IIT Madras Single Degree Vibrations

Single Degree-of-freedom Systems
Manoj Pandey
Indian Institute of Technology Madras
August 18, 2017
Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 1 / 90

What causes vibrations?
First up let us define “vibration”


I To and fro motion
What causes it?


I To and fro motion
What causes it?
Dynamic loads


I To and fro motion
What causes it?
Dynamic loads
I Internal generation mechanisms
F Unbalance forces in engines/turbines


I To and fro motion
What causes it?
Dynamic loads
I External mechanisms
F Wind loads/ earthquake excitations
F Road inputs
I These loads could be either deterministic or random in
nature


I To and fro motion
What causes it?
Dynamic loads
I External mechanisms
F Wind loads/ earthquake excitations
F Road inputs
I These loads could be either deterministic or random in
nature
Is that sufficient to create vibrations?

What else needed?
For systems to vibrate the following components are

essential
I Inertia or mass
F From an energy perspective inertia associated with kinetic
energy

What else needed?

essential
I Inertia or mass
energy
I Deformation: Compliance or Stiffness
F Stiffness associated with strain or potential energy
I The exchange of energy from one form to another leads to
the to and fro motion defined earlier as vibration

What else needed?

essential
I Inertia or mass
energy
I Deformation: Compliance or Stiffness
F Stiffness associated with strain or potential energy
I The exchange of energy from one form to another leads to
the to and fro motion defined earlier as vibration
I Dissipation or damping also involved

Why bother about vibrations?
Need to design for dynamic loads

I Fatigue failures can occur
I Need to avoid resonances or minimize its effect
Sound radiation from structures due to vibration
Human comfort issues

How to estimate vibrations?
Measurements can be done

I Experimental modal analysis
F Estimates only natural frequencies and damping
I Running vibration measurements
F Actual levels can be obtained
I All of these can be done only on existing products
Mathematical modeling
I Lumped parameter models
F Single and multi degree-of-freedom
I Distributed parameter models
F Infinite degrees-of-freedom
F Can be solved only for simple structures

Building a vibration model
Objective to improve ride

comfort
Models of varying
complexity can be built
I How does one decide ?

Simplest model
Vehicle operating at low

speeds
Long wavelength road
input
I Compared to wheel base
In this case only vertical
motion important
Pitch can be neglected

Bounce and Pitch model
Vehicle operating at higher

speeds
Shorter wavelength road
input
I Compared to wheel base
Vertical and pitching to be
included

Separate Rider model
Rider response to road

input
Sensitive to 4-9 Hz inputs
Vertical and pitching to be
included
I Both short and long
wavelength road inputs

Points to ponder
Complexity and size of model dictated by

I Input excitation frequencies
I Sub-system properties
In motorcycle model input frequencies from road usually
less than 30 Hz
I Suspension compliance to be included
I Compliance from motorcycle frame not considered as it is
much stiffer
Engine excitation input can be upto 200-250 Hz
I Frame compliance is important and model complexity
increases

Another example
Model to study cutting tool

dynamics
Assume that tool and
turret are quite rigid
Force from tool transferred
through turret/slide to bed
The interface between the
bed and turret is
compliant?
How about the bed?

Vibration model
Model to study cutting tool

dynamics
Workpiece flexibility taken
into account by cantilever
model
Turret to bed interface
compliance considered
Machine bed compliance
modeled as a fixed-fixed
beam

Building a vibration model
Want to study gear box

vibration
Models of varying
complexity can be built
I How does one decide ?

Simplest model
Rigid body model

Shafts/gears/bearings
considered rigid
How many
degrees-of-freedom does
the model have?

Torsional vibration model
Only shafts considered to

be flexible
I Only torsional
compliance considered
I Can also consider
bending compliance
Gears and bearings are
still considered rigid
How many
the model have?

More Complexity
Include gear tooth

flexibility
Coupled bending and
torsion
Bearings still considered
rigid
I How many
degrees-of-freedom
does this system have?

Finally ...
Include gear tooth

flexibility
Coupled bending and
torsion
Bearing compliance also
considered
I How many
degrees-of-freedom
does this system have?

