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ENME 361 Spring 2013


ENME 361
Vibrations, Control, and Optimization I
Spring 2013
Chapter 5
Periodic Excitations
Chapter 5 Periodic Excitations
Acknowledgement: Professors B. Balachandran and E. B. Magrab
Assignment 6 due on 3/28/13
Reading assignment: Chapter 4 & 5 and Appendix A and D
ENME 361 Spring 2013
In Chapter 5, we shall show how to do the following
Analyze the responses of single degree-of-freedom systems to harmonic
excitations
Determine the frequency response and phase response of a single
degree-of-freedom system
Interpret the response of a single degree-of-freedom system for an
excitation frequency less than, equal to, and greater than the systems
natural frequency
Determine the system parameters from a measured frequency response
Analyze the responses of single degree-of-freedom systems with rotating
unbalance and with base excitation
Chapter 5 Periodic Excitations
Use accelerometers to measure the responses of single degree-of-
freedom systems
Isolate vibrations of single degree-of-freedom systems
Analyze the responses of single degree-of-freedom systems to
excitations with multiple harmonic frequency components
2
ENME 361 Spring 2013
( ) ( ) ( )
( ) ( )
0
0
0
0
co
1
sin
s sin
n n n
d d
t
d
d
d
n
t t
V X
X e t
e f t
x t
d
m
e t
,
,
e ,e
e q
,e
e
e
e q q
e
e
q


=
+
+
+
}
Response
to
Initial
Conditions
Response to
Forcing
2
1
d n
e e , =
When 0<,<1, e
d
is all called Damped Natural
Frequency.
Introduction
ENME 361 Spring 2013
Introduction
( ) ( ) ( ) ( )
( )
( )
,
0
. 0 0
, 0
mx t c f x t x t t
x
x
k + + =

=
=

( ) ( )( )
( ) ( )
( )
( ) ( )
0
0
2
* ,
1
sin ,
1
sin ,
0 1, 1
t
n
d
d
t
n
d
d
d n
t
x t h f t
e f t d
m
e t f d
m
,e q
,e q
e q q q
e
e q q q
e
, e e ,

= (

s < =

}
}
3
ENME 361 Spring 2013
Introduction
, , m k c ( )
f t
( )
x t
Input Output System
( )
x t
k
c
m
( )
f t
ENME 361 Spring 2013
i. Excitation applied from t = 0
CASE 1: Sine Harmonic Excitation
Response to Harmonic Excitation
( ) ( ) ( )
0
sin f t F t u t e =
t
1
0
( ) u t
Unit step function
( )
0 0,
1 0.
t
u t
t
= <

=

= >

4
ENME 361 Spring 2013
Sine Harmonic Excitation
t
1
sin( ): t e
( )
sin( ): u t t e
( ) : u t
t
t
ENME 361 Spring 2013
Sine Harmonic Excitation
( )
0 0,
1 0.
t
u t
t
= <

=

= >

( )
( )
( ) ( ) ( )
( )
( ) ( )
( ) ( )
0
0
0
0
0
0
sin
sin
s
1
sin
sin
sin in
t
n
d
d
t
n
d
d
t
n
n
d
d
t
t
t
F u x t e t
F
d
m
e t
F
d
m
e
e t d
m
,e q
,e q
,e
,e q
e q q
e
e
eq q
eq q
e
q
e
e q
e
q q

= (

= (

= (

}
}
}
1 0 t = >
( ) ( ) ( )
0
sin f t F t u t e =
5
ENME 361 Spring 2013
Sine Harmonic Excitation
: Nondimensional excitation frequency.
: Nondimensional time variable of integration.
n
n
e
e
e q
O =
=
Introduce the nondimensional time ,
n
t t e =
( ) ( ) ( )
2
0
2
0
sin 1 sin
1
F e
x e d
k
t ,t
,
t , t
,

(
= O

}
where,
( ) ( ) ( ) ( )
str sss
x x x u t t t t = + (

Steady-State Portion Transient Portion
Note that when the excitation frequency is at the natural
frequency; that is, e = e
n
, O = 1.
ENME 361 Spring 2013
Steady-State Portion
( )
( )
( ) ( )
( ) ( ) ( )
( )
2
2
2
2
2
2
1
2
1 1
: Amplitude Response
1 2
1 2
2
tan : Phase Response
1
H
D
D
,
,
,
u

O = =
O
O + O
O = O + O
O
O =
O
( ) ( ) ( )
0
sin
sss
F
x H
k
t t u = O O O (

: Nondimensional excitation frequency
n
e
e
O =
6
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
7
, = 0.05
, = 0.1
, = 0.15
, = 0.25
, = 0.5
, = 1
O = e / e
n
H
(
O
)
Harmonic excitation - Amplitude Response H(O)
( )
( ) ( )
2
2
2
1
1 2
H
,
O =
O + O
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3




u
(
O
)

(
r
a
d
) , = 0.05
, = 0.1
, = 0.15
, = 0.25
, = 0.5
, = 1
, = 0
, = 0
0
t/2
t
O = e / e
n
Harmonic excitation - Phase Response u(O)
( )
1
2
2
tan
1
,
u

