenon of galloping of wires:

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Self-Excitation and Stability Analysis The figure illustrates the phenomenon of singing of wires:

Experimental data show that regular vortex shedding occurs strongly in the range of Reynolds number (Re) from about 60 to 5000. In this case,
Vd Re =
http://mec424.group.shef.ac.uk/simulations_cylinder.php
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(3.113)

http://public.lanl.gov/wdaniel/science/turbulence/vortexstreet/single.html

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Self-Excitation and Stability Analysis For Re > 1000, the dimensionless frequency of vortex shedding, expressed as Strouhal number (St), is approximately equal to 0.21.
fd St = 0.21 V (3.114)

where f is the frequency of vortex shedding. The harmonically varying lift force (F) is given by 1 F (t ) = cV 2 A sin t (3.115) 2 where c is a constant (c = 1 for a cylinder), A is the projected area of the cylinder perpendicular to the direction of V, is circular frequency and t is time.
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Ex 3.10 Flow-Induced Vibration of a Chimney A steel chimney has a height of 2m, an inner diameter 0.75m, and an outer diameter 0.80m. Find the velocity of the wind flowing around the chimney which will induce transverse vibration of the chimney in the direction of airflow.

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Ex 3.10 Solution Approach: Model the chimney as a cantilever beam and equate the natural frequency of the transverse vibration of the chimnet to the frequency of vortex shedding. The natural frequency of transverse vibration of a cantilever beam is EI 2 (E.1) 1 = ( 1l ) 4 Al where

1l = 1.875104

(E.2)

For the chimney, E = 207X109 Pa, g = 76.5X103 N/m3, l = 20m, d = 0.75m, D = 0.80m,
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Ex 3.10 Solution
A=

(D d ) =
2 2

(0.80 2 0.752 ) = 0.0608685 m 2

and
I=

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(D4 d 4 ) =

64

(0.80 4 0.754 ) = 0.004574648 m 4

Thus,

(207 109 )(0.004574648) 1 = (1.875104) 2 76.5 103 (0.0608685)(20) 4 9.81 = 12.415417 rad/s = 1.975970 Hz

1/ 2

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Ex 3.10 Solution The frequency of vortex shedding is given by Strouhal number:

fd St = = 0.21 V

The velocity wind (V) which causes resonance can be determined as

f1d 1.975970(0.80) V= = = 7.527505 m/s 0.21 0.21

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Forced Vibration with Coulomb Damping

The equation of motion is given by m&& + kx N = F (t ) = F0 sin t x

(3.85)

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Forced Vibration with Coulomb Damping

The energy dissipated by dry friction damping is W = 4 NX (3.86) If the equivalent viscous damping constant is denoted as ceq,

W = ceqX 2
4 N ceq = X

(3.87)
(3.88)

Thus the steady-state response is:

x p (t ) = X sin(t )
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(3.89)

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Forced Vibration with Coulomb Damping

where the amplitude can be found from Eq.(3.60):

X=

[(k m

F0
2 2

) + (ceq )

2 1/ 2

( F0 / k ) 2 2 1 2 + 2 eq n n
2 1/ 2

(3.90)

with

eq

4 N 2 N = = = = cc 2mn 2mnX mn X ceq ceq

(3.91)

Substituting Eq.(3.91) into (3.90) gives:

X= ( F0 / k ) 2 2 4 N 2 1 2 + kX n
1/ 2

(3.92)

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Forced Vibration with Coulomb Damping

The solution of this equation gives:

4 N 1 F F0 0 X = k 2 2 1 2 n
2

1/ 2

(3 .93 )

To avoid imaginary values of X, we need to have

4 N 1 F > 0 0
2

or

F0 4 > N

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Forced Vibration with Coulomb Damping

The phase angle can be found:

4 N F0 = tan 1 1/ 2 2 4N 1 F 0

(3.96)

The energy directed into the system over one cycle when it is excited harmonically at resonance and that = 90,

W = F0 X
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2 /

sin 2 t dt = F0 X

(3.98)

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Forced Vibration with Coulomb Damping

For the nonresonant condition, the energy input is

W = F0 X
2 / 0

sin t cos(t )dt = F0 X sin

(3.99)

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Example 3.6 Spring-Mass System with Coulomb Damping A spring-mass system, having a mass of 10kg and a spring of stiffness of 4000 N/m, vibrates on a horizontal surface. The coefficient of friction is 0.12. When subjected to a harmonic force of frequency 2 Hz, the mass is found to vibrate with an amplitude of 40 mm. Find the amplitude of the harmonic force applied to the mass.
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Example 3.6 Solution

The vertical force (weight) of the mass is N = mg = 10 X 9.81 = 98.1N. The natural frequency is
4000 k n = = = 20 rad/s m 10

And the frequency ratio is

2 2 = = 0.6283 n 20
1/ 2

The amplitude of vibration X is given by:

4 N 2 1 F F0 0 X = 2 2 k 1 n2

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4(0.12)(98.1) 2 1 F0 F0 0.04 = 4000 (1 0.62832 ) 2

Thus, the solution gives F0 = 97.9874 N .

