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9 Any motion which repeats itself after an interval of time is called vibration.
9 Machines with repetitive power sources, such as engine, motor, turbine, often
have vibration problems.
M
C
2
Type of Springs
9 From the way the springs are loaded, there are 4 major types of springs:
compression springs, extension springs, torsion springs, and radial springs.
garter spring
3
9 Outside Diameter:
OD = Dm + Dw (1)
ID
9 Inside Diameter: Dm
OD
ID = Dm – Dw (2)
9 Free length
9 Install length
9 Operating length
9 Solid length
4
Compression Spring – Terminologies (II)
9 Pitch angle:
λ
⎛ p ⎞
λ = tan ⎜⎜
−1
⎟⎟ (4)
⎝ πDm ⎠
L f = p × N a + 2 Dw (5) P πDm
Dm
5
Compression Spring – Stress Analysis (I)
F
9 When a spring is in compression or tension, the
wire itself is twisted.
9 The torsional shearing stress:
Tr FDm 2 ⋅ Dw 2 8FDm
τ= = = (6) FDm/2
J πDw 32
4
πDw3
8KFDm
τ= (7)
πDw3 F
1.4
1.35
1.3
Wahl Factor, K
1.25
1.2
1.15
1.1
1.05
1
0 5 10 15 20
Spring Index, C
7
Compression Spring – Spring Constant
9 Strain energy when the spring wire is twisted:
θ=
TL ⎛ GJ ⎞
T = Kθ θ = ⎜ ⎟θ
GJ ⎝ L ⎠
2
1 1 ⎛ GJ ⎞ 2 1 ⎛ GJ ⎞⎛ TL ⎞ T 2L
U = Kθ θ = ⎜
2
⎟θ = ⎜ ⎟⎜ ⎟ = (10)
2 2⎝ L ⎠ 2 ⎝ L ⎠⎝ GJ ⎠ 2GJ
T=
FDm πDw4
J= L = πDm N a
2 32
4 F 2 Dm3 N a 1 2 F 2
U= 4
= kδ = (11)
GDw 2 2k
GDw4
⇒k = (12)
8 Dm3 N a
9 Spring constant depends on wire diameter, mean diameter, number of active
coils, and modulus of elasticity in shear, among which wire diameter and
mean diameter have the greatest influence.
8
Free Vibration of an Undamped, Translational System (I)
m&x& + k (δ + x ) = mg (13)
mg = kδ
m&x& + kx = 0 (14) kδ
k
x = ce st mcs 2 e st + kce st = 0
ms 2 + k = 0 δ x=0 m
m
⇒ s = ± − k = ± iω n
mg
m
(a) (b)
ωn = k m
9 Homogenous solution:
iω n t − iω n t
x(t ) = A1 cos ωn t + A2 sin ωn t (17)
x = c1e + c2 e (15)
iω n t
t = 0, x( 0 ) = A1 , x& (0) = A2ωn
⎧ e = cos ωn t + i sin ωn t
⎨ −iωnt (16) x&0
⎩e = cos ωn t − i sin ωn t x(t ) = x0 cos ωn t + sin ω n t (18)
ωn
9 Equivalent stiffness:
m
δ = fl 3 3EI
x=0 k e = f x = 3EI l 3
l
ω n = k e me
kt
ωn =
l
rad/sec (20)
Jo
θ = Tl GJ s , T = K tθ ⇒ K t = GJ s l O
θ
J o = ∫ r dA
2
11
A Solid Pendulum Experiment to Calculate the Polar
Moment of Inertia
9 It is difficult to calculate JO for objects with complicated shapes.
9 The solid pendulum experiment:
J oθ&& + mgr sin θ = 0 (21) O
ω n = mgr J o
9 Moment equilibrium: m
x
− Mgl sin θ + mxg sin θ = (ml 2 + Mx 2 )θ&& (26)
( )
Ml + mx θ&& + (Ml − mx )gθ = 0
2 2
(27)
轉軸
pivot
O l
9 Natural frequency:
θ
ωn =
(Ml − mx )g (28)
Ml 2 + mx 2 M
9 The frequency will be small if m is moved away from the pivot. When Ml=mx,
there will be no vibration.
13
Free Vibration with Viscous Damping (I)
9 A vehicle suspension system usually consist of a spring, a shock absorber,
and a set of linkages. The shock absorber is a typical viscous damping.
裝置於車體
to vehicle
活塞桿
piston rod
避震筒壁 防塵套筒
活塞 液壓油
hydraulic fluid
piston
基閥
fluid passage
活塞
piston
液壓油
hydraulic fluid
車軸
to wheel
14
Free Vibration with Viscous Damping (II)
9 The viscous damping force F is proportional to the speed and can be expressed as
F = −cx& (29)
where c is the damping constant or coefficient of viscous damping.