O
O =
O
7
ENME 361 Spring 2013
Transient Portion
( ) ( )
( )
( )
0
lim sin
sss
F H
x x
k t
t t t u

O
= = O O (

( )
( )
( )
2
0
2
sin 1
1
str t
H e F
x
k
,t
t t , u
,

O O
(
= O

( )
( )
2
1
2 2
2 1
tan
2 1
t
, ,
u
,


O =
O
After a long period of time many cyclesof forcing:
ENME 361 Spring 2013
0 5 10 15 20 25 30 35 40 45 50
-1
0
1
x
s
t
r
a
n
s
(
t
)
/
(
F
0
/
k
)
, = 0.01, O = 0.5
Normalized response of a system to a suddenly applied sine wave forcing function
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
x
s
s
s
(
t
)
/
(
F
0
/
k
)
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
x
(
t
)
/
(
F
0
/
k
)
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
t
8
ENME 361 Spring 2013
0 5 10 15 20 25 30 35 40 45 50
-0.5
0
0.5
1
x
s
t
r
a
n
s
(
t
)
/
(
F
0
/
k
)
, = 0.1, O = 0.5
Normalized response of a system to a suddenly applied sine wave forcing function
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
x
s
s
s
(
t
)
/
(
F
0
/
k
)
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
x
(
t
)
/
(
F
0
/
k
)
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
t
ENME 361 Spring 2013
0 5 10 15 20 25 30 35 40 45 50
-0.5
0
0.5
x
s
t
r
a
n
s
(
t
)
/
(
F
0
/
k
)
, = 0.25, O = 0.5
Normalized response of a system to a suddenly applied sine wave forcing function
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
x
s
s
s
(
t
)
/
(
F
0
/
k
)
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
x
(
t
)
/
(
F
0
/
k
)
0 5 10 15 20 25 30 35 40 45 50
-2
0
2
t
9
ENME 361 Spring 2013
CASE 2: Cosine Harmonic Excitation
Response to Harmonic Excitation
( ) ( ) ( )
0
cos f t F t u t e =
t
1
0
( ) u t
( )
0 0,
1 0.
t
u t
t
= <

=

= >

ENME 361 Spring 2013


Cosine Harmonic Excitation
t
1
cos( ): t e
( )
cos( ): u t t e
( ) : u t
t
t
10
ENME 361 Spring 2013
Cosine Harmonic Excitation
( )
0 0,
1 0.
t
u t
t
= <

=

= >

( )
( )
( ) ( ) ( )
( )
( ) ( )
( ) ( )
0
0
0
0
0
0
1
sin
sin
si
cos
cos
cos n
t
n
d
d
t
n
d
d
t
n
n
d
d
t
t
t
x t e t d
m
e t d
m
e
e t
F t u t
F
d
m
t
F
t
,e q
,e q
,e
,e q
e q q
e
e
e
q q
e
e q e
e
e
q

= (

= (

= (

}
}
}
1 0 t = >
ENME 361 Spring 2013
Cosine Harmonic Excitation
: Nondimensional excitation frequency.
: Nondimensional time variable of integration.
n
n
e
e
e q
O =
=
Introduce the nondimensional time ,
n
t t e =
( ) ( ) ( )
2
0
2
0
sin 1 cos
1
F e
x e d
k
t ,t
,
t , t
,

(
= O

}
where,
( ) ( ) ( ) ( )
ctr css
x x x u t t t t = + (

Steady-State Portion Transient Portion
11
ENME 361 Spring 2013
( )
( ) ( )
( )
2
2
2
1
2
1
: Amplitude Response
1 2
2
tan : Phase Response
1
H
,
,
u

O =
O + O
O
O =
O
( ) ( ) ( )
0
cos
css
F
x H
k
t t u = O O O (

Cosine Harmonic Excitation
( )
( )
( )
2
0
2
cos 1
1
str t
H e F
x
k
,t
t t , u
,

O O
(
= O

( )
( )
2
1
2 2
2 1
tan
2 1
t
, ,
u
,


O =
O
ENME 361 Spring 2013
ii. Excitation Present at All Time
Response to Harmonic Excitation
( ) ( )
( ) ( )
0
0
or
sin
sin
f t F t
f F
e
t t
=
= O
t
0
F
0
F
12
ENME 361 Spring 2013
Steady-State Portion
( )
( )
( ) ( )
( )
2
2
2
1
2
1 1
: Amplitude Response
1 2
2
tan : Phase Response
1
H
D
,
,
u

O = =
O
O + O
O
O =
O
( ) ( ) ( )
0
sin
ss
F
x H
k
t t u = O O O (

Steady-State
Phase
Steady-state
Amplitude
ENME 361 Spring 2013
Steady-State Portion
( ) ( ) ( ) ( )
( ) ( )
0
0
cos
sin
2
ss ss
F d
v x H
d k
F
H
k
t t t u
t
t
t u
O
= = O O O (

