Chapter1 SDOF

Vibro-acoustics: Chapter 1 (SDOF)
k Rm Single degree of freedom

system
m
y(t)
1
k Undamped single degree

of freedom (SDOF) system
m
y(t)
2
Differential equations of undamped free vibration
f r  ky my  ky  0,
2
d y
f r  ky  m 2 k
dt y y 0
m
3
Method of differential operators
k d
(D  ) y  0
2
D Differential operator
m dt
k k
D  0
2
D  j
m m
j  1 Imaginary number
4
Method of differential operators
k k
y(t )  A sin t  B cos t
m m
k
n  Undamped natural frequency, rad/s
m
y(t )  A sin nt  B cos nt
A and B are constants determined from initial conditions
5
Complex exponential method
A  A  cos   j sin  
Imaginary
j
A  Ae Complex number
A
A sin 

A cos
Real
6
jA  A   sin   j cos  
A
 A  sin   j cos  
Imaginary
jA
j
Rotation of a complex
number by using j
90   A


Real
 90  
A/ j
7
Imaginary A(t )  A  cos t  j sin t 

Rotating complex number
A

A sin t
t
A cos t Real
8
A(t ) 
Imaginary
A cos t     j sin t    

j jt jt
 Ae e  Ae
A

A
t t=0

A cos t    Real
Rotating complex number with an initial phase

9
Complex exponential method Undamped system
k
k   n 
y y 0 m
m
jnt
y  Ae jt y(t )  ( Ae )
k
(  ) A e jt  0
2
10
Complex exponential method Undamped system
Phasor diagram of the response of an undamped system
jn t
v  jn Ae
Imaginary
 displacement  jn y
Velocity A jn t
nt
 t=0 a   Ae
2
n
Real
acceleration  jn v
y (t )  Re  Ae
j n t  
  n2 y
 
y (t )  A cos(nt   )
11
DAMPED SDOF Differential equation
f d   Rmv   Rm y
2
d y
f r  ky  Rm v  m 2
dt
my  Rm y  ky  0
12
DAMPED SDOF Solution
jt
y  Ae  
Rm

Rm
2m n 2 km
( j ) 2 m  ( j ) Rm  k  0 Damping factor
j   n   n  2  1
Rm  R 
2
k
j     m
     
 2m      2
2m m j j 1

n n
 n  jd
13
DAMPED SDOF Solution
nt jd t
y  Ae e
y (t )  Aent cos(d t   )
14
DAMPED SDOF Phasor
Imaginary
j d t  
y (t )  Ae nt e
j d t  
v (t )  j  Aent e   displacement
 
Velocity
A
d t

Real
j d t  
a(t )   2  Ae nt e 
  j d t  
y (t )  Re  Aent e 
acceleration  
15
DAMPED SDOF Logarithmic decrement
-3
y  y0 e nt cos(d t )
10x 10
y1  Ae n (2 /d ) cos 2

8
6
Displacement, m
2 y2  Ae n (4 /d ) cos 4

0 y0 y1
-2
  ln  ln
y1 y2
-4
2n 2
-6  
-8
d 1  2 16
0 1 2 3 4 5 6
Time, sec
DAMPED SDOF IMPULSE RESPONSE FUNCTION
y (0)  0 my (0)  1 The response of a dynamic system

due to unit impulse
y  Ae nt cos(d t   )
y   Ae nt n cos(d t   )  d sin(d t   ) 
 1 n t
 A e sin(d t )
2 md sin  y(t )  h(t ) 
md
17
FORCE EXCITATION Convolution integral
Force
Impulse F ( )
F ( ) e nt sin d  t    
y (t ) 
F ( ) 
md
t F ( )e nt sin d  t     d

