Ministry of Higher Education & Course Name: Vibration

Scientific Research
University of Duhok Course Code: EM 3205
College of Engineering Date: 2 / 7 / 2020
Mechanical Engineering Time allowed: 3 hours
Department
Third Year- Second Semester Final Semester Assignment

EM 3202 : Internal Combustion Engines II _ Assignment

" viscous damping and three types of damping ratio (over-

damped , critical & under – damped "

No solved example needed

Prepared by

( Waheed Mustafa Mohammed )

Assist prof. Dr. Haval Kamal Asker

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Content page
Introduction 3
Objective 8
Applications 11
Equation 13
Summary 15
References 16
Assignment 1 17

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Introduction
Viscous damping force is a formulation of the damping phenomena, in which the source of
damping force is modeled as a function of the volume, shape, and velocity of an object traversing
through a real fluid with viscosity.

Typical examples of viscous damping in mechanical systems include:

 Fluid films between surfaces

 Fluid flow around a piston in a cylinder
 Fluid flow through an orifice
 Fluid flow within a journal bearing

Viscous damping also refers to damping devices. Most often they damp motion by providing a
force or torque opposing motion proportional to the velocity. This may be effected by fluid flow
or motion of magnetic structures. The intended effect is to improve the damping ratio.

 Shock absorbers in cars

 Seismic retrofitting with viscous dampers
 Tuned Mass Dampers in tall buildings
 Deployment actuators in spacecraft

Damping is an influence within or upon an oscillatory system that has the effect of reducing,
restricting or preventing its oscillations. In physical systems, damping is produced by processes
that dissipate the energy stored in the oscillation. Examples include viscous drag in mechanical
systems, resistance in electronic oscillators, and absorption and scattering of light in optical
oscillators. Damping not based on energy loss can be important in other oscillating systems such
as those that occur in biological systems and bikes.

The damping ratio is a dimensionless measure describing how oscillations in a system decay
after a disturbance. Many systems exhibit oscillatory behavior when they are disturbed from their
position of static equilibrium. A mass suspended from a spring, for example, might, if pulled and
released, bounce up and down. On each bounce, the system tends to return to its equilibrium
position, but overshoots it. Sometimes losses (e.g. frictional) damp the system and can cause the

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oscillations to gradually decay in amplitude towards zero or attenuate. The damping ratio is a
measure describing how rapidly the oscillations decay from one bounce to the next.

The damping ratio is a system parameter, denoted by ζ (zeta), that can vary from undamped (ζ =
0), underdamped (ζ < 1) through critically damped (ζ = 1) to overdamped (ζ > 1).

The behaviour of oscillating systems is often of interest in a diverse range of disciplines that include
control engineering, chemical engineering, mechanical engineering, structural engineering, and
electrical engineering. The physical quantity that is oscillating varies greatly, and could be the
swaying of a tall building in the wind, or the speed of an electric motor, but a normalised, or non-
dimensionalised approach can be convenient in describing common aspects of behavior

Definition of damping

The damping ratio is a parameter, usually denoted by ζ (zeta), that characterizes the frequency
response of a second-order ordinary differential equation. It is particularly important in the study
of control theory. It is also important in the harmonic oscillator.

Damping is an influence within or upon an oscillatory system that has the effectof reducing,
restricting or preventing its oscillations. In physical systems, dampingis produced by processes that
dissipate the energy stored in the oscillation.Examples include viscous drag in mechanical systems,
resistance in electronicoscillators, and absorption and scattering of light in optical oscillators.
Dampingnot based on energy loss can be important in other oscillating systems such asthose that
occur in biological systems.

The damping ratio provides a mathematical means of expressing the level of damping in a system
relative to critical damping. For a damped harmonic oscillator with mass m, damping coefficient
c, and spring constant k, it can be defined as the ratio of the damping coefficient in the system's
differential equation to the critical damping coefficient

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 𝐶 𝑎𝑐𝑡𝑢𝑎𝑙 𝑑𝑎𝑚𝑝𝑖𝑛𝑔
𝜁= =
𝐶𝑐 𝑐𝑟𝑖𝑡𝑖𝑐𝑎𝑙 𝑑𝑎𝑚𝑝𝑖𝑛𝑔

Where the system equation of motion is

𝑑2 𝑥 𝑑𝑥
m +𝑐 + 𝑘𝑥 = 0
𝑑𝑡 2 𝑑𝑡

and the corresponding critical damping coefficient ia

𝑘 𝑘
Cc = 2√𝑘𝑚 or Cc = 2𝑚√𝑚 = 2𝑚𝜔𝑛Where ωn = √𝑚 is the natural frequency of the system