O
(
= O O O +
(

veloc The s ity teady-state is given by,
accelerat The steady-state is given ion by,
( ) ( ) ( ) ( )
( )
2 2
0
2
2
sin
ss ss
ss
F d
a x H
d k
x
t t t u
t
t
O
= = O O O (

= O
13
ENME 361 Spring 2013
Undamped Systems - Resonance
( ) ( ) ( ) ( )
2
0
1
sin
n
x t x t F t u t
m
e e + =
a) Response when ( )
1
n
e e = O =
( )
( )
( ) ( ) { }
( )
( )
( ) ( ) { }
0
2
0
2
sin sin
1
or
sin sin
1
n
F
x
k
F
x t t t
k
t t t
e e
= O O
O
= O
O
Unless the ratio is a rational number, the displacement
resp is not pe on ri se . odic
n
e
e
ENME 361 Spring 2013
Undamped Systems - Resonance
b) Response when ( )
1
n
e e = O =
( ) ( ) ( ) { }
0
sin cos
2
F
x
k
t t t t =
is n The ot p response eriodic.
( ) ( ) ( )
0
0
sin sin ,
0, 1.
F
x d
k
t
t t
,

= O =

}
14
ENME 361 Spring 2013
1. For the case where , the response of the
undamped system always has a finite
magnitude. Thus, it follows that
where is a positive finite number.
Resonance and Stability
A
( ) 0 x A t t s >
1 O =
ENME 361 Spring 2013
2. When , the term grows linearly
in amplitude with time and, hence, it become
unbounded after a long time.
This special ratio is called a
resonance relation; that is, the linear system
is said to be in resonance when the excitation
frequency is equal to the natural frequency.
Resonance and Stability
1 O =
( )
1
n
e e O = =
( ) cos t t
15
ENME 361 Spring 2013
3. Since there is always some amount of damping
in the system, it is clear from
that the response remain bounded when
excited at the natural frequency .
Resonance and Stability
( )
0
lim sin
2 2
F
x
k t
t
t t
,
| |
=
|
\ .
( )
1
n
e e O = =
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
2
4
6
, = 0.1, O = 0.7
1.8908
O = e / e
n
H
(
O
)
0 0.5 1 1.5 2 2.5 3




u
(
O
)
, = 0.1, O = 0.7
15.3501
0
t/2
t
O = e / e
n
0 2 4 6 8 10 12 14 16 18 20
-2
-1
0
1
2
t
f
(
t
)
/
F
0

,


x
s
s
(
t
)
/
(
F
0
/
k
)
f(t)/F
0
x
ss
(t)/(F
0
/k)
16
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
2
4
6
, = 0.1, O = 1
5
O = e / e
n
H
(
O
)
0 0.5 1 1.5 2 2.5 3




u
(
O
)
, = 0.1, O = 1
90
0
t/2
t
O = e / e
n
0 2 4 6 8 10 12 14 16 18 20
-5
0
5
t
f
(
t
)
/
F
0

,


x
s
s
(
t
)
/
(
F
0
/
k
)
f(t)/F
0
x
ss
(t)/(F
0
/k)
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
2
4
6
, = 0.1, O = 1.3
1.3562
O = e / e
n
H
(
O
)
0 0.5 1 1.5 2 2.5 3




u
(
O
)
, = 0.1, O = 1.3
159.353
0
t/2
t
O = e / e
n
0 5 10 15
-2
-1
0
1
2
t
f
(
t
)
/
F
0

,


x
s
s
(
t
)
/
(
F
0
/
k
)
f(t)/F
0
x
ss
(t)/(F
0
/k)
17
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
7
O = e / e
n
H
(
O
)
Three Regions of SDOF System's Amplitude Response - Amplitude Response H(O)
( )
Inertia
dominated
1
~ x
m
t
( )
Stiffness
dominated
1
~ x
k
t
( )
Damping
dominated
1
~ x
c
t
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3




u
(
O
)

(
r
a
d
)
0
t/2
t
O = e / e
n
Three Regions of SDOF System's Amplitude Response - Phase Response u(O)
( )
Inertia
dominated
1
~ x
m
t
( )
Stiffness
dominated
1
~ x
k
t
( )
Damping
dominated
1
~ x
c
t
18
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
7
, = 0.05
, = 0.1
, = 0.15
, = 0.25
, = 0.5
, = 1
O = e / e
n
H
(
O
)
Harmonic excitation - Amplitude Response H(O)
( )
( ) ( )
2
2
2
1
1 2
H
,
O =
O + O
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
7
O = e / e
n
H
(
O
)
Magnitude and Phase Information - Amplitude Response H(O)
max
2
1 1
,
2
2 1
H ,
, ,
= s