Points to ponder
For the gearbox problem input frequency can vary

I If gearbox driven by engine 10-100 Hz is the range
I Torsional excitation more an issue
If gearbox noise a concern then mesh excitation
considered
I This is usually in the range of 200-2000 Hz
I Considerably higher excitation frequency
I System models have to be more refined especially for
housing

Let us model
We now look at a model of

a system including the
gearbox
To develop a mathematical
model we use free-body
diagrams
How many
this system have?
Flexibility only from shafts

Equations of Motion
We start with an imaginary cut at the beginning of the

shaft KT 1
I Engine/motor output shaft Engine
The governing equation of motion from Newton’s 2nd law

I Je θ̈e = T (t) − KT 1 (θe − θ1 )
Next we look at the first gear pair InputGear
I Note that pinion and gear rotation are not independent

I Torsional displacement of gear rr12 θ1

Equations of Motion
The inertia torque associated with gear 2 is J2 ( rr21 θ̈1 )

Similarly the elastic restoring torque acting on gear 2 is
KT 2 ( rr21 θ1 − θ2 )
These torques are acting on the lower shaft
We need to refer these torques to the top shaft
r1
I We scale inertia and elastic torque by gear ratio r2
I Rotation directions to be kept in mind here
The governing equation then becomes
r2
I (J1 + J2 r12 )θ̈1 = KT 1 (θe − θ1 ) − KT 2 rr12 ( rr12 θ1 − θ2 )
2

Equations of Motion
The output gear pair is now looked at OutputGear

We use a similar argument to refer inertia 4 to the lower
shaft leading to the following equation
r32
I (J3 + J )θ̈
r42 4 3
= KT 2 ( rr12 θ1 − θ2 ) − KT 3 rr34 ( rr34 θ2 − θL )
Now for the final load inertia Load
I JL θ̈L = KT 3 ( rr34 θ3 − θL )
These four equations can be written in matrix-vector form
I Jθ̈ + KT θ = Te (t); θ = [θe θ1 θ2 θL ]T

Matrices
   
Je 0 0 0  T (t)
 0 J1 + J2 ( r1 )2
 
r2
0 0  
0

J=
  ; T e (t) =
0 0 J3 + J4 ( rr34 )2 0  
 0 
0 0 0 JL 0
 
−KT 1
 
KT 1 0 0
−KT 1 KT 1 + KT 2 ( rr1 )2 −KT 2 rr12 0 
KT =  r
2
KT 2 + KT 3 ( r4 ) −KT 3 rr34 
r 2

 0 −KT 2 r2
1 3
0 0 −KT 3 rr34 KT 3

Some Comments
The inertia and stiffness matrices are symmetric

I Inertia matrix is in fact diagonal
Coupled second-order ordinary differential equations
How does one solve such coupled ODEs?
I Would be easier if we uncouple these equations
I Possible to reduce 4 DOF torsional vibration model to 4
uncoupled single DOF models

Some Comments

F Linear transformation?
F Will be shown later in the course

Some Comments

F Linear transformation?
F Will be shown later in the course
But we need to understand single DOF model dynamics
I So let us begin with that

Undamped SDOF model
Fundamental building
block for more complex
models
Undamped model
I Stiffness: k
I Inertia or mass: m
Newton’s second law
yields
I mẍ = −kx

Free Undamped Vibration
The solution represents harmonic motion
q q
k k
I x(t) = A sin( m t) + B cos( m t)
q
k
Define ωn = m
I Natural Frequency
I Inherent to the system and determined by system
parameters
A and B determined from initial conditions
I x(0) = x0 ; ẋ(0) = v0
I B = x0 ; A = ωv0n
Undamped SDOF response

v0
x(t) = x0 cos(ωn t) + ωn
sin(ωn t)

Alternate representation
Solution can be written alternately as

I x(t) = D cos(ωn t − φ)
q
v2
I D = x20 + ω02 ; φ = tan−1 ( ωnv0x0 )
n
If the initial input is purely a displacement the phase

φ = 0◦
Instead if initial input is purely velocity phase φ = 90◦

Free damped vibration
We assume viscous
damping
I Damping force
proportional to velocity
Newton’s second law
yields
mẍ = −kx − cẋ

Solution
We assume that x(t) = Aeλt

This leads to the equation (mλ2 + cλ + k)Aeλt = 0
For non-trivial solutions valid for all t we have
mλ2 + cλ + k = 0
Dividing by m and solving the quadratic equation yields
c
p c
I λ1, 2 = − 2m ± ( 2m )2 − ωn2
c
When 2m
> ωn then both roots are real and negative
I No oscillations: overdamped system