Derivation :

𝑑2𝑥 𝑑𝑥
2
+ 2𝜁𝜔𝑛 + 𝜔𝑛2 𝑥 = 0
𝑑𝑡 𝑑𝑡

This equation can be solved with the approach

X(t) = C𝑒 𝑠𝑡

Where C and s are both complex constants, with s satisfying

S = - ωn (ζ ±𝑖√1 − 𝜁 2 )

Three types of damping

1. Overdamped: The system returns (exponentially decays) to equilibrium without oscillating.If

s is a pair of real values, then the solution is simply a sum of two decaying exponentials with no
oscillation. This case occurs for ζ > 1 and is referred to as overdamped.
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2. Critically damped: The system returns to equilibrium as quickly as possible without oscillating.

The case where ζ=1 is the border between the overdamped and underdamped cases, and is referred
to as critically damped. This turns out to be a desirable outcome in many cases where engineering
design of a damped oscillator is required (e.g., a door closing mechanism)

3. Underdamped : The system oscillates (at reduced frequency compared to the undamped case)
with the amplitude gradually decreasing to zero. If s is a pair of complex values, then each complex
solution term is a decaying exponential combined with an oscillatory portion that looks like
2𝑡
𝑒 𝑖𝜔𝑛√1−𝜁 . This case occurs for 0 ≤ ζ <1 and is referred to as underdamped

For example, consider a door that uses a spring to close the door once open. Thiscan lead to any
of the above types of damping depending on the strength of thedamping. If the door is

undamped

it will swing back and forth forever at a particular resonant frequency. If it is

underdamped

it will swing back and forthwith decreasing size of the swing until it comes to a stop. If it is

critically damped

then it will return toclosed as quickly as possible without oscillating. Finally, if it is

overdamped

it will return to closedwithout oscillating but more slowly depending on how overdamped it is.
Different levels of damping aredesired for different types of systems

Oscillation cases

Where the spring–mass system is completely lossless, the mass would oscillate indefinitely, with
each bounce of equal height to the last. This hypothetical case is called undamped.If the system
contained high losses, for example if the spring–mass experiment were conducted in a viscous
fluid, the mass could slowly return to its rest position without ever overshooting. This case is

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called overdamped. Commonly, the mass tends to overshoot its starting position, and then return,
overshooting again. With each overshoot, some energy in the system is dissipated, and the
oscillations die towards zero. This case is called underdamped.

Between the overdamped and underdamped cases, there exists a certain level of damping at which
the system will just fail to overshoot and will not make a single oscillation. This case is called
critical damping. The key difference between critical damping and overdamping is that, in critical
damping, the system returns to equilibrium in the minimum amount of time.

Underdamped spring–mass system with ζ < 1

The shortened definition of three type of damping

1. under damping is where the oscillations are reduced slowly, and is normally

the type of damping caused by resistive forces such as air resistance and friction

2. Critical damping involves stopping the oscillations and returning to the equilibrium in the
quickest time possible

3. Overdamping is caused when the damping force is greater than that for critical damping, and
stops the oscillations, but takes longer to return to the equilibrium position
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Objective
Damping, in physics, restraining of vibratory motion, such as mechanical oscillations, noise, and
alternating electric currents, by dissipation of energy. Unless a child keeps pumping a swing, its
motion dies down because of damping. Shock absorbers in automobiles and carpet pads are
examples of damping devices.

A system may be so damped that it cannot vibrate. Critical damping just prevents vibration or is
just sufficient to allow the object to return to its rest position in the shortest period of time. The
automobile shock absorber is an example of a critically damped device. Additional damping
causes the system to be overdamped, which may be desirable, as in some door closers. The
vibrations of an underdamped system gradually taper off to zero.

There are many types of mechanical damping. Friction, also called in this context dry, or Coulomb,
damping, arises chiefly from the electrostatic forces of attraction between the sliding surfaces and
converts mechanical energy of motion, or kinetic energy, into heat.

Viscous damping is caused by such energy losses as occur in liquid lubrication between moving
parts or in a fluid forced through a small opening by a piston, as in automobile shock absorbers.
The viscous-damping force is directly proportional to the relative velocity between the two ends of
the damping device.