max
H
max
1
1,
2
H , = >
1
2
, =
1
2
, <
2
max
1 2, O =
2
2 1 2, O =
O
n
e
e
O =
19
ENME 361 Spring 2013
Observations
Stiffness-dominated Region
When the amplitude of the harmonic exciting force is
constant and the excitation frequency is much less than
the natural frequency of the system, the magnitude of the
displacement is determined by the systemstiffness.
The displacement response is in phase with the
excitation force.
ENME 361 Spring 2013
Observations
Damping-dominated Region
When the amplitude of the harmonic exciting force is
constant and the excitation frequency equals the natural
frequency of the system, the magnitude of the
displacement is magnified for , and the
amount of magnification is determined by the damping
coefficient.
The displacement response lags the excitation force
by 90
o
.
0 1/ 2 , < <
20
ENME 361 Spring 2013
Observations
Inertia-dominated Region
When the amplitude of the harmonic exciting force is
constant and the excitation frequency is much greater
than the natural frequency of the system, the
magnitude of the displacement response is
determined by the systems inertia. When O greater
than the magnitude of the amplitude
response is always less than 1.
The displacement response is almost 180
o
out of
phase with the excitation force.
2
2 1 2,
ENME 361 Spring 2013
Frequency-Response Function
1. G(O) provides a relationship between a systems input
and a systems output.
2. G(O) is a complex-valued function of frequency, and this
function provides information about:
i. the magnitude, and
ii. the phase
of the steady-state response of a linear vibratory system
as a function of the excitation frequency.
Frequency-response function
of a system G(O)
Force
Input
Displacement
output
( ) f t ( ) x t
21
ENME 361 Spring 2013
Frequency-Response Function
3. For the cases treated, where the force is
applied to the mass directly, this function has
the following form:
2
1
( )
( ) , 1 ( . ) ,
n
j
G H j e
k
u
e
e
O =
O
O = =

O
( ): provides the magnitude, and
( ): provides the phase lag associated with the response.
H
u
O
O
ENME 361 Spring 2013
Frequency-Response Function
4. The magnitude of the frequency-response
function is given by,
| | | |
1
( )
( ) ( )
1
( )
( )
1
( ) cos ( ) sin ( )
j
G H e
k
j
H e
k
H j
k
u
u
u u
O
O = O
O
= O
= O O + O
1
( ) ( ) G H
k
O = O
22
ENME 361 Spring 2013
The Relationship of the Frequency-Response Function to
the Transfer Function
When the initial conditions are zero, it was shown in
Appendix D that in the Laplace transform domain
( )
( )
( )
F s m
X s
D s
=
The transfer function of the vibratory system is
defined as
( ) Displacement Output
( )
( ) Force Input
X s
G s
F s
= =
where
2 2
( ) 2
n n
D s s s ,e e = + +
ENME 361 Spring 2013
( )
( ) ( )
2 2
2
1 1
( )
( ) 2
1
1 2
n n
n n
G s
mD s m s s
k s s
,e e
e , e
= =
+ +
=
(
+ +

Thus,
We now use this result to obtain the frequency-response
function of the vibratory system, denoted G(je), which is
obtained by setting the complex variable s = je.
Hence,
( ) ( )
2
2
( )
1
( )
1 2
1
1 2
1
( ) ( )
n n
j
G j
k j
k j
G j H e
k
u
e
e e , e e
,
O
=
(
+

=
( O + O

O = O
23
ENME 361 Spring 2013
and, therefore,
( )
( ) ( ) H kG j k G j O = O = O
Thus, the amplitude response is equal to the product of
the magnitude of the frequency-response function and
the stiffness of the system.
( ) ( )
2
2
( )
1
( )
1 2
1
1 2
1
( ) ( )
n n
j
G j
k j
k j
G j H e
k
u
e
e e , e e
,
O
=
(
+

=
( O + O

O = O
ENME 361 Spring 2013
Alternatives forms of the frequency-response function
Assume a forcing function of the form f(t) = F
o
e
jet
and a solution of the form x(t) = X
o
()e
jet
. Upon
substituting these expressions into
( )
( )
j o
o
F
X H e
k
u O
= O
2
2 2
1 2 ( )
j t o
n n
F d x dx f t
x e
dt dt k k
e
,
e e
+ + = =
we find that
The velocity and acceleration are, respectively,
( )
( )
/2
2 2
( )
( )
j t j t j t
o o o
j t j t j t
o o o
x t V e j X e X e
x t A e X e X e
e t e e
e t e e
e e
e e
+
+
= = =
= = =

24
ENME 361 Spring 2013
Sensitivity to System Parameters and Filter Characteristics
Filters
A band pass filter is a system that lets frequency
components in a signal that are within its pass band pass
relatively unattenuated or amplified, while frequency
components in a signal that are outside the pass band are
attenuated.
The pass band is determined by the cutoff frequencies,
which are those frequencies at which
max
( )
2
H
H O =
ENME 361 Spring 2013
max
( )
0
dH
d
O
=
O
2
max
1 2, O =
max
2
1
2 1
H
, ,
=

max
( )
2
H
H O =
3dB
25
ENME 361 Spring 2013
Cutoff Frequencies of a Filter
The cutoff frequencies are determined
by solving
( ) ( )
max
2 2
2
2
1 1
2
2 2(1 )
1 2
H
, ,
,
= =