y (t )  
0 md

t, time

y (t )   F ( )h  t   d
t
Arbitrary force excitation 0
18
FORCE EXCITATION Harmonic excitation
my  Rm y  ky  F cos t
my  Rm y  ky  F sin t
my  Rm y  ky  F
~ jt
F  Fe
jt
y  Ae
19
FORCE EXCITATION
jt jt
( m  j Rm  k ) Ae
2
 Fe
F
A
k  m 2  j Rm
jt
Fe F
y  Displacement
k  m  j Rm k  m  j Rm
2 2
20
FORCE EXCITATION
 jF
y , Displacement
[ Rm  j ( m  k /  )]
~
~ F
v Velocity
Rm  j (m  k /  )
21
Mechanical Impedance
~
F
Z m  ~  Rm  j (m  k /  ) Z m  Z me j m
Ratio of complex force to complex velocity
2  m  k /  
  k 
Z m  R    m     
2  m  tan 
1

m
     Rm 
Magnitude of impedance Phase angle of impedance
22
Mechanical Impedance
2
10 Magnitude of impedance as
a function of frequency
Magnitude of impedance
k=1000 N/m, m=0.01 kg and

10
1
Rm =1.27 N-s/m
0 316
10 1 2 3 4
10 10 10 10
Excitation frequency, rad/s
23
Mechanical Impedance Nyquist plot
  n
Imaginary
Zm
~
F
m
Z m  ~  Rm  j (m  k /  )
  n v
Real
  n
24
Phasor representation of harmonic force excitation
(a) Force very close to displacement in phase ( 
Imaginary  n)
y
v
 Real
a
Force very close to velocity in phase   n
Imaginary
F
v
a
 Real
y
) Vibro-acoustics: Chapter 1 (SDOF)
Force in phase with velocity, resonance (   n)
Imaginary
v
a F
 Real
y
Force very close to acceleration in phase   n
Imaginary
a F
 Real
y v
A single degree of freedom spring-mass-damper

system has the following data: spring stiffness 10
kN/m; mass 0.05 kg; damping coefficient 10 N-s/m. If
this system is subjected to forces of 5 sin (50t+/6) N
and 10 cos(250t+/3) N, determine the time-domain
acceleration response of the above system and in
addition, plot the phasors of acceleration response of
the corresponding forces, clearly indicating the phase
angles and amplitudes. Locate the phasors of the
forces in their positions at t=0.
29
Given stiffness, k=10 kN/m, mass, m=0.05 kg,
damping coefficient, Rm=10 N-s/m
The undamped natural frequency is given by
n 
k

10 103
 447.21rad/s (71.18Hz)
(1)
m 0.05
The damping factor is given by
 
Rm

10
 0.2236
(2)
2mn 2  0.05  447.21
30
The damped natural frequency is given by
d  n 1    447.2 1  0.2236
2 2
 435.87 rad/s (69.37Hz)
Force is given by
f (t )  5sin(50t   / 6)
 10 cos(250t   / 3) N
31
Corresponding to each of the above forces in
equation (4), ω1=50 rad/s and ω2=250 rad/s
are the excitation frequencies. Since these
excitation frequencies are well below the
undamped natural frequency, they are in the
stiffness controlled region.
32
The complex mechanical impedance of the
system at 50 rad/s is given by
 k 
Z m1  Rm  j  1m  
(8)
 1 
 10 103 
 10  j  50  0.05  
 50 
 10  j197.5  197.75 Rayl  87.10
33
Similarly, the complex mechanical
impedance of the system at 250 rad/s is
given by
 k 
Zm2  Rm  j  2 m  
 2 
 10  10 
3
 10  j  250  0.05  
 250 
 10  j 27.5  29.26 Rayl  70 0
34
The complex acceleration response of the
system to the given force excitation is given
by
j1 F1 j2 F2 (9)
a 
Z m1 Zm2
j
 j

j 50t j 250t
j 50  5e 6 e j 250 10e 3 e
 
10  j197.5 10  j 27.5
j
 j

j 50t j 250t
 1.264e 6 e  85.44e 3 e
35
Comparing equation (9) with the force excitation equation
(4), the acceleration response is given by
 j
 
 j 50t 
a(t )  Im 1.264e e6

 
 
 j
 
 j 250t 
 Re  85.44e e3

 
 
 1.264sin(50t  300  1770 )

