Beruflich Dokumente
Kultur Dokumente
1) Free vibration
Initial conditions applied to
body (possessing mass/
elasticity) leads to exponential
decay of periodic vibration at
damped natural frequency.
x(t)
t (sec)
Resonance
Magnitude
2) Forced vibration
Continuing periodic force excites
system. Steady-state response
matches forcing function
frequency with magnitude and
phase governed by system
characteristics. Describe
behavior using FRF.
3) Self-excited vibration
Steady input force is
modulated into vibration at the
system natural frequency.
x(t)
t (sec)
Examples include:
whistle - steady air flow produces acoustic vibration
violin - bow across string produces vibration at frequency that
depends on string length
chatter in machining - steady excitation of teeth impacting work
leads to large tool vibrations at system natural frequency
1(x)
2(x)
k
m
n =
where,
3(x)
4(x)
k=
etc.
3EI
L3
m = 0.24 mbeam
Periodic Motion
Important concept in mechanical vibrations is periodic motion.
x(t)
x (t + ) = x (t )
t (sec)
Periodic Motion
Consider the harmonic motion:
where,
(rad/s)
+X
1
f =
= (cycle/s or Hz)
2
x(t)
x (t ) = X sin (t )
X - magnitude
-X
t (sec)
Velocity
dx
v(t ) =
= X cos (t ) = X sin t +
dt
2
Acceleration
dv
a (t ) =
= 2 X sin (t ) = 2 X sin (t + )
dt
F = m&x& + cx& + kx = 0
Assume harmonic solution:
x (t ) = Xe st
This solution introduces Laplace notation in the variable s = i. The
Laplace transform allows us to map from the time to frequency
domain by:
Laplace of
( f (t )) = F (s ) = e st f (t )dt
0
ms 2 Xe st + csXe st + kXe st = ms 2 + cs + k Xe st = 0
(s = i )
ms 2 + cs + k = 0
Trivial solution
(no motion)
s2 +
c
k
s+ =0
m
m
Determines system behavior;
underdamped if:
Roots:
2
s1,2
c
k
c
=
2m
m
2m
k
c
<0
m
2m
c
t
t
t
2m m
2m m
s1t
s2t
m
2
+ Be
x (t ) = Ae + Be = e
Ae
damping envelope
oscillatory part
x (t ) = e
n t
[Ae
i d t
+ Be
i d t
where; =
2 km
Equivalent forms:
d = n 1 2
x (t ) = Ce n t cos ( d t + c )
x (t ) = Ce n t sin ( d t + s )
n =
k
m
x (t ) = e n t (D cos ( d t ) + E sin ( d t ))
1 107
rad
n =
= 3162
1
s
c
126.5
=
=
= 0.02
2 km 2 1 107 1
d = n 1
rad
= 3162 1 0.02 = 3161 .6
s
2
x (t ) = Ce n t sin ( d t + s )
where C and s are determined from initial conditions
x (t ) = Ce n t sin ( d t + s )
s = tan 1
x0 d
x&0 + n x0
x0
C=
sin s
x0 d
100 3161 .6
1
s = tan
= tan
= 0.87 rad
x&0 + n x0
0 + 0.02 3162 100
x0
100
C=
=
= 130.6 m
sin s sin (0.87 )
1
( m
+ ic + k Xe it = Fe it
1
X
( ) =
F
m 2 + ic + k
n
X
1
Im ( ) =
2
2
2
F
k
1 + 2
n n
n
Imag (X/F)
X
1
n
Re ( ) =
2
2
2
F
k
1 + 2
n n
Real (X/F)
n
( ) = tan 1
2
F
Phase (deg)
1
1
X
( ) =
2
2
F
k
2
1 + 2
n n
Magnitude (X/F)
1
2
n
-90
-180
Imag (X/F)
n(1+)
n(1-)
n
Real (X/F)
3
2
f (Hz)
Imag (X/F)
Real (X/F)
f (Hz)
1038.1
958.2
998.2
f (Hz)
b) fn = 998.2 Hz.
1038 .1 958.2
= 0.04 = 4%
2 998.2
1
6
N/m
=
=
k
5
.
9
10
d)
6
2.119 10 (2 )0.04
c) =
-2.119x10
f (Hz)
-6
m=
n2
5.9 106
(998.2 2 )
= 0.15kg
N s
c = 2 km = 2(0.04 ) 5.9 10 0.15 = 75.3
m
6
X
( = n ) = 1
F
2 k
Displacement amplitude at resonance:
X =
F
2 k
100
6
2 5.9 10 0.04
= 0.21mm
det [m ]s + [k ] = 0
2
2
s
=
{q0 } = [P ]1{xo }
{q&0 } = [P ]1{x&o }
9) Determine solutions to uncoupled (SDOF) equations of motion.
10) Transform from modal to local coordinates.
{x} = [P ]{q}
m1 0 &x&1 c1 + c2
&& +
0 m2 x2 c2
k1 + k2
k2
c2 x&1
& +
c2 x2
k 2 x1 0
=
k 2 x2 0
[c ] = [m] + [k ]
As in SDOF case, assume harmonic solution and substitute:
x (t ) = Xe st
[[m]s
Trivial solution
+ [k ] {X }e st = {0}
det [m ]s 2 + [k ] = 0
s12 = n21
s22 = n22
( n1 < n 2 )
(m s
1
+ (k1 + k 2 ) X 1 k 2 X 2 = 0
X1
k2
=
X 2 m1s 2 + (k1 + k 2 )
X1
1 = X 2
1 1
X 1
2 = X 2
1 2
X2
=1
X2
Normalized to
coordinate 2.