O + O
Solving this equation for the upper and lower cutoff
frequency ratios, we obtain, respectively,
2 2
2 2
1 2 2 1
1 2 2 1
cu
cl
, , ,
, , ,
O = +
O =
where
and
cu cl
cu cl
n n
e e
e e
O = O =
ENME 361 Spring 2013
2 2
2 2
1 2 2 1
1 2 2 1
cu
cl
, , ,
, , ,
O = +
O =
where
and
cu cl
cu cl
n n
e e
e e
O = O =
The lower cutoff frequency exists only for those values
of , for which
0 1 2 2 1
2 2
> , , ,
Upon solving for ,, we find that
1
2 2=0.3827
2
, s
26
ENME 361 Spring 2013
The non dimensional filter bandwidth is
for 0.3827
cu cl
w cu cl
n
B
e e
,
e

= = O O <
The center frequency O
c
is defined
by its geometric mean
c cu cl
O = O O
The quality factor (Q factor) is defined as
c
w
Q
B
O
=
We note that for , < 0.1,
1
2
c
w
Q
B ,
O
= ~
When , < 0.1, the error in using this approximation is < 3%.
ENME 361 Spring 2013
Then,
( ) ( ) 1 1 2
w cu cl
B , , , ~ O O ~ + =
and
( )( )
2
1 1 1 1
c cu cl
, , , O = O O ~ + ~ ~
and, therefore,
1
2
c
w
Q
B ,
O
= ~
2,e
n
e
n
1 2 1
1 2 1
cu
cl
, ,
, ,
O ~ + ~ +
O ~ ~
2 2
2 2
1 2 2 1
1 2 2 1
cu
cl
, , ,
, , ,
O = +
O =
27
ENME 361 Spring 2013
0 0.5 1 1.5 2
0
1
2
3
4
5
6
H
max
H
max
/2

cl

cu

max
H
(

B
w
~ 2,
1
2,
~
For , < 0.1 [Error < 3%]
O
c
~ 1
3 dB re H
max
The quality factor is a measure of the maximum
magnification of the system.
ENME 361 Spring 2013
5.4 Systems with Rotating Unbalanced Mass
t
m
F
t
m
m
x
dt
dx
dt
x d
a o
n n
e e
ce
e ,e sin sin 2
2
2
2
2
= = + +
where F
a
= m
o
ce
2
, m = m
o
+ M, and
n
k

m
=
Setting t = e
n
t, we have
2
2
2
2 sin( )
d x dx
x M
d d
c
, t
t t
+ + = O O
where
m
m
M
o
c
c
=
We recall that
28
ENME 361 Spring 2013
Displacement Response
Noting that F
a
/k = M
c
O
2
, we find that

Displacement
magnitude
( ) ( )sin( ( ))
ub
Phase
x M H
c
t t u = O O O

( ) ( )
2
2
2
2
2
1
2
( ) ( )
1 2
2
( ) tan
1
o
ub
m
M
m
H H
c
c
,
,
u

=
O
O = O O =
O + O
O
O =
O
where
( )
( ) ( )sin ( )
o
F
x H
k
t t u = O O O
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
7
, = 0.05
, = 0.1
, = 0.15
, = 0.25
, = 0.5
, = 1
O = e / e
n
H
u
b
(
O
)
Harmonic excitation due to rotating unbalance - Amplitude Respons
29
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3




u
(
O
)
, = 0.05
, = 0.1
, = 0.15
, = 0.25
, = 0.5
, = 1
, = 0
, = 0
0
t/2
t
O = e / e
n
Harmonic excitation due to rotating unbalance - Phase Response
ENME 361 Spring 2013
Design Guideline for Vibration Attenuation
In order to reduce the displacement of the mass
of a single degree-of-freedom system when the
mass is subjected to a harmonic unbalanced
force, the natural frequency of the systemshould
be at least twice the excitation frequency or the
natural frequency should be at least 50% lower
than the excitation frequency. These ranges hold
irrespective of the systems damping for . 0 1 , < <
30
ENME 361 Spring 2013
5.5 Systems with Base Excitation
y
d
dy
x
d
dx
d
x d
+ = + +
t
,
t
,
t
2 2
2
2
If
( ) sin( )
o
y y t t = O
2
2
2 2 cos( ) sin( )
o o
d x dx
x y y
d d
, , t t
t t
+ + = O O + O
then,
( ) ( )
2
( ) ( ) 1 2 sin ( ) ( )
o
x y H t , t u = O + O O O + O
The governing equation is
where
1
1
2
tan 2
2
( ) tan
1
,
,
u

= O
O
O =
O
ENME 361 Spring 2013
By using the appropriate trigonometric identities, we
obtain

Phase
Displacement
magnitude
( ) ( )sin( ( ))
o mb
x y H t t = O O O

1 1 1
tan tan tan
1
x y
x y
xy


=
+
where
( )
( ) ( )
( )
2
2
2
2
3
1
2 2
1 2
( )
1 2
2
( ) tan
1 4 1
mb
H
,
,
,

+ O
O =
O + O
O
O =
+ O
31
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
7
, = 0.05
, = 0.1
, = 0.15
, = 0.25
, = 0.5
, = 1
O = e / e
n
H
m
b
(
O
)
Excitation due to moving base - Amplitude Response
Notice that the curves
obtained for the
different damping
factors all have the
same amplitude value
at O =\2.
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3




