Dungarani Urvesh (140050119506) Chetan K Gohil Content Introduction Determination of natural frequency Undamped free transverse vibration Undamped free torsional vibration Introduction If the external forces is removed after giving an initial displacement to the system, then the system vibrates on its own due to internal elastic forces. Such vibrations are known as free vibration. And if there is no external artificial resistance to the vibrations then such vibrations are known as undamped free vibration. Introduction In most of the free vibration there is always certain amount of damping associated with the system. However damping is very small, for all practical purpose it can be neglected and the vibrations considered as undamped vibration. Resonance condition When the frequency of external excitation fore acting on a body is equal to the natural frequency of a vibrating body, the amplitude of vibrations becomes excessively large. Such state is known as resonance. The resonance is dangerous and it may lead to the failure of the part. Determination of natural frequency
The natural frequency of any body or a system
is depends upon the geometrical parameters and mass properties of the body. There are various methods to obtained the equation of vibrating system, 1. Equilibrium method 2. Energy method 3. Rayleigh’s method Equilibrium method According to a D’Alembert’s principal, a body or a system which is not in static equilibrium due to acceleration it possese, can be brought to static equilibrium by introducing the inertia force on it. This principal is used for developing the equation of the motion for vibrating system which is further used to find the natural frequency of the vibrating system. Equilibrium method Consider a spring-mass system as shown in fig. Equilibrium method A spring has a negligible mass. The forces acting on the mass are: 1. Inertia force, mẍ 2. Spring force, K(x+δ) 3. Gravitational force, mg According to D’Alembert’s principal, ∑(Inertia force + External force) = 0 mẍ+ K(x+δ)+ mg = 0 ẍ+(K/m)x = 0 Equilibrium method Comparing the above equation with the fundamental equation of the simple harmonic motion equation We get, ● ẍ + (ωn)2 x = 0 The natural frequency , ● (ωn) = (K/m)1/2 ● fn = ωn/2π Energy method According to law of conservation of energy, the energy can neither be created nor be destroyed but it can be transfer from the one from of energy to another form of energy. In free damped vibration, no energy is transferred to the system or from the system, therefore total mechanical energy ramains constant. Energy method The kinetic energy due to motion of body. The potential energy due to 1. Gravitational potential energy 2. Strain energy At equilibrium position the kinetic energy is maximum and the potential energy is zero and vice versa. According to law of energy conservation, Total energy = Constant KE + PE = Constant Energy method Differentiating equation, d/dt(KE + PE) = 0 Kinetic energy = (1/2)mẋ2 Potential energy = (1/2) Kx2 Substituting the all equations we get, ẍ+(K/m)x = 0 Comparing it with fundamental equation of the S.H.M. we get, (ωn) = (K/m)1/2 fn = ωn/2π Rayleigh’s method This is the extension of energy method, which is developed by the Lord Rayleigh. Total energy = Constant (KE)1 + (PE)1 = (KE)2 + (PE)2 The subscripts 1 and 2 denotes two different positions. Let subscript 1 denote the mean position where potential energy is zero. And subscript 2 denotes the extreme position where kinetic energy is zero. The above equation will be, (KE)1 = (PE)2 Rayleigh’s method But at mean position the kinetic energy is maximum and at extream position the potential energy is maximum. (KE)max = (PE)max Therefore according to Lord Rayleigh’s the maximum kinetic energy which is at the mean position is equal to maximum potential energy which is the extreme position. Rayleigh’s method Let body is moving with simple harmonic motion, therefore the displacement of the body is given by, x = Xsinωnt Differentiating above equation, ẋ = dx/dt = ωnXcosωnt ẋmax = ωnt (t=0, at mean position) Rayleigh’s method Maximum kinetic energy at mean position,
(KE)max = (1/2)m ẋmax2
(KE)max = (1/2)m(ωnX)2
Maximum potential energy at extreme
position, (PE)max = (1/2)KX2 Rayleigh’s method Comparing the both equation – (1/2)m(ωnX)2 = (1/2)KX2 The natural frequency will be, (ωn) = (K/m)1/2 fn = ωn/2π Undamped free transverse vibration Consider a cantilever beam of negligible mass carrying a concentrated mass “m” at the free end, as shown in fig, Undamped free transverse vibration Considering the force acting on the mass beyond equilibrium position, the forces acting on the masses are, Inertia force, Kẍ Resisting force, Kx By applying the D’Alembert’s principal, ∑ (Inertia force + External force)= 0 mẍ + Kx = 0 ẍ + (K/m)x = 0 Undamped free transverse vibration Comparing the above equation with the fundametal equation of the S.H.M. we get, (ωn) = (K/m)1/2 For the frequency, fn = ωn/2π But K/m = g/δ substituting in above equation, fn = 1/ 2π (K/m)(1/2) fn = 0.4985/ (δ)(1/2) Torsional stiffness Trosional stiffness is define as the torque required to produce unit angular deflection in the direction of applied force. – Kt = T/θ – Kt = GJ/θ – Where, G = modulus of rigidity – J = Polar moment of inertia – Parameters for linear & torsional vibration Parameters Linear vibration Torsional vibration Symbol Unit Symbol Unit Displacement x m θ rad Velocity ẋ m/s dθ/dt Rad/s Acceleration ẍ m/s2 d2θ/dt Rad/s2 Inertia force mẍ N Id2θ/dt N-m Stiffness K N/m Kt N-m/rad Undamped free torasional vobration Consider a disc having mass moment of inertia ‘I’ suspended on a shaft with negligible mass, as shown in fig, Undamped free torasional vobration For angular displacement of disc ‘θ’ in clockwise direction, the torques acting on the disc are : Inertia torque Restoring troque Therefor according to D’Alembert’s priciple, ∑ (Inertia force + External force)= 0 Id2θ/dt + (Kt/I) θ = 0 Undamped free torasional vobration Comparing the above equation ith the fundamental equation of the SHM. We get. ωn = (Kt/I)1/2 The natural frequency will be, fn = ωn/2π fn = (1/2π)(GJ/Il)1/2 Thank You