The motion of a vibrating body is also checked by its friction with the gas or liquid through which
it moves. The damping force of the fluid in this case is directly proportional to a quantity slightly
less than the square of the body’s velocity and, hence, is referred to as velocity-squared damping

Besides these external kinds of damping, there is energy loss within the moving structure itself
that is called hysteresis damping or, sometimes, structural damping. In hysteresis damping, some
of the energy involved in the repetitive internal deformation and restoration to original shape is
dissipated in the form of random vibrations of the crystal lattice in solids and random kinetic
energy of the molecules in a fluid.

There are other types of damping. Resonant electric circuits, in which an alternating current is
surging back and forth, as in a radio or television receiver, are damped by electric resistance. The
signal to which the receiver is tuned supplies energy synchronously to maintain resonance. In

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radiation damping, vibrating energy of moving charges, such as electrons, is converted to
electromagnetic energy and is emitted in the form of radio waves or infrared or visible light.

In magnetic damping, energy of motion is converted to heat by way of electric eddy currents
induced in either a coil or an aluminum plate (attached to the oscillating object) that passes
between the poles of a magnet.

Damping Techniques for Noise and Vibration Control

Damping is one of the most effective methods of controlling noise and vibration. It is a process
that converts vibrational energy into heat, eliminating the vibrational energy through friction and
other processes.

Increasing damping or stiffness can both reduce resonant vibration and the resulting noise by
preventing the vibration from travelling through the structure.

Rubber mounts with damping properties are often used in engine compartments, enclosures, cab
walls, and floor and ceiling systems; additionally, they are beneficial for use in appliances,
medical equipment, heavy equipment, and a variety of other applications. Materials used for
damping must not only reduce noise and vibration but must be able to withstand heat.

Why is damping so important?

Appliances, heavy equipment, generators, and other mechanical structures are capable of
producing a great amount of noise and vibration. Vibrational energy is problematic for a variety
of reasons; it can make appliances such as washing machines, blenders, vacuums noisy and
disruptive for users.

Medical equipment can be uncomfortable, and in larger mechanisms, like engines, noise and
vibration control may be needed in the engine compartments, enclosures, cab walls, and floor and
ceiling systems. This is because vibrations cause instability and fatigue in mechanical structures
in addition to creating excessive noise.When manufacturers develop these structures, it’s
necessary to decide what type of damping system to use: free layer damping or constrained layer
damping. While constrained layer damping can work well for most applications, whether
industrial, medical, or aerospace, free layer damping has some limitations.Free layer or
extensional dampingFree layer damping may not always be the right choice for your project, but
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it’s the easiest type of damping to implement. Also known as extensional damping, it is
commonly seen in automotive applications. So, how does extensional damping work? It involves
a viscoelastic material, typically a polymer. When sound hits the material, the damping product
stretches or extends (hence, extensional damping) and then compresses, converting the noise and
vibrational energy into heat.Free layer damping controls vibration and noise in products with
surfaces that are at or near resonance and is best for lightweight structures. This is because free
layer damping does add a significant amount of weight to your structure, meaning that it is not
ideal for applications where limiting weight is a concern.

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Applications

Suppose there are 3 persons P1, P2 and P3 as marked in the figure. All have to reach the center of
the blue ring ( Steady State Value). Now to complete the errand all three get into 3 different
airplanes : Over damped (O), Critically damped (C) and Under damped (U). Now I would like
you to pay attention to both the time and displacement axis considering the displacement axis as
the vertical distance of planes from ground.

Over Damped: The O airplane takes off very slowly and hence has a very high value of Rise Time
as compared to other two systems. Rise time being defined as time taken to reach the level of center
of the blue denoted by dotted line in the figure. Also due to some navigational anomalies it never
reaches its destination and stays below the required height.

Critically Damped: The C plane is better than the O and almost (asymptotically) reaches the
target and that too at a better speed and less time than O.

Under Damped: The U plane pilot is very enthusiastic and in its excitement goes at very high
speed hence goes pass the target and that too in very less time (Rise Time) as compared to other
two planes. Releasing his mistake it again comes back but again enthusiasm kicks in and he again
passes the destination this time in opposite direction. This process continues until a specific time
until he is settled. We call this time as the Settling Time and after this time he finally reaches his
destination.

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So in our little story the three paths takes by the planes represents the 3 time responses of Second
order system when subjected to unit step response. Main difference lies in their Rise Time and
Settling time and final steady state value achieved which dictate various design parameters in
control systems.