, = 0.02
, = 0.1
, = 0.3
, = 0.5
, = 0.7
, = 1
, = 0
, = 0
0
t/2
t
O = e / e
n
+
(
O
)
Excitation due to moving base - Phase Response
32
ENME 361 Spring 2013
Design Guideline for Vibration Attenuation
In order to reduce the displacement of the mass
of a single degree-of-freedom system when the
base is subjected to a harmonic excitation, the
natural frequency of the systemshould be either
five times higher than the excitation frequency or
the natural frequency should be at least 30%
lower than the excitation frequency.
ENME 361 Spring 2013
5.7 Vibration Isolation
System with Direct Excitation of Inertial Element
The displacement response is
( ) ( ) ( )sin ( )
o
F
x H
k
t t u = O O O
The force transmitted to the base (ground)
( ) ( ) 2
T
dx
F k x
d
t t ,
t
(
= +
(

Then
( ) ( )
( )
( ) ( ) sin ( ) 2 cos ( )
( )sin ( )
T o
o mb
F F H
F H
t t u , t u
t
= O O O + O O O (

= O O O
( )
( ) ( )
( )
2
3
1
2 2
2
2
2
1 2
2
( ) , ( ) tan
1 4 1
1 2
mb
H
,
,

,
,

+ O
O
O = O =
+O
O + O
where
33
ENME 361 Spring 2013
Then, the magnitude of the ratio of the force transmitted to
the ground to that applied to the mass is
( )
( )
T
mb
o
F
H
F
t
= O
Recall that for System Subjected to Base Excitation
We obtained that
( ) ( )sin( ( ))
o mb
x y H t t = O O O
Then, the magnitude of the ratio of the displacement
transmitted to the mass to that applied to the base is
( )
( )
mb
o
x
H
y
t
= O
ENME 361 Spring 2013
Transmissibility Ratio
To minimize the force transmitted to the base from the
vibrations of a directly excited system or to minimize
the magnitude of the base motion on a system, we
require that
( ) 1
mb
H O <<
We define the transmissibility ratio TR as
( )
( ) ( )
2
2
2
2
1 2
( )
1 2
mb
TR H
,
,
+ O
= O =
O + O
34
ENME 361 Spring 2013
2 3 4 5 6 7 8 9 10
0
5
10
15
20
25
30
=0
=0.1
=0.2
=0.4

T
R

(
%
)
0 0.5 1 1.5 2 2.5
0
1
2
3
4
5
6

H
m
b
(

)
= 0.02
= 0.1
= 0.3
= 0.5
= 0.7
TR (%) = 100TR
( )
( ) ( )
2
2
2
2
1 2
1 2
TR
,
,
+ O
=
O + O
We examine TR for O > 2 and , < 0.4.
ENME 361 Spring 2013
5.6 Acceleration Measurement: Accelerometer

Piezoelectric
element
m
k c
y(t)
x(t)
Voltage
output

y(t)
Piezoelectric
element
m
k
c
x(t)
Voltage
output


35
ENME 361 Spring 2013
2
2
2
2
2
t t
,
t d
y d
z
d
dz
d
z d
= + +
The governing equation is
If the base is subjected to a harmonically varying displacement,
then
( ) sin( )
o
y y t t = O
2
2
2
2 sin( ) sin( )
o o
d z dz
z y a
d d
, t t
t t
+ + = O O = O Thus,
where a
o
e
n
2
= y
o
e
2
. Then, the solution is
( ) ( ) ( )sin ( )
o
z a H t t u = O O O
Therefore, if the acceleration amplitude response and the
phase response are to be relatively constant over a wide
frequency range, then the parameters of the accelerometer
have to be chosen so that H(O) varies by less than d,
where |d| << 1, over that range.
ENME 361 Spring 2013
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
7
, = 0.05
, = 0.1
, = 0.15
, = 0.25
, = 0.5
, = 1
O = e / e
n
H
(
O
)
Harmonic excitation - Amplitude Response H(O)
36
ENME 361 Spring 2013
Since H(0) =1 and the damping factor is very low, the
frequency range is determined from
( ) ( )
2
2
2
2
1 1
1
1
1 2
d
,
+ = ~
O
O + O
or
1
1
1
a
d
O =
+
0 0.5 1 1.5 2 2.5
0
1
2
3
4
5
6

