Mechanical Vibration by Palm

CHAPTER 4: HARMONIC RESPONSE

WITH A SINGLE DEGREE OF
FREEDOM

Instructor: Dr Simin Nasseri, SPSU
Copyright, 2010
1
Based on a lecture from Brown university (Division of engineering)
External Forcing Base Excitation
Types of Forcing:
Rotor Excitation
All of these situations are of practical interest. Some subtle but
important distinctions to consider, so we will look at each.
But the strategy is simple: derive Equation of Motion and put into
the Standard Form
3
Base Excitation (Seismic motion)
4
Base Excitation (Seismic motion)
Base Excitation the Earthquake Problem
Here, base supporting object is subjected to motion.

How does the object respond?
Forces in the spring, dashpot are proportional to the
motion RELATIVE to the base
Draw F.B.D. and get equation of motion.
) sin( ) ( t Y t y e =
) (t x
2
2
( ) ( )
vertical
dx dy d x
F k x y c m
dt dt dt
= =

2
2
d x dx dy
m c kx ky c
dt dt dt
+ + = +
2
2
sin( ) cos( )
d x dx
m c kx kY t c Y t
dt dt
e e e + + = +
2
2 2
2
( ) ( ) sin( )
d x c dx k kY c Y
x t
dt m dt m m m
e
e o + + = + +
2
2 2 2 2
2
2 ( ) (2 ) sin( )
n n n n
d x dx
x Y Y t
dt dt
,e e e ,e e e o + + = + +
2
2 2 2
2
2 1 (2 / ) sin( )
n n n n
d x dx
x Y t
dt dt
,e e e ,e e e o + + = + +
Now in the standard form but with a new driving
force
2 2
) / 2 ( 1
n n o
Y m F e ,e e + =
( ) | | ( ) | |
2
2
2
2
2 1
1
n n
n
o
m
F
X
e
e
e
e
,
e
+
=
( ) | | ( ) | |
2
2
2
2
2 1
) / 2 ( 1
n n
n
Y
X
e
e
e
e
,
e ,e
+
+
=
(Displacement Amplitude of body)/(Displacement Amplitude of Base)
2
2 2
2
( ) ( ) sin( )
d x c dx k kY c Y
x t
dt m dt m m m
e
e o + + = + +
Harmonic Base Excitation
Displacement
transmission ratio:
( ) ( )
2
2
2
2
2 1
) 2 ( 1
r r
r
Y
X
,
,
+
+
=
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
Y
X
r
n
= e e/
1 . 0 = ,
2 . 0 = ,
3 . 0 = ,
0 . 1 = ,
1 . 0 = ,
Base Isolation Concept:
soft spring
Given an expected frequency of a driving force,
Design spring/dashpot coupling to minimize response
Clearly want to get in the regime
1 / >>
n
e e
e e <<
n
soft springs (small k)
Non-isolated
Isolated
04_03_02
9
Design of Car Suspension for Wavy Roads:
Car weighing 3000 lbs drives over a road with sinusoidal profile shown
k c
m
s
16
33 ft
Design the suspension so that:
1. The vibration amplitude of the car is < 14 at all speeds
and
2. The vibration amplitude of the car is < 4 at 55 mph
Select springs (k) and shocks
(c) to satisfy requirements of
maximum car vibration
amplitude when driving on a
wavy road
x(t)
What is the base excitation
here?
Equation of road profile?
16
33 ft
As car drives along at constant speed, it is
as if the road is vibrating up and down
underneath the car
OK, but how do we represent that? ft L ft Y 33 ; 667 . 0 " 8 = = =
)
2
sin(
L
Vt
Y y
t
=
L
V t
e
2
= Driving frequency of base is
Design requirements are now:
(Vibration amplitude < 14 at all speeds) 1. at all frequencies
75 . 1
8
14
= <
Y
X
5 . 0
8
4
= <
Y
X
2. at frequency
s
rad
ft
s ft x
36 . 15
33
) 3600 / 5280 55 ( 2
= =
t
e
|
.
|