Other solutions
c
When 2m
= ωn we have real negative repeated roots
I Again there is no oscillation
I We call c = 2mωn as critical damping cc
I We also define a damping ratio ξ = ccc
c
When 2m
< ωn or ξ < 1 damped oscillations happen
p
I Roots are λ1,2 = −ξωn ± iωn 1 − ξ 2 = −ξωn ± iωd
Damped response
n o
−ξωn t v0 +ξωn x0
x(t) = e ( ωd ) sin ωd t + x0 cos ωd t

Overdamped & Critically Damped Response

Log decrement

Example 1 : Beam Vibration
What is the frequency of oscillations of the mass M placed

at the end of a massless cantilevered beam
P l3 P
I x= EI = k
EI
I k= l3 q
1 EI
I fn = 2π M l3

Example 2
Determine the natural frequency of the system with bar of
mass m and length l. Under static equilibrium the bar is
horizontal with spring force P1 and P2 .
I Moment balance about point O gives

ΣMO = (P1 − kaθ)a + mgc − (P2 + kbθ)b = JO θ̈
I Under static equillibrium P1 a − P2 b + mgc = 0
2 2 )θ
I θ̈ + k(a J+b
O
=0
q 2 2
I ωn = k(a J+b O
)θ

Example 3 : Energy Method
Determine the natural frequency of the system.
d
I Energy balance gives that T+U=constant → dt (T + U) = 0
I T= 21 J θ̇2 + 21 m(r1 θ̇2 )
I U= 21 k(r2 θ)2
I [(J + r mr12 )θ̈ + kr22 θ]θ̇=0
kr22
I ωn = J+mr12

Forced vibration: Harmonic input
A number of mechanical systems have harmonic or

periodic force inputs
Governing equation is of the form
I mẍ + cẋ + kx = F0 cos Ωt
Steady-state (after transients damp out) solution
Define r = ωΩn ; ξ = 2mω
c
n
Solution
F0 /k 2ξr
x(t) = √ cos(Ωt + ψ); ψ = tan−1 ( 1−r 2)
(1−r2 )2 +(2ξr)2

Dynamic Magnification: Amplitude

Dynamic Magnification: Close-up

Comments
Note that the peak value for increasing ξ shifts to the left
of r = 1
The frequency
p at which this peak occurs is given by
rp = 1 − 2ξ 2
I This is left as an exercise for you to prove

r = 1 or Ω = ωn is called as resonance
I Note that this may not always be where the peak amplitude
is
I In fact we identify resonance by phase as seen next
I At resonance for all ξ phase will be 90◦

Dynamic Magnification: Phase

Phase Close Up

Quality Factor(Q) :Sharpness of Resonance
Quality factor determines the damping in the system.

ωresonance
Q = Bandwidth = 2ζ1 .
I Bandwidth (∆ω) is defined as frequency difference at half
power point,i.e. whereX = √12 Xresonance .
F
I Xresonance = 2kζ

Periodic Excitation
We now examine a situation where the excitation is now

periodic instead of harmonic
I F (t) = F1 cos Ωt + F2 cos(2Ωt + ϕ2 )
The governing equation then becomes
I mẍ + cẋ + kx = F1 cos Ωt + F2 cos(2Ωt + ϕ2 )
I Dividing by m this leads to
F1 F2
I ẍ + 2ξωn ẋ + ωn2 = m cos Ωt + m cos(2Ωt + ϕ2 )
Since the differential equation is linear we use the
superposition principle

Response to first excitation
We consider only one excitation at a time

F1
I ẍ1 + 2ξωn ẋ1 + ωn2 x1 = m cos Ωt
The steady-state solution to the above equation is given
by
F1 /k
I x1 (t) = √ cos(Ωt + φ1 )
(1−r2 )2 +(2ξr)2
2ξr
I φ1 = tan−1 ( 1−r 2)

Response to second excitation
We consider the second excitation alone

F2
I ẍ2 + 2ξωn ẋ2 + ωn2 x2 = m cos(2Ωt + ϕ2 )
The steady-state solution to the above equation is given
by
F2 /k
I x2 (t) = √ cos(2Ωt + φ2 )
(1−4r2 )2 +(4ξr)2
I φ = ϕ + tan−1 (
4ξr
2 2 1−4r2
)
Note that r = ωΩn is replaced by 2r = ω2Ωn
for an excitation
frequency which is twice the fundamental excitation
frequency