H
(

)
= 0.02
= 0.1
= 0.3
= 0.5
= 0.7
d
O
a
ENME 361 Spring 2013
Example 5.10: Design of an accelerometer
We shall determine the working range of an accelerometer
with a natural frequency of 60 kHz and whose variation in
the amplitude response is less than 2%.
1 1
1 1 0.14
1 1 0.02
a
d
O = = =
+ +
where O
a
= e
a
/e
n
= f
a
/f
n
and f
a
is the frequency below which
the amplitude response varies by less than d.
Thus, f
a
= (0.14)(60 kHz ) = 8.4 kHz.
In addition, the phase response u(O) ~ 0 for 0 s O s O
a
when , is small. Hence, the working range of the
accelerometer is 0 < f
a
s 8.4 kHz.
For d = 0.02
37
ENME 361 Spring 2013
5.9 Response to Excitation with Harmonic Components
1. Excitation with two harmonic components:
or,
( ) ( )
1
sin t t B f e =
( ) ( ) ( )
1
sin x H
k
B
t t u ( = O O O

( ) ( )
1
sin B f t t = O
( )
( ) ( )
( )
1
2
2
2
2
1 2
, tan
1
1 2
H
,
u
,

O
O = O =
O
O + O
,
n
n
t
e
t e
e
= O =
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
or,
( ) ( )
2
cos t t A f e =
( ) ( ) ( )
2
cos x H
k
A
t t u ( = O O O

( ) ( )
2
cos A f t t = O
( )
( ) ( )
( )
1
2
2
2
2
1 2
, tan
1
1 2
H
,
u
,

O
O = O =
O
O + O
,
n
n
t
e
t e
e
= O =
38
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
Let,
( ) ( ) ( )
( ) ( ) ( ) ( )
( )
( ) ( )
{ }
1 2
sin cos
cos sin
x x x
H H
k k
H
k
A
B
B
A
t t t
t u t u
t u t u
= +
( ( = O O O + O O O

O
( ( = O O + O O

( ) ( ) ( ) ( ) ( )
1 2
sin cos B f f A f t t t t t = + = O + O
( ) ( ) ( )
1 2
x x x t t t = +
LINEAR SYSTEM
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
Then,
where,
( )
( )
( )
sin
H
x
k
C t u t
O
( = O O +

2
1
2
tan
B
A
B
C A


=
=
+

39
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
( ) ( )
, H u O O
( )
1
f t
( )
1
x t
( ) ( )
, H u O O
( )
2
f t
( )
2
x t
( ) ( )
, H u O O
( ) ( )
1 2
f f t t +
( ) ( )
1 2
x x t t +

Linear System
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
2. Excitation with multiple harmonic components
or,
where the are distinct.
( ) ( ) ( )
1
cos sin
N
j j j j
j
f t A t B t e e
=
(
= +

, and
j
n j
n
t
e
t e
e
= O =
( ) ( ) ( )
1
cos sin
N
j j j j
j
f A B t t t
=
(
= O + O

k
e
j
j j j
n n
t
e
t
e e t t
e e
= = = O
40
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
where,
The corresponding displacement response to is
given by
( ) ( )
1
N
j
j
f f t t
=
=

( ) ( ) ( )
cos sin
j j j j j
f A B t t t = O + O
( )
j
f t
( )
( )
( )
{
( )
}
cos
sin
j
j j j j
j j j
H
x A
k
B
t t u
t u
O
(
= O O

(
+ O O

ENME 361 Spring 2013
Response to Excitation with Harmonic Components
where,
( )
( )
( )
sin
j
j j j j j
H
x C
k
u t t
O
(
= O O +

2
1
2
tan
j
j j j
j
j
j
j
n
C A B
A
B

e
e

O =

41
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
Let,
LINEAR SYSTEM
( ) ( ) ( )
1
1
sin
N
j j j j j
j
x H C
k
t t u
=
(
= O O O +

( ) ( )
1
N
j
j
x x t t
=
=

( ) ( )
1
N
j
j
f f t t
=
=

ENME 361 Spring 2013


Response to Excitation with Harmonic Components

( ) ( )
,
j j
H u O O
( )
j
f t
( )
j
x t
1, , j N =
( ) ( )
,
j j
H u O O ( )
1
N
j
j
f t
=

( )
1
N
j
j
x t
=

1, , j N =
Linear System
42
ENME 361 Spring 2013
3. Periodic excitation
Fundamental Frequency:
Response to Excitation with Harmonic Components
T
( )
f t
t
( ) ( )
f t f t n T =
( ) ( )
f t f t n T =
0 0
2
2
T
T
t
e e t : = =
Period
ENME 361 Spring 2013

T
t
f(t)
ne
o
e
o
2e
o
3e
o
4e
o

a
n
a
1

a
2

a
3

a
4

Notice that spectrum is
discrete
The Fourier series decomposes a periodic signal in the time
domain into its discrete frequency components; that is, the
time-varying signal has been transformed into the frequency
domain.
Response to Excitation with Harmonic Components
43
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
Fourier Series:
where,
( ) ( ) ( )
0
0 0
1
cos sin
2
i i
i
b f t i t i t
a
a e e
=

( = + +

( ) ( )
( ) ( )
0
0
0
0
, 0,1,2,
, 1
2
2
cos
, n ,2 si
T
i
T
i
a f t i t d
b f t i t d
T
i
T
t
i t e
e =

= =

}
}

Fourier
coefficients
ENME 361 Spring 2013
Fundamental frequency:
for are called the higher harmonics of
( ) ( ) ( )
0
0 0
1
cos sin
2
i i
i
a
f t a i t b i t e e
=