 85.55cos 250t  600  1600 
36
37
38
Electro-mechanical Analogy
Z m  Rm  j (m  k /  )
Resistance
Mechanical impedance
Inductance
Capacitance
Z  R  j (L  1 / C )
ac voltage
Electrical impedance
39
Electro-mechanical Analogy
Force-voltage analogy
Mechanical Electrical
Mass Inductance
Compliance Capacitance
(Reciprocal of
stiffness)
Damping Resistance
Force Voltage
Velocity Current
Displacement Charge
40
POWER INPUT
Wi  ( F )(v )  Im( F ) Im(v ) instantaneous power
~
~ F
v (cos  m  j sin  m ) velocity
Zm
 F cos t cos  m  F sin t sin  m  F cos(t   m )
(v )  
~  
 Zm  Zm
Real part of velocity
41
POWER INPUT
~
( F )  F cos t Real part of force
F cos t cos(t   m )
2 T
1
Wi  Wavg   Wi dt
Zm T 0
2
F2 Frms
Wavg  cos m  cos m  Frms vrms cos m
2Z m Zm
42
Power input using complex force and velocity
1

Wi  t   Re F v 
2

~ ~
F v  F e j  t V  e  j t  F V 
 
F v  FV
43
Power input using complex force and velocity
j j
F  Fe V  Ve
 j  j j   
FV  Fe Ve  FVe
 
Re FV   FV cos     1

Wi  t   Re F v
2


1
2

1

Re FV  FV cos    

2
 f rms vrms cos      Wi (t ) 
44
Input power to a SDOF

jm F F
Z m  Z me v v  
Zm
Zm
  jm
Z  Z me
m F F e
* *  jt
2 2
1  Fe F e
jt   jt
 F F
Wi  t   Re  
jm
Re e  cos  m
2  Z m  2Z m 2Z m
 f rms vrms cos m
45
POWER INPUT
Frms
Wavg res
 Frms v
rms res vrms res  R
m
2 2
Frms Frms
Wavg res  Wavg  cos m
Rm Zm
2
Frms
cos m
Wavg Zm
W   2
 cos 2
 m
Power Ratio
Wavg res
Frms
Rm
46
POWER INPUT
Damping factors:___ 0.01, --- 0.1, -.-. 0.5, .... 0.707
1
0.9
0.8
0.7
Power ratio
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2
Frequency ratio
47
Half-power frequencies
2
R 1
cos 2  m  m2  0.5 cos  hp
m 
Zm 2
k
m   m 2
tan mhp    1 k 
   1
Rm  Rm  Rm 

 r 1 
    1
 2 2 r 
48
Half-power frequencies
r  2 r  1  0
2
r  2 r  1  0
2
r1  1    
2
r2  1   2  
49
FREQUENCY REGIONS
1
0.9 Damping ratio=0.1
damping controlled region

0.8
0.7
Power ratio
0.6 stiffness controlled region mass controlled region

0.5
0.4
0.3
0.2 Half-power
bandwidth
0.1
r1 r2
0
0 0.5 1 1.5 2
Frequency ratio
50
  n
Imaginary Mass controlled
region Nyquist plot of
Zm   2 Frequency regions
Damping controlled
region
m  450   n
Real
m  45 0
Damping controlled
region
  1
Stiffness controlled
region   n
51
Quiz 1,
2010
Consider a single degree of freedom system with spring, mass
and viscous damper. The coefficient of viscous damping is 10
N-s/m. When it is subjected to a force of rms value 0.25 N,
through an exciter at a single excitation frequency of 100
rad/s in the stiffness controlled region, it consumes ¼ of the
power it would have consumed when excited at its resonance
frequency.
a.Determine the actual power consumed at this

excitation frequency (100 rad/s).
b. What is the power consumed and the rms velocity
when excited at its resonance frequency
52
Rm=10 N-s/m
Frms= 0.25 N
1=100 rad/s (stiffness controlled region)
Wα=power ratio=1/4= cos 2 m
(a) Since cos 2

m =1/4, m =-600, since the excitation frequency
is in the stiffness controlled region.
The impedance at the given excitation frequency is given by
Z m (100) 
Rm