9 The equation of motion:
m&x& + cx& + kx = 0 (30)
9 Let x=cest ms 2 + cs + k = 0
⇒s= − c ± c
2m
2
− 4mk = − c ±
2m
( )
c −k
2m m
2
(31)
c
=
c Cc
⋅
2 m Cc 2 m
= ζω n (34) ( )
s = − ζ ± ζ 2 − 1 ωn (35)
15
Free Vibration with Viscous Damping (III)
9 Homogeneous solution of
⎛⎜ −ζ + ζ 2 −1 ⎞⎟ωn t ⎛⎜ −ζ − ζ 2 −1 ⎞⎟ω t
Equation (30): x(t ) = c1e⎝ ⎠
+ c2 e ⎝ ⎠ n
(36)
臨界阻尼系統與過度阻尼系統運動狀態
9 Critically damped system
(ζ=1) and overdamped
ζ >1
Overdamped
過度阻尼
system(ζ>1
system( ) Î The
solution does not have
imaginary part, thus no
Criticallyζ damped
臨界阻尼 =1
oscillation. X(t)
t
16
Underdamped System
9 Eq.(36) can be re-arranged as follows:
μN
xp = m (40)
k f = μN
μN
x(t ) = A cos ω n t + B sin ω n t −
k
μN
x(t ) = A cos ωn t + B sin ωn t + (41)
k
18
Example 2. Free Vibration with Coulomb Damping (I)
9 x0=0.06m, and m=15kg , k=1800N/m, μ=0.1, N=mg=147N, μN/k=8.17×10-3m.
9 The first half cycle (0≦ωnt≦π), when t=0, x0=0.06m:
A1 = x0 − μN k B1 = 0
μN
x(t ) = A cos ωn t + B sin ωn t + = ( x0 − μN k ) cos ωn t + μN k
k
μN
+
k
μN
π 2π ωt
3π ωnt
−
k
20
Free Vibration with Hysteretic Damping
f = mo eω 2 (43) f = m o eω 2
f cosθ
e
9 Equations of motion:
m&x& + kx = f cos ωt (46) x , x& , &&
x
O
9 The homogeneous solution is the same as
Eq.(17), and particular solution is:
m
f
xp = cos ωt (47)
k −mω 2 k, c
harmonic vibration ω.
9 When ω → ω n = k , f x(t)
X(t)
→∞
m k −mω 2
which means that the vibration amplitude ω
approaches infinity. This is called <1
ωn
resonance.
t
t
9 For machinery with reciprocating power 0
source, the frequency of the power source x(t)
X(t)
should avoid the natural frequency to
prevent the whole system from resonance.
ω
>1
0
ωn tt
24
Harmonically Excited Vibration of Rotating Machinery (IV)
9 If we consider the damping effect on the e
bushing, Eq.(46) becomes:
x , x& , &&
x
m&x& + cx& + kx = f cos ωt (49) O
9 For steady state, the homogeneous solution
will approach zero and we can only focus on
m
the particular solution:
x p = X cos(ωt − φ ) (50) k, c
X=
f ⎛ cω ⎞
[(k − mω ) + (cω ) ] φ = tan −1 ⎜
(51)
2 ⎟
1 (52)
2 2 2 2
⎝ k − mω ⎠
f f
9 When ω → 0 , X = ; when ω → ω n X =
k cω
9 Vibration can be reduced if we add bushing
at proper positions.
25
Vibration Analysis for Multiple DOF System (I)
roll y
9 There are four independent mass x bounce
nodes: body, two front tires, and
rear tires. pitch
ms
cs z1
ks
9 Equation of motion: mus
ms &z&1 = k s ( z 2 − z1 ) + cs ( z&2 − z&1 ) (53) kt ct
z2
mus &z&2 = k s (z1 − z 2 ) − kt z 2 + cs (z&1 − z&2 ) − ct z&2 + F (t ) (54)
⎡− msωn2 0 ⎤ ⎡ Z1 ⎤ ⎡ k s − k s ⎤ ⎡ Z1 ⎤ ⎡ 0 ⎤
⎢ ⎥⎢ ⎥ + ⎢ =
k s + kt ⎥⎦ ⎢⎣ Z 2 ⎥⎦ ⎢⎣0⎥⎦
(60)
⎣ 0 − musωn2 ⎦ ⎣ Z 2 ⎦ ⎣− k s
⎡− msωn2 + k s − ks ⎤ ⎡ Z1 ⎤ ⎡ 0 ⎤
⎢ ⎥⎢ ⎥ = ⎢ ⎥ (61)
⎣ − ks − musωn + k s + kt ⎦ ⎣ Z 2 ⎦ ⎣0⎦
2
⎡ ks ks ⎤
⎢m − ω 2
n − ⎥ ⎡ Z1 ⎤ ⎡0 ⎤
ms
⎢ s
⎥⎢ ⎥ = ⎢ ⎥ (62)
⎢ − ks k s + kt 2 ⎥ ⎣Z 2 ⎦ ⎣0 ⎦
− ωn
⎢⎣ mus mus ⎥⎦
28
Vibration Analysis for Multiple DOF System (IV)
⎡ ks ks ⎤
⎢ m −
ms ⎥
−1
M K=⎢ s ⎥
k s + kt ⎥
(63) ( )
⇒ M −1K − ω n2 I Z = 0 (64)
⎢− k s
⎢⎣ mus mus ⎥⎦
9 ωn2 are the eigen values of M-1K. The corresponding eigen vectors represent the
mode shape.
9 Assume ms=2000kg, mus=200kg, ks=80kN/m, kt=800kN/m, two eigen values of M-1K
are 8.45rad/sec=1.34Hz and 66.62rad/sec=10.60Hz. They are called the first natural
frequency and second natural frequency, respectively.
9 The corresponding eigen vectors are:
⎡ Z1 ⎤ ⎡− 0.9792⎤ ⎡ 0.0207 ⎤
⎢ Z ⎥ = ⎢− 0.2027⎥, ⎢− 0.9998⎥ (65)
⎣ 2⎦ ⎣ ⎦ ⎣ ⎦
9 They are called the first mode and the second mode.
29
Mode Shapes