P = [ 1 2 ]
[mq ]
mq11
= [P ] [m ][P ] =
0
T
mq 22
[kq ]
k q11
= [P ] [k ][P ] =
0
T
0
cq11
=
0
c
q 22
qi (t ) = e
qi ni t
i = 1, 2
k q 22
Di = q0i
qi =
Ei =
cqii
2 kqii mqii
q01
1 x01
= [P ]
x02
q02
q&0i + qi ni q0i
di
i = 1, 2
di = ni 1 qi2
q&01
1 x&01
& = [P ] &
x02
q02
x1 (t )
q1 (t )
= [P ]
(
)
(
)
x
t
q
t
2
2
Sum of modal responses
x1 (t ) = p11q1 (t ) + p22 q2 (t )
x2 (t ) = q1 (t ) + q2 (t )
m1 0 1 0
[m] =
=
kg
0 m2 0 0.5
k 2 3 107
=
k 2 2 107
k1 + k 2
[k ] =
k2
2 107 N
7 m
2 10
2
7
s
+
3
10
det [m ]s 2 + [k ] =
2 10 7
2 107
=0
2
7
0.5s + 2 10
rad
n1 = 2506
s
rad
n 2 = 7981
s
X1
2 107
2 107
X1
2 107
2 107
0.843
1 =
Modal matrix:
0.593
2 =
0.843 0.593
P=
1
1
[ ]
0
1.211
mq = [P ] [m ][P ] =
kg
0.852
0
[kq ]
7.6 10 6
= [P ] [k ][P ] =
0
N
7 m
5.43 10
0
q01
1 x01 0.283
mm
= [P ] =
x02 1.283
q02
q&01
1 x&01 0
& = [P ] & =
q02
x02 0
q1 (t ) =
q2 (t ) =
q&01
q&02
n1
n2
Substitution gives:
it
0 i t
= e
F2
det [m ]s 2 + [k ] = 0
Obtain uncoupled equations of motion in modal coordinates:
p11 1 0 F2
{R} = [P ] {F } =
=
p12 1 F2 F2
Qi
1
1 (ri )2
Re ( ) =
2
kqii 1 (ri )2 + 2 qi ri
Ri
) (
2 qi ri
Qi
1
Im ( ) =
2
2
R
k
qii 1 (r )
i
+ 2 qi ri
i
) (
where ri = /ni
and i = 1, 2
X1
( ) = p11Q1 + p12Q2 = p11 Q1 + p12 Q2
R2
R1
F2
F2
X2
Q1 + Q2 Q1 Q2
( ) =
=
+
F2
F2
R1 R2
p11Q1/R1
p12Q2/R2
Re[X2/F2]
Re[X1/F2]
Cross FRF
Q2/R2
n1(1- q1)
n2(1+ q2)
n2(1- q2)
Im[X2/F2]
Re[X2/F2]
n1(1+ q1)
n2
n1
-1
-1
2kq22 q2
2kq11 q1
Im[X1/F2]
p12
2kq11 q1
-p11
2kq11 q1
p12
2 =
1
p11
1 =
1
Mode 1:
p11
X1
p11
Im
2k q11 q1
F2 1
=
=
1
X2
Im
2k q11 q1
F2 1
Mode 2:
p12
p12
2kq 22 q 2
=
1
2kq 22 q 2
X1
Im
F2 2
=
X2
Im
F2 2
[m] = [P ]
[mq ][P]
[k ] = [P ]
[c] = [P ]
[kq ][P ]
k1 + k 2
=
k2
k2
k2
[cq ][P]
c1 + c2
=
c2
c2
c2
where
p11
P=
1
m1 0
=
0
m
2
p12
Cross:
X2 X3 X4 X5
F1 F1 F1 F1
-5
X1/F1 FRF
Imag (m/N)
x 10
X1
F1
-5
0
100
200
300
f (Hz)
400
500
x 10
-5
x 10
-5
x 10
100
200
300
f (Hz)
X3/F1 FRF
400
500
Imag (m/N)
-5
0
-5
X2/F1 FRF
Imag (m/N)
Imag (m/N)
X1/F1 FRF
x 10
-5
0
100
200
300
f (Hz)
400
-5
0
500
-5
100
x 10
Imag (m/N)
Imag (m/N)
300
f (Hz)
400
500
1(x)
200
400
500
400
500
X5/F1 FRF
100
300
f (Hz)
-5
X4/F1 FRF
-5
0
200
-5
0
100
200
300
f (Hz)
x 10
-5
x 10
-5
x 10
100
200
300
f (Hz)
X3/F1 FRF
400
-5
0
500
Imag (m/N)
-5
0
-5
X2/F1 FRF
Imag (m/N)
Imag (m/N)
X1/F1 FRF
x 10
100
200
300
f (Hz)
400
-5
0
500
-5
100
x 10
Imag (m/N)
Imag (m/N)
300
f (Hz)
400
500
500
400
500
-5
0
2(x)
200
400
X5/F1 FRF
100
300
f (Hz)
-5
X4/F1 FRF
-5
0
200
100
200
300
f (Hz)
x 10
-5
x 10
-5
x 10
100
200
300
f (Hz)
X3/F1 FRF
400
500
Imag (m/N)
-5
0
-5
X2/F1 FRF
Imag (m/N)
Imag (m/N)
X1/F1 FRF
x 10
-5
0
100
200
300
f (Hz)
400
-5
0
500
-5
100
x 10
Imag (m/N)
Imag (m/N)
300
f (Hz)
400
500
3(x)
200
400
500
400
500
X5/F1 FRF
100
300
f (Hz)
-5
X4/F1 FRF
-5
0
200
-5
0
100
200
300
f (Hz)