Total Response
The total steady-state response is then

I x(t) = x1 (t) + x2 (t)
I x(t) =
√ F21 /k
2 2
cos(Ωt + φ1 ) + √ F2 /k
cos(2Ωt + φ2 )
(1−r ) +(2ξr) (1−4r2 )2 +(4ξr)2
The overall amplitude of the response can be computed as

r 2 2
F1 /k F2 /k
I X= √1 √ + √
2 2 2
(1−r ) +(2ξr)2 2 2
(1−4r ) +(4ξr)2

Normalized form
r 2 2
F2 /F1
X
(F1 /k)
= √1 √ 1
+ √
2 (1−r2 )2 +(2ξr)2 (1−4r2 )2 +(4ξr)2
F2
We now look at the variation of this with r for F1
= 0.25

Periodic Excitation response

Response with higher damping

Low frequency response

Unbalance Excitation
IC engines generate forces with amplitude a function of

frequency
I Fp (t) = mrΩ2 cos Ωt
I Due to reciprocating motion
Rotating machines also experience similar forces
I Due to eccentricity between centre of mass and axis of
rotation
We will look at the response to such an excitation

Unbalance Excitation
position of both masses are x, x + e cos Ωt

acceleration of both masses are ẍ, ẍ − eΩ2 cos Ωt
Newton’s equation of motion gives
(m − mu )ẍ + mu [ẍ − eΩ2 cos Ωt] = −kx − cẋ

Unbalance Excitation Response
Governing equation is of the form

I mẍ + cẋ + kx = mu eΩ2 cos Ωt
2
I ẍ + 2ξωn ẋ + ωn2 x = mumeΩ cos Ωt
Once again we assume x(t) = a cos Ωt + b sin Ωt
This leads to the following form
2 mu e 2
ωn − Ω2 2ξωn Ω a Ω
= m
−2ξωn Ω ωn2 − Ω2 b 0
Divide by ωn2 to get the equation

Solution
mu e 2
1 − r2 2ξr a r
= m
−2ξr 1 − r2 b 0
Solving leads to
mu e 2 2
m r (1 − r )
I a=
(1 − r2 )2 + (2ξr)2
mu e 2
m r (2ξr)
I b=
(1 − r2 )2 + (2ξr)2
r2
Normalized amplitude mX
mu e
=√
(1−r2 )2 +(2ξr)2

Unbalance Excitation response

Unbalance Excitation: Close up

Some comments
Notice that at low frequencies the response is almost zero

At frequencies much higher than resonance the
normalized response tends to one
Notice that the peak amplitude shifts to the right of r = 1
as ξ increases
This is opposite of what we have with constant force
amplitude harmonic excitation

Base Excitation
Vehicle going over a speed

bump or earthquake input
to building
Input is tire motion or
ground motion which can
be described by a known
function of time

Governing Equation
mẍ + c(ẋ − ẏ) + k(x − y) = 0

This can be written in the form below where y(t) is a
known input
I mẍ + cẋ + kx = ky + cẏ
One can define a relative displacement variable
z(t) = x(t) − y(t) which leads to
I mz̈ + cż + kz = −mÿ
If y(t) = y0 cos Ωt then we have
I z̈ + 2ξωn ż + ωn2 z = Ω2 y0 cos Ωt

Response
The form of the equation is the same as that for

unbalance excitation case
Hence the solution can be written simply as
Z r2
I
y0 =√ ; z(t) = Z cos(Ωt + φs )
(1−r2 )2 +(2ξr)2
2ξr
I φs = tan−1 1−r2

Base Excitation: Response

Comments
Note that the amplitude of the relative displacement Z is

zero at low frequencies
I This would mean that x(t) is equal to y(t)
Well above resonance Z reaches y0
I This would mean that x(t) → 0
From a vehicle standpoint this would mean that no motion
of rider at higher frequencies
Suspension to be chosen such that most excitation
frequencies are above natural frequency

Need for Isolation
What would happen if we mount a car engine directly to

chassis?
I Remember an engine generates unbalanced forces and
moments
I These would be directly transmitted to the chassis
I Eventually to you as a passenger in the car
How does one ensure that this is reduced or minimized?
I Introduce compliance element between chassis and engine
GeneratorMounts
I Let us idealize the problem as shown Ideal
mẍ + cẋ + kx = F0 cos Ωt