10
 20 (1)
cos m 0.5
53
Using the above value of impedance, the rms velocity of
response at the excitation frequency of 100 rad/s is given by
Frms 0.25 (2)

vrms (100)    12.5
Z m (100) 20 mm/s
Power consumed by the above system at an excitation frequency

of 100 rad/s is given by
Wavg (100)  Frms vrms cos m  0.25  0.0125  0.5  1.56 (3)
mW
54
(b) Power consumed at an excitation
frequency same as resonance frequency is
given by four times the power consumed at
an excitation frequency of 100 rad/s, that
1.56 mWx4= 6.2 mW.
The velocity response at an excitation

frequency equal to resonance frequency is
given by Wavg(res)/Frms=0.0062/0.25=25
mm/s
55
PHASE RELATIONS Phase difference between displacement and force
 jF Fe  j ( /2m )
y 
Z Zm
56
PHASE RELATIONS Phase difference between velocity and force
~  j m
~ Fe
v
Zm
57
PHASE RELATIONS Phase difference between acceleration and force
~  j (m  / 2)
~ Fe
a
Zm
58
Phase (degrees) Relationship in Various Regions

Stiffness- Damping Mass
controlled controlled controlled
region region region
Displacement 0 -90 -180
and force
Velocity and 90 0 -90
force
Acceleration 180 90 0
and force
59
Displacement Ratio
versus Frequency
X 1
y  
F /k (2 r ) 2  (1  r 2 ) 2
60
Mobility as a function
of frequency
V r

F ( km) (2r ) 2  (1  r 2 ) 2
61
Magnitude of accelerance
versus frequency
Am 1

F 
2 2
 2   1 
   1  2 
 r   r 
62
Admittance
-jm
v 1 1 e
Ym    
F Z m Rm  j ( m  k /  ) Zm
1 1 Rm Rm 1  jm
Ym      e
Z m Z m Rm Z m Rm
 jm
cos m e

Rm
63
Admittance Example
SDOF : k=1000 N/m, m=0.01 kg and

Rm=1 N-s/m. Plot the magnitude
frequency response of admittance and its
Nqyuist plot showing half-power
frequencies.
64
Admittance Example
1
Ym 
2
 k 
R    m     
2
   
m

65
Figure 1 Frequency response
Admittance Example magnitude of admittance
0.9
0.8
0.7
0.6
Admittance magnitude
0.5
0.4
0.3
0.2
0.1
0
0 200 400 600 800 1000
Frequency, rad/s
66
Nyquist plot 90 1
of Admittance 120 60
0.8
0.6
150 1   1 30
2 Rm 0.4
0.2
 0
0
180
  1   Real
n
Rm 1
Rm
1
210 2 Rm   2 330
240 300
270
67

Chapter1 SDOF

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Chapter1 SDOF

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Verfügbare Formate

Vibro-acoustics: Chapter 1 (SDOF)

k Rm Single degree of freedom

k Undamped single degree

Differential equations of undamped free vibration

Imaginary A(t )  A  cos t  j sin t 

A cos t     j sin t    

Rotating complex number with an initial phase

y1  Ae n (2 /d ) cos 2

2 y2  Ae n (4 /d ) cos 4

y (0)  0 my (0)  1 The response of a dynamic system

y   Ae nt n cos(d t   )  d sin(d t   ) 

t F ( )e nt sin d  t     d

Arbitrary force excitation 0

Ratio of complex force to complex velocity

Magnitude of impedance Phase angle of impedance

k=1000 N/m, m=0.01 kg and

A single degree of freedom spring-mass-damper

The damping factor is given by

 435.87 rad/s (69.37Hz)

Wi  ( F )(v )  Im( F ) Im(v ) instantaneous power

Damping factors:___ 0.01, --- 0.1, -.-. 0.5, .... 0.707

0.9 Damping ratio=0.1

damping controlled region

0.6 stiffness controlled region mass controlled region

a.Determine the actual power consumed at this

(a) Since cos 2

The impedance at the given excitation frequency is given by

Frms 0.25 (2)

Power consumed by the above system at an excitation frequency

The velocity response at an excitation

PHASE RELATIONS Phase difference between displacement and force

PHASE RELATIONS Phase difference between velocity and force

PHASE RELATIONS Phase difference between acceleration and force

Phase (degrees) Relationship in Various Regions

SDOF : k=1000 N/m, m=0.01 kg and

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