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Eqaution
𝐶 2 < 4 𝑚 𝑘 or (ζ < 1) (this will be underdamping, C is small relative to m and k)

𝐶 2 > 4 𝑚 𝑘 or (ζ > 1) (this will be overdamping, C is large relative to m and k).

𝐶 2 = 4 𝑚 𝑘 or (ζ = 1) (this will be critical damping, C is just between over and underdamping.

Case 1 Underdamping (non real complex roots)

Here the roots are complex :

𝑐 √4𝑚𝑘− 𝑐 2
r1,2 = - ± 𝑖ω where ω=
2𝑚 2𝑚

or

r1,,2 = - ζ ωn ± ω𝑛 √𝜁 2 − 1 = - - ζ ωn ± 𝑖ω𝑛 √1 − 𝜁 2

and the solution is

𝑐
)𝑡
x(t) = 𝑒 −(2𝑚 (c1 cos ωt + c2 sin ωt)

x(t) = 𝑒 −𝜁𝜔𝑛𝑡 (c1 cos ωn √1 − 𝜁 2 𝑡 + c2 sin ωn √1 − 𝜁 2 t )

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Case 2 overdamaging (distinct real roots)

In this case r1 and r2 are distinct real roots and the solution is given by :

x(t) = c1 𝑒 𝑟1𝑡 + 𝑐2 𝑒 𝑟2𝑡

2 −1) t 2 −1) t
x(t) = c1 𝑒 (−𝜁𝜔𝑛+𝜔𝑛√(𝜁 + c2 𝑒 (−𝜁𝜔𝑛−𝜔𝑛 √(𝜁

In this case, oscillations do not occur due to strong damping force (high-viscosity oil or grease)
compared with a weak spring or small mass.

Case 3 Critical Damping (repeated real roots)

𝑐
This case corresponds to equal roots: r1 = r2 = - or r1 = r2 = - ωn
2𝑚

And the solution is given by :

𝑐
−( )𝑡
x(t) = ( c1 + c2 t) 𝑒 2𝑚

x(t) = ( c1 + c2 t ) 𝑒 −𝜔𝑛𝑡

In this case, the damping is just sufficient to suppress vibrations, and any decrease in the viscosity
of the fluid leads to vibrations of the following case 1

Summary
Viscous damping force is a formulation of the damping phenomena, in which the source of
damping force is modeled as a function of the volume, shape, and velocity of an object traversing
through a real fluid with viscosity.
In physical systems, damping is produced by processes that dissipate the energy stored in the
oscillation.[1] Examples include viscous drag in mechanical systems, resistance in electronic
oscillators, and absorption and scattering of light in optical oscillators.

The damping ratio provides a mathematical means of expressing the level of damping in a system
relative to critical damping.
14
For a damped harmonic oscillator with mass m, damping coefficient c, and spring constant k, it
can be defined as the ratio of the damping coefficient in the system's differential equation to the
critical damping coefficient The key difference between critical damping and overdamping is
that, in critical damping, the system returns to equilibrium in the minimum amount of time
Besides these external kinds of damping, there is energy loss within the moving structure itself
that is called hysteresis damping or, sometimes, structural damping.

This is because vibrations cause instability and fatigue in mechanical structures in addition to
creating excessive noise.When manufacturers develop these structures, it’s necessary to decide
what type of damping system to use: free layer damping or constrained layer damping.
While constrained layer damping can work well for most applications, whether industrial,
medical, or aerospace, free layer damping has some limitations.Free layer or extensional
dampingFree layer damping may not always be the right choice for your project, but it’s the
easiest type of damping to implement.
When sound hits the material, the damping product stretches or extends (hence, extensional
damping) and then compresses, converting the noise and vibrational energy into heat.Free layer
damping controls vibration and noise in products with surfaces that are at or near resonance and
is best for lightweight structures.

Now to complete the errand all three get into 3 different airplanes : Over damped (O), Critically
damped (C) and Under damped (U).

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Reference

1. https://en.wikipedia.org/wiki/Viscous_damping

2. https://www.britannica.com/science/damping

3. https://en.wikipedia.org/wiki/Damping_ratio

4. https://ocw.mit.edu/courses/mathematics/18-03sc-differential-equations-fall-2011/unit-ii-
second-order-constant-coefficient-linear-equations/damped-harmonic-
oscillators/MIT18_03SCF11_s13_2text.pdf

5. https://www.efunda.com/formulae/vibrations/sdof_free_damped.cfm

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Assignments 1

Assignments word count ( 3259 words)

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