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Now consider a free-body diagram of the mass in Fig.1a, with the massless spring
elongated from its rest, or equilibrium position. The mass of the object is m and the
stiffness of the spring is k. Assuming that the mass moves on a frictionless surface along
the x direction, the only force acting on the mass in the x direction is the spring force. As
long as the motion of the spring does not exceed its linear range, the force in the x
direction equal the product of mass and acceleration:
1
MAE 244 Introduction to Vibration
(written by Julio A Noriega, slightly modified) Lab 5-A s
One of the goals of vibration analysis is to be able to predict the response, or motion, of a
vibration system. Thus it is desirable to calculate the solution to equation (2), which can
be written as:
x +ω 2x = 0 (3)
x = d 1 cos ωt + d 2 sin ϖt
The arbitrary constant A and B can be determined from the initial conditions of the
motion
When t = 0
x =x0 (5)
x =v 0 (6)
Substituting Eqs. 5 and 6 into Eq. 4, its time derivative will evaluate the arbitrary
constants as
v0
A= (7)
ω
B =x0 (8)
So the solution becomes
v0
x= sin ωt + x 0 cos ωt (9)
ω
x = X sin(ωt + φ ) (10)
2
MAE 244 Introduction to Vibration
(written by Julio A Noriega, slightly modified) Lab 5-A s
where X represents the amplitude of the displacement and φ is the phase angle as defined
by:
v 2
X = 0 2 +x 0 (11)
ω
x
tan φ = 0 (12)
v0 / ω
The motion represented by Eqs. 9 and 10 is said to be harmonic, because of its sinusoidal
form. The motion is repeated (see Fig.2), with the time for one cycle being defined by the
value of ωt equal to 2π. Thus the period τ , or the time for one cycle, is given by
τ = 2π/ω (13)
The reciprocal of τ expresses the frequency f in cycles per unit time. Thus
f = ω/2π (14)
Because the solution is a circular function. The term ω is designated as the circular
frequency. It is measured in radians per second.
3
MAE 244 Introduction to Vibration
(written by Julio A Noriega, slightly modified) Lab 5-A s
F d = −cx (15)
where the damping constant c is the resistance developed per unit velocity.
F = µN (16)
Hysteresis damping which is also called solid or structural damping is due to internal
friction of the material.
Damping that produces a damping force proportional to the mass's velocity is commonly
referred to as "viscous damping" as shown in Figure 3.
c k
x + x + x = 0 (18)
m m
c c 2 k
s=− ± − (19)
2m 2m m
To simplify the solutions coming up, we define the critical damping constant cc as,
4
MAE 244 Introduction to Vibration
(written by Julio A Noriega, slightly modified) Lab 5-A s
cc k
= =ω (20)
2m m
or
c c = 2 mk = 2mω (21)
For a damped system the ratio of the damping constant to the critical value is a
dimensionless parameter which represents a meaningful measure of the amount of
damping present in the system. This ratio is called the damping factor, ζ. It is defined by
c
ς= (22)
cc
whence
c c cc
= = ςω (23)
2m c c 2m
Underdamped System
When c2 - 4mk < 0 ( ζ < 1), the solution of the equation (18) can be written as
−ς − i ς 2 −1 ω t
−ς + i ( ς −1) ωt
2
(24)
x =C 1 e
+C 2 e
5
MAE 244 Introduction to Vibration
(written by Julio A Noriega, slightly modified) Lab 5-A s
where
ωd= (1 −ς )ϖ
2
(26)
ωd represents the damped circular frequency. Note that ωd will equal to ω when the
damping of the system is zero (i.e. undamped).
Equation (25) demonstrates that the displacement amplitude decays exponentially (Fig.4),
i.e. the natural logarithm of the amplitude ratio for any two displacements separated in
time by a ratio is a constant. In this curve, the logarithmic decrement δ is expressed by:
xj 2πς
δ = ln = ln e ςωt = ςωt = (27)
x j +1 1 −ς 2
Where xj is the amplitude after j cycles; xj+1 is the amplitude after j+1 cycles.
x0
ln = nδ (28)
xn
1 x0
δ= ln (29)
n x n
6
MAE 244 Introduction to Vibration
(written by Julio A Noriega, slightly modified) Lab 5-A s
2π
τd =
ωd
System Overview
The experimental dynamic system comprises the three subsystems is shown in
Figure 5. The first of these is the electromechanical apparatus which consists of the
rectilinear mechanism, its actuator and sensors. The design features a brushless DC servo
motor, precision rack and pinion drive (actuator, force generator), high resolution
encoders (sensor), adjustable mass carriages (system mass) and reconfigurable system
type (variable damping coefficient dashpot, springs with different stiffness).
The next subsystem is the real time controller unit which contains the digital
signal processor (DSP) based real-time controller, sevo/actuator interfaces, servo
amplifiers and auxiliary supplies. The controller also supports such functions as data
acquisition, driving function shape generation, system health and safety check.
The third subsystem is the executive program which runs on a PC. This menu –
driven program is the user’s interface to the system and supports driving function
specification, input shape definition, data acquisition, plotting, system execution
commands and more.