FT
Need to look at the ratio F0

Vibration Isolation
Force transmitted to hard ground is FT = kx(t) + cẋ(t)

x(t) is the dynamic response shown in the previous two
slides
The force transmissibility FFT0 is given by
Transmissibility
q
FT 1+(2ξr)2
F0
= (1−r2 )2 +(2ξr)2
√
This ratio is less than 1 only after r > 2 and in fact is
better with lower damping

Force transmissibility

Impulse-Momentum Principle
Recall from rigid body dynamics that

d
I F = dt (mv)
Integrating the equation yields
R t2
t1 F dt = m(v2 − v1 )
I
I The term in the integral is called Impulse

In many situations we are interested in a large force acting
on the body for a short duration of time
I The integral however remains finite

Initial impulse on SDOF system
If such a force acts on a spring mass system one assumes

I Velocity changes but the displacement does not change
appreciably Rt
I In other words mẋ(t2 ) = mẋ(t1 ) + t12 F dt
Now we let the amplitude of F to increase as t2 − t1
decreases so that the integral remains finite
This leads in the limit (t2 − t1 ) → 0 to the Dirac delta or
unit impulse function
R∞
I
0 δ(t − t0 )dt = 1

Response to unit impulse
Suppose the SDOF system is subjected to the unit impulse

at time t = 0
This implies ẋ(0) = m1 δ(t)dt = m1
R
The undamped system response to unit impulse is then

given by
1
I h(t) = mωn sin ωn t
For the damped system the unit impulse response is
h(t) = 1 −ξωn t sin ω t
mωd e
I
d

General excitation
The unit impulse function has the following property

R∞
I
0 F (t)δ(t − τ )dt = F (τ )
F (τ ) represents an impulse at time t = τ
We now use this to find the response to any arbitrary
excitation

Total response
Response to an impulse of magnitude

F (τ ) is
I F (τ )h(t − τ )
Integrate to obtain total response
Rt
I x(t) = 0 F (τ )h(t − τ )dτ
F Duhamel’s integral
1
Rt
I x(t) = mωn 0 F (τ ) sin ωn (t − τ )dτ
F Undamped case

Undamped response
1
Rt
x(t) = mωn 0
F (τ ){sin ωn t cos ωn τ − cos ωn t sin ωn τ }dτ
x(t) = A sin ωn t − B cos ωn t

1
Rt
I A= mωn 0 F (τ ) cos ωn τ dτ
1
Rt
I B= mωn 0 F (τ ) sin ωn τ dτ

Example: Response to half-sine pulse
Let us consider the following input force

(
F0 sin( πτ
T
), 0 ≤ τ ≤ T
F (τ ) =
0, else
We use the convolution integral to obtain the solution for

t≤T
x(t) = Fk0 1−r
1 r

2 sin pt − 1−r 2 sin ωn t
I r = ωpn with p = π
T
I Valid for r 6= 1
There are two ways to obtain the solution for t > T

Half-sine pulse response
The first way is to realize that after t > T there is no

excitation
Hence the system simply undergoes free vibration with the
response being
ẋ(T )
I x(t) = x(T ) cos ωn (t − T ) + ωn sin ωn (t − T ); t > T
From the solution for t ≤ T we have
F0 r
I x(T ) = − k(1−r 2 ) sin ωn T
F0 p
I ẋ(T ) = − k(1−r 2 ) (1 + cos ωn T )

Half-sine pulse response
We have the following form for the solution for t > T

F0 r

I x(t) = − k(1−r 2 ) sin ωn t + sin ωn (t − T )
The second approach is to write the pulse as a

superposition of two sinusoidal excitations
I F (τ ) = F0 sin pτ + F0 sin p(τ − T )
I Note: Second term exists only for t ≥ T HalfSinePulse
Recall that x1 (t) = Fk0 1−r
1 r

2 sin pt − 1−r 2 sin ωn t
I
F This is for F (τ ) = F0 sin pτ

HSP: Finally ...
Response to the second term for t > T is simply shifted by

T
F0 1 r

I x2 (t) = k 1−r2
sin p(t − T ) − 1−r2
sin ωn (t − T )
The total response is a summation of x1 (t) and x2 (t)
F0 r

I x(t) = − k(1−r 2 ) sin ωn t + sin ωn (t − T )
I Note that sin p(t − T ) = − sin pt