( = + +

0
ie
( )
Fourier-series expansion of f t
1 i >
0
e
0
e
Response to Excitation with Harmonic Components
44
ENME 361 Spring 2013
Response to Excitation with Harmonic Components
LINEAR SYSTEMS:
( ) ( ) { ( ) ( )
( ) ( )
}
0
1
1
cos
2
sin
i i i i
i i i
i
a
x H a
k k
b
t t u
t u
=

= + O O O

(
+ O O

( ) ( ) ( )
0
1
1
sin
i i i i i
i
x c c
k
t t u
=


( = + O O O +
`


)

ENME 361 Spring 2013


( ) ( ) ( )
0
1
1
sin
i i i i i
i
c x
k
c t t u
=


( = + O O +
`

O
)

( ) ( )
1
0
2 2
0
2
tan
i
i
i i i i i
i
a
H a b
c
b
c
a

O = O +
=
=

0
i
n
ie
e
O =
Response to Excitation with Harmonic Components
45
ENME 361 Spring 2013
( ) ( )
,
i i
H u O O 1,2, i =
Linear System
( ) ( ) ( )
0
1
1
sin
i i i i i
i
x c c
k
t t u
=


( = + O O O +
`


)

( ) ( ) ( )
0
0 0
1
cos sin
2
i i
i
a
f t a i t b i t e e
=

( = + +

Response to Excitation with Harmonic Components


ENME 361 Spring 2013
Glossary Chapter 5
Accelerance the ratio of the Laplace transform of a
vibratory systems acceleration output to the Laplace
transform of the force input; the corresponding frequency-
response function is obtained by substituting s = je.
Accelerometer a device whose output is proportional to
acceleration.
Admittance the ratio of the Laplace transform of a
vibratory systems output displacement to the Laplace
transform of the force input; the corresponding frequency-
response function is obtained by substituting s = je; used
synonymously with receptance and compliance functions.
46
ENME 361 Spring 2013
Amplitude response the non-dimensional frequency-
response function used to relate the output response of
a linear vibratory system to the input.
Band pass filter a system that allows frequency
components in the input that are within the region
defined by its lower and upper cutoff frequencies to
pass relatively unattenuated while those frequency
components outside this region are attenuated.
Bandwidth the frequency range for a system; for a
band pass filter, this is the difference between the upper
and lower cutoff frequencies; for a low pass filter, it is
the upper cutoff frequency; for a high pass filter, it is
the lower cutoff frequency.
ENME 361 Spring 2013
Cutoff frequency for a vibratory system, the frequency at
which the magnitude of the displacement response has
decreased to 0.7071 (or 1/\2) of its maximum value; that is,
the system, has the half the power it has at the maximum
value.
Damping-dominated response the excitation frequency
range, in which the system response is heavily influenced
by the viscous damping of the system; in this range, the
response is inversely proportional to the damping
coefficient.
Frequency-response function the ratio of the output of a
system to the input of the system as a function of
frequency; can be obtained from the transfer function by
substituting s = je.
47
ENME 361 Spring 2013
Half-power points excitation frequencies for which the
displacement response has half the power that it has at its
maximum value; the frequencies corresponding to the half-
power points are used to define the cutoff frequencies.
Harmonic any frequency that is an integer multiple of a
basic frequency.
Harmonic excitation in mechanical vibrations it refers to
either a sine function of given amplitude and frequency, a
cosine function of given amplitude and frequency, or the
combination of a sine function of given amplitude and
cosine function of given amplitude each with the same
frequency.
ENME 361 Spring 2013
High pass filter a system that allows frequency
components in the input that are greater than its cutoff
frequency to pass relatively unattenuated while those
frequency components below it are attenuated.
Inertia-dominated response the excitation frequency
range in which the system response is heavily influenced
by the inertia of the system; in this range, the response is
inversely proportional to the system mass.
Low pass filter a system that allows frequency
components in the input that are less than its cutoff
frequency to pass relatively unattenuated while those
frequency components above it are attenuated.
48
ENME 361 Spring 2013
Periodic excitation a time-varying excitation whose
waveform repeats itself every constant time interval called
the period; the simplest type of periodic excitation is a
waveform that varies with time as a sine or cosine
function.
Phase response the phase lead or lag of the amplitude
response with respect to the input as a function of
frequency.
Resonance the condition at which the excitation
frequency is equal to one of the natural frequencies of a
system; also refers to the response of an undamped or
lightly damped linear system at frequencies close to or at
one of the systems natural frequencies; for a nonlinear
system, resonances can occur at rational multiples of a
natural frequency
ENME 361 Spring 2013
Stiffness-dominated response the excitation frequency
range in which the system response is heavily influenced
by the stiffness of the system; in this range, the
response is inversely proportional to the system
stiffness
Transmissibility ratio a measure of the amount of the
applied force to the mass that is transmitted to the
ground or the amount of displacement applied to the
base that is transmitted to the mass.
Vibration isolation means used to reduce a systems
transmissibility ratio.

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