Free Vibrations

Topics: SDF System - Free Vibrations Torsional Vibration Effective Stiffness Equivalent Systems Determining the Frequency of the system Energy Method Conservation of Energy Principle Virtual Work Principle Response due to Initial Disturbance Response due to General Disturbance Duhamels Integral

Single Degree of Freedom System - Free vibrations Introduction

This is the basic and simple model for vibrations Free vibrations are the vibrations at the natural frequency of the system Any system can be approximated as a SDOF system for very simple and fast analysis. Let us go through the examples as to how to model the systems.

Single Degree of Freedom System - Free vibrations

A big space structure can be crudely molded as a SDOF cantilever beam system as shown

Single Degree of Freedom System - Free vibrations

A car or bike can be modeled as a SDOF system with the stiffness corresponding to the equivalent stiffness of the suspension and tries

Single Degree of Freedom System - Free vibrations

The figure shows the mathematical model for single degree of freedom spring mass system

Free body diagram

The equation of motion for this system is

m x+ kx = 0
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..

Single Degree of Freedom System - Free vibrations

Where k spring stiffness m suspended mass

Natural frequency

k p= m

The natural frequency of the system is the frequency at which it vibrates when excited and left to itself

Assumptions
X Downwards +ve Small Displacements Static Deflection

Single Degree of Freedom System - Free vibrations

Newton's laws of motion gives

k && + x = 0 x m

It should be observed that solving this equation of motion yields the displacement of the system PHYSICAL DYNAMIC SYSTEM SOLVE GOVERNING EQUATIONS

MATHEMATICAL MODEL

GOVERNING EQUATIONS

RESPONSE

Single Degree of Freedom System - Free vibrations

From the equation for p
p= k m

Hence we have

Static equilibrium of spring

From the above figure we have hence

Which is approximated as
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Free Vibrations
Topics: SDF System - Free Vibrations Torsional Vibration Effective Stiffness Equivalent Systems Determining the Frequency of the system Energy Method Conservation of Energy Principle Virtual Work Principle Response due to Initial Disturbance Response due to General Disturbance Duhamels Integral

Torsional System - Free vibrations

Many times we encounter the Torsional system like the shaft and gear systems .

Equilibrium equation of motion is

Hence natural frequency is The stiffness is the elasticity of the shaft material
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Torsional System - Free vibrations

Example for a torsional system

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Free Vibrations
Topics: SDF System - Free Vibrations Torsional Vibration Effective Stiffness Equivalent Systems Determining the Frequency of the system Energy Method Conservation of Energy Principle Virtual Work Principle Response due to Initial Disturbance Response due to General Disturbance Duhamels Integral

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Effective Stiffness

The bike suspension system has inclined springs Effective spring stiffness of the inclined spring at an angle is

K eq = k cos 2

Spring force in its own axial direction is k c o s and the component of that in the direction of motion gives Equivalent K
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Free Vibrations
Topics: SDF System - Free Vibrations Torsional Vibration Effective Stiffness Equivalent Systems Determining the Frequency of the system Energy Method Conservation of Energy Principle Virtual Work Principle Response due to Initial Disturbance Response due to General Disturbance Duhamels Integral

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Equivalent Systems
All the systems can be reduced to Equivalent Systems for the sake of analysis and simplicity

Example
System can be modeled as

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Equivalent Systems
Geared Torsional System There are many practical application of geared Torsional systems These can be equivalently modeled as Motor pump gear system The model equivalents are given by

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Free Vibrations
Topics: SDF System - Free Vibrations Torsional Vibration Effective Stiffness Equivalent Systems Determining the Frequency of the system Energy Method Conservation of Energy Principle Virtual Work Principle Response due to Initial Disturbance Response due to General Disturbance Duhamels Integral

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Determining the Frequency of the system

Energy Method

Conservation of Energy Principle

Virtual Work Principle

These all are various methods of applying Newtons laws

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Energy Method
Developed by Rayleigh and applicable for conservative systems Consider a system having displacement in the form of Using average energy principle we have x = a*cos(pt)

Tmax = kmax

Maximum KE = Maximum PE (at extreme positions )

For mechanical systems T =

1 2 2 and ma p 4

V =

1 2 ka 2

(max values)

Equating these two we get

p=

k m
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Conservation of Energy Principle

Energy can neither be created nor be destroyed
Mathematically sum of total energy in the system is constant at any point of time

hence

d (T + V ) = 0 dt

or T+V= constant

Which again leads to

k p= m
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Principle of Virtual Work

Principle of conservation of energy is not applicable for system where additional work input is required for the systems.

Virtual displacement

For virtual work Assume a virtual displacement for the system from the mean position

Assuming the displacement changes the path of system

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Principle of Virtual Work

Hamilton principle

Kinetic Energy

Potential Energy
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Principle of Virtual Work

Hamilton principle Lagranges equation

This considers the PE , KE variation for small displacements

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Free Vibrations
Topics: SDF System - Free Vibrations Torsional Vibration Effective Stiffness Equivalent Systems Determining the Frequency of the system Energy Method Conservation of Energy Principle Virtual Work Principle Response due to Initial Disturbance Response due to General Disturbance Duhamels Integral

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Response due to Initial Disturbance

System Natural Frequency The Solution for

&& mx + kx = 0

to an initial disturbances of X(0)= A V(0)=pB A & B are Constants of Integration

Solution is x=A*cos(pt)+B*sin(pt) Can also be written as where

x = x0 cos pt +

v0 sin pt p

x = X cos( pt )
2 2

X = A +B

and

= tan 1 ( )
v= Xp sin( pt ) a= Xp cos ( pt )
2

B A

Velocity and acceleration are given by

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Free Vibrations
Topics: SDF System - Free Vibrations Torsional Vibration Effective Stiffness Equivalent Systems Determining the Frequency of the system Energy Method Conservation of Energy Principle Virtual Work Principle Response due to Initial Disturbance Response due to General Disturbance Duhamels Integral

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Response due to General disturbance

For any general disturbance like shown in the figure.. It can be divided into small blocks as shown Calculations are made for each block and finally they all are summed up to get the final output
Road profile.

This is done by DUHAMELS INTEGRAL

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Duhamels Integral
The impulse signal due to applied force is given by According to Newtons law impulse will cause change in velocity If initial conditions are

Then the solution is

For generalized forcing function

1 x= F (t ') sin p(t t ')dt ' mp 0

Solving this integral gives response at any time of the action
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Assignment
1

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Assignment
2

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Assignment
3

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Assignment
4

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