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Forced Vibration with Hysteresis Damping

From figure, the equation of motion can be derived k & m&& + x x + kx = F0 sin t (3.100) The steady-state solution can be assumed as x p (t ) = X sin(t ) (3.101) Substituting, we obtained
X= F0 2 2 2 k 1 2 + n
1/ 2

(3.102)
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Forced Vibration with Hysteresis Damping

and
= tan 1 2 1 2 n (3.103)

And thus the amplitude ratio

X ( F0 / k )

attains its maximum value at the resonant frequency in the case of hysteresis damping, while it occurs at a frequency below resonance in the case of viscous damping.
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Forced Vibration with Hysteresis Damping

The phase angle has a value of tan-1() at = 0 in the case of hysteresis damping, while it has a value of zero at = 0 in the case of viscous damping. This indicates that the response can never be in phase with the forcing function in the case of hysteresis damping. Thus, the equation of motion becomes k & m&& + x x + kx = F0 e it (3.104) m&& + k (1 + i ) x = F0 e it x (3.105) where the quantity k (1 + i ) is called the complex stiffness or complex damping.
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Forced Vibration with Hysteresis Damping

The steady-state solution is given by the real part F0 e it of (3.106) x(t ) =

2 k 1 + i n

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Human Response to Whole Body Vibration

Vertical Vibration Standard ISO 2631 & ANSI S3.18-1979

RMS acceleration, m/s2

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Frequency in Hz

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ISO 2361 : three types of exposure limits 1 Reduced-comfort boundary

- This is for the comfort of people traveling in airplanes, boats, and trains. - Exceeding these exposure limits makes it difficult for passengers to eat, read or write when traveling.

2 Fatigue-decreased proficiency boundary

This is a limit for time-dependent effects that impair performance. For example, fatigue impairs performance in flying, driving and operating heavy vehicles.

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ISO 2361 : three types of exposure limits 3 The exposure limit

-This is used to assess the maximum possible exposure allowed for whole-body vibration. - Also, "severe discomfort boundaries" for 8-hour, 2-hour & 30-min WBV exposures in the 0.1 Hz to 0.63 Hz range. Exposure limits are given as acceleration= function ( frequencies) and three directions of exposure: longitudinal (head <-> toe) transverse (back <-> chest and side <-> side). The exposure limit is the lowest for frequencies between 4-8 Hz because the human body is most sensitive to WBV at these frequencies.
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Fatigue-decreased proficiency boundary

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Exposure limit: multiply acceleration values by 2 (6 dB higher) Reduced comfort boundary: divide acceleration values by 3.15 (10 dB) lower

RMS acceleration, m/s2

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Frequency in Hz

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ISO 2361 : Severe discomfort boundaries

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Frequency in Hz

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Lateral Vibration Standard ISO 2631

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Exposure limit: multiply acceleration values by 2 (6 dB higher) Reduced comfort boundary: divide acceleration values by 3.15 (10 dB) lower

RMS acceleration, m/s2

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Frequency in Hz

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Simplified vibration model of human body

Head (axial mode) (ca. 25 Hz) Eyeball, intraocular structure ( 30-80 Hz) Shoulder girdle (4-5 Hz) Lung volume (4-5 Hz) Lower arm (16-30 Hz) Spinal column (axial model) (10-12 Hz) Hand grip (50-200 Hz) Seated person Chest wall (ca. 60 Hz) Hand-arm Abdominal mass (4-8 Hz)

Legs (variable from ca 2 Hz with knees flexing to over 20 Hz, with rigid posture) Standing person
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http://www.zainea.com/body.htm

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Mechanical response of a persons body to vibrations, when seated in different seats

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M.S. Sanders, Human factors in Engineering & Design, 7th. McGraw-Hill, 1992, p.628.

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Whole Body Vibration Health Effects

Suspected health effects of whole body vibration include: Blurred vision Decrease in manual coordination Drowsiness (even with proper rest) Low back pain/injury Insomnia Headaches or upset stomach

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Wheel shimmy instability

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Example: stockbridge (dogbone) vibration damper

Hubble Power System Inc.

http://www.hubbellpowersystems.com/powertest/catalog_sections/PDF_connect/TD.pdf
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Example: stockbridge (dogbone) vibration damper

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Helical Spoilers in Steel Chimney

Break the vortex pattern

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Spoiler in a high-speed racing car to improve the stability

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http://en.wikipedia.org/wiki/Spoiler_(automotive)