Case of p = ωn
In this case for t < T we have

F0

I x(t) = 2k sin ωn t − ωn t cos ωn t
For t > T either do a superposition or use the initial
conditions at t = T
I Left as an exercise for you

Result
0.2
0.1
x(t)
−0.1
−0.2 r=2
3
r=4
3
r=8
3
r = 16
0 1 2 3 4 5 6
t/T

Damped response
Rt
x(t) = 1
mωd 0
F (τ )e−ξωn (t−τ ) sin ωd (t − τ )dτ
x(t) = Ae−ξωn t sin ωd t − Be−ξωn t cos ωd t

1
Rt
A= mωd 0
F (τ )eξωn τ cos ωd τ dτ
1
Rt
B= mωd 0
F (τ )eξωn τ sin ωd τ dτ

Example
Let us consider a rectangular pulse of the form

(
F0 , 0 ≤ τ ≤ T
F (τ ) =
0, else
For t ≤ T we have

I x(t) = F0
k 1− e−ξωn t cos ωd t −√ξ e−ξωn t sin ω dt
1−ξ 2
For t ≥ T use either

I Free vibration with initial conditions x(T ), ẋ(T ) or
I Superposition of two step functions

Expression
F0 e−ξωn t

ξωn T
x(t) = e cos ωd (t − T ) − cos ωd t +
k

ξ ξωn T
p e sin ωd (t − T ) − sin ωd t
1 − ξ2
This is for t > T

Result
0.02
F0/k
0.01
x(t) 0
−0.01 T/Tn = 1/3
−0.02 T/Tn = 2/3
0 2 4 6 8
0.02 T/Tn = 4/3

F0/k T/Tn = 8/3
0.01
x(t)
−0.01
−0.02
0 1 2 3 4
t/T

Frequency response function
Instead of the convolution integral one can use Fourier

transform
I X(ω) = H(ω)F (ω)
1
I For undamped system H(ω) = ωn2 −ω 2
1
I For damped system H(ω) = 2 −ω 2 )+j2ξωω
(ωn n
For a rectangular pulse the Fourier transform is

jωt1 −1
I F (ω) = −jF0 e ω
Response Fourier transform is the product
Time-domain response from inverse Fourier transform

FBD 1
Back

FBD 2
Return

FBD 3
Back

FBD 4
Return

Generator on Mounts
Back

Generator on Mounts: Idealization
Back

Half Sine Pulse Generation
1
0.5
F(τ)
0
T
−0.5 sin pt
sin p(t-T)
−1
0 0.05 0.1 0.15 0.2 0.25 0.3
τ
Return

IIT Madras Single Degree Vibrations

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Single Degree-of-freedom Systems

Indian Institute of Technology Madras

August 18, 2017

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 1 / 90

First up let us define “vibration”

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 3 / 90

First up let us define “vibration”

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 3 / 90

First up let us define “vibration”

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 3 / 90

First up let us define “vibration”

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 3 / 90

First up let us define “vibration”

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 3 / 90

First up let us define “vibration”

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 3 / 90

For systems to vibrate the following components are

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 4 / 90

For systems to vibrate the following components are

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 4 / 90

For systems to vibrate the following components are

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 4 / 90

Need to design for dynamic loads

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 5 / 90

Measurements can be done

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 6 / 90

Objective to improve ride

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 7 / 90

Vehicle operating at low

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 8 / 90

Vehicle operating at higher

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 9 / 90

Rider response to road

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 10 / 90

Complexity and size of model dictated by

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 11 / 90

Model to study cutting tool

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 12 / 90

Model to study cutting tool

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 13 / 90

Want to study gear box

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 14 / 90

Rigid body model

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 15 / 90

Only shafts considered to

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 16 / 90

Include gear tooth

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 17 / 90

Include gear tooth

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 18 / 90

For the gearbox problem input frequency can vary

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 19 / 90

We now look at a model of

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 20 / 90

We start with an imaginary cut at the beginning of the

The governing equation of motion from Newton’s 2nd law

I Note that pinion and gear rotation are not independent

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 21 / 90

The inertia torque associated with gear 2 is J2 ( rr21 θ̈1 )

Manoj (IIT Madras) ME 7360 Theory of Vibration August 18, 2017 22 / 90

The output gear pair is now looked at OutputGear

Now for the final load inertia Load