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Outline of Lecture 2
Single-Degree-of-Freedom Systems (cont.)
Linear Viscous Damped Eigenvibrations. Logarithmic decrement. Response to Harmonic and Periodic Loads.
: Damping ratio. Non-dimensional viscous damping coefficient. Four qualitatively different cases to be considered.
1)
: Undamped system.
2)
3)
4)
Characteristic values of damping ratio: Typical value: (mechanical systems are lightly damped). Offshore jacket structure : Wind turbine rotor (aerodynamic damping) :
: Damped angular eigenfrequency, [s-1]. : Damped eigenvibration period, [s]. : Phase angle. Proof:
Logarithmic decrement:
: Logarithmic decrement.
Example 1 : Identification of
and
4)
Example 2 : Eigenvibrations of a rigid drive train of a wind turbine with a synchronous generator
A synchronous generator acts as a linear elastic rotational spring with the spring constant , [Nm/rad], for small rotations relative to a referential rotation with the (nominal) angular frequency of the generator rotor.
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: Angular velocity (rotational speed) of rotor, [s-1]. : Angular velocity of generator rotor, [s-1]. : Mass moment of inertia of rotor, [kg m2]. : Mass moment of inertia of generator rotor, [kg m2]. : Mass moment of inertia and radius of gear wheel 1, [kg m2], [m]. : Mass moment of inertia and radius of gear wheel 2, [kg m2], [m]. : Gear ratio.
Single-degree-of-freedom system: : Rotational angle of rotor. : Auxiliary degrees of freedom of gear wheels and generator rotor.
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Kinematic constraints:
(Lagranges function)
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Determine the equation of motion of the system shown in Fig. 4, formulated in the displacement of the mass , and determine the undamped angular eigenfrequency.
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and
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Solution:
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: Undamped angular eigenfrequency, [s-1]. : Damping ratio. : Damped angular eigenfrequency, [s-1]. Let the external dynamic force be harmonically varying with the amplitude , the angular frequency , and the phase angle :
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Physical observation: The stationary motion (the particular solution) after dissipation of eigenvibrations from the initial conditions becomes harmonically varying with the same angular frequency as the excitation and with different amplitude and phase angle :
and
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Denominator of
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(exists for
. . .
).
Phase angle
: relative to
. .( .( and and in phase). in counter-phase).
High-frequency response :
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Physical observation: The stationary motion (the particular solution) due to a periodically varying dynamic load becomes periodic with the same period , i.e.
Fourier expansions of
and
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The harmonic response component harmonic load component . From Eqs. (37), (41), (42):
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Example 4 : Machine with an unbalanced rotating mass : Total mass of machine. : Rotating unbalanced mass. Eccentricity: . Vertical displacement of balanced mass : . Vertical displacement of unbalanced mass : .
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Example 5 : Resonance of undamped SDOF system Determine the motion of the undamped SDOF system:
At first, the stationary motion for next the limit passing is performed.
is determined, and
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Summary of Lecture 2
Linear Viscous Damped Eigenvibrations.
Depends on the damping ratio Undercritically damped structures, Structures are lightly damped, Logarithmic decrement . . . .
to
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