\
|
=
|
.
|

\
|
= = t
V L
Y t
T
Y t Y y
/
2
sin
2
sin ) sin(
t t
e
0 0.5 1 1.5 2 2.5 3
0
0.5
1
1.5
2
2.5
3
3.5
4
Lets do this graphically, using our magnification plot:
Y
X
50 . 0 ,..... 15 . 0 , 10 . 0 , 05 . 0 = ,
1.75
35 . 0 ~ ,
0.5
35 . 0 = ,
n
e e /
2 /
55
>
n MPh
e e
2 /
55
>
n MPh
e e will satisfy criterion #2 for ,=0.35
35 . 0 > , will satisfy criterion #1
2 /
55
>
n MPh
e e
35 . 0 = ,
n MPh
e e > 2 /
55
s rad
n
/
2
36 . 15
s e
s rad
n
/ 68 . 7 s e
Spring k required:
ft lb
s ft
lb
s m k
n
/ 495 , 5 )
/ 2 . 32
3000
( ) / 68 . 7 (
2
2 2
= = = e
Damping c required:
ft s lb s
s ft
lb
m c
n
/ 500 ) / 68 . 7 )(
/ 2 . 32
3000
)( 35 . 0 ( 2 2
2
= = = e ,
14
Summary:
Harmonic Base Excitation
Motion Relative to Base
Sometimes the motion relative to the base is of interest
2
2
( ) ( )
dx dy d x
k x y c m
dt dt dt
=
Introducing the relative displacement z = x y, the equation of motion becomes:
2 2
2 2
( )
dz d z d y
kz c m
dt dt dt
= +
2 2
2 2
d z dz d y
m c kz m
dt dt dt
+ + =
Or:
2
2 2
2
2 sin( )
n n
d z dz
z Y t
dt dt
,e e e e + + =
m F
o
/
( ) | | ( ) | |
2
2
2
2
2 1
1
n n
n
o
m
F
X
e
e
e
e
,
e
+
=
( )
( ) | | ( ) | |
2
2
2
2
2 1
n n
n
Y
Z
e
e
e
e
e
e
, +
=
0 0.5 1 1.5 2 2.5 3
0
1
2
3
4
5
6
7
8
9
10
( )
( ) | | ( ) | |
( ) M
Y
Z
n
n n
n
2
2
2
2
2
2 1
e
e
e
e
e
e
e
e
,
=
+
=
Y
Z
n
e
e
Low frequencies: body
moves with base no
relative motion
High frequencies: base is
moving but body is not, so
relative motion = 1
17
Goal:
Detect Low Frequency Earthquake tremors in
the 1-5 Hz frequency range along the San
Andreas fault.

Constraints:
Background vibrations over a wide range of
higher frequencies occur with typical
amplitudes of 0.1mm, so tremor amplitudes
comparable to or smaller than this cannot be
detected.

Design a mass/spring/dashpot system (choose
m, k, c) to:
(i) reliably detect tremors at a frequency of 3
Hz and having earth motion amplitudes of
0.01mm or larger,
(ii) ensure that the maximum amplitude will
not exceed 30 mm for earth motion
amplitudes of 1.0 mm.
Design of a Seismograph:
Note: device measures motions
relative to its base
FYI
Example
:
The motion of the outer cart is varying sinusoidally
as shown.
For what range of e is the amplitude of the motion
of the mass m, relative to the cart less than 2b?
2
2
2
2
2 1
n
n n
Z
Y
e
e
e e
,
e e
| |
|
\ .
=
(
(
| | | |
( +
( | |
(
\ . \ .



2
2
1
n
n
Z
Y
e
e
e
e
| |
|
\ .
=
| |

|
\ .
when no
damping
2
2
2
1
n
n
Z
Y
e
e
e
e
| |
|
\ .
=
(
| |
(
|
(
\ .

Two solutions:
(When )
n
e e <
And:
(When )
n
e e >
2
2
1
n
n
Z
Y
e
e
e
e
| |
|
\ .
=
| |

|
\ .
We want
2
2
Z b
Y b
< =
2
2
2
1
n
n
e
e
e
e
| |
|
\ .
<
| |

|
\ .

2
3
n
e
e
<
2
2
2
1
n
n
e
e
e
e
| |
|
\ .
<
| |

|
\ .

2
n
e
e
>
n
e e <
for
n
e e >
for
0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
(0.817)
(1.414)