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MA4702 - AIRCRAFT STRUCTURES II

Part I Structural Vibrations
1. Introduction to vibration systems;
2. Undamped vibration of SDOF systems;
3. Damped vibration of SDOF systems;
4. Vibration under harmonic excitations;
5. Vibration of unbalanced rotating shafts;
6. Vibration under base excitations;
7. Vibration of 2DOF systems;
8. Vibration absorber;
9. Vibration of general MDOF systems (n>2);
Lecture Part 2 L1 & L2

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AN OVERVIEW OF STRUCTURAL VIBRATION

FAILURE

FAILURE
MALFUNCTION

ACTIVATORS

STRUCTURAL
VIBRATION
MONITORING

SOUND
Lecture Part 2 L1 & L2

2/38

DISCOMFORT

NOISE
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PRACTICAL EXAMPLES OF VIBRATIONS

1. Eurocopter AS350 Ground Resonant

Vibration Failure
2. Vibration Tail Flutter - F117 Crash
3. Tacoma Narrow Bridge Collapse
Wind Induced Torsional Vibration Failure
4. Transverse Vibration of a 4-Cylinder Engine
5. Torsional Vibration of a 4-Cylinder Engine
Lecture Part 2 L1 & L2

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1. Eurocopter AS350 Ground Resonant

Vibration Failure
A spectacular self-destruction of a Eurocopter AS350
helicopter subjected to a so-called Groud resonant
Vibrations.

Lecture Part 2 L1 & L2

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2. Tail Vibration Flutter - F117 Crash

Tail vibration flutter led to the build-up of excessive
vibration amplitude, resulting in the eventual breakup of the tail and the subsequent crash of the aircraft.

Lecture Part 2 L1 & L2

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3. Tacoma Narrow Bridge Collapse

Wind Induced Torsional Vibration
Failure
Wind
induced large amplitude torsional vibrations led to

the total collapse of the bridge near Tacoma, Washington

on Nov. 7, 1940, 4 months after it was opened for traffic.

Lecture Part 2 L1 & L2

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4. Transverse Vibration of a 4-Cylinder Engine

An engine is mounted on a cantilevered shaft. As the
engine operates, it generates sinusoidal excitation forces
which drive the engine block into Transverse Vibration.

Excitation

Shaft

Engine
Block
Vibration

Lecture Part 2 L1 & L2

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5. Torsional Vibration of a 4-Cylinder Engine

As the engine operates, it generates sinusoidal excitation
torques/moments which drive the engine block into
Torsional Vibration.
Excitation

Engine
Block

Shaft
Vibration

Lecture Part 2 L1 & L2

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How Do We Model Vibration ?

Vertical
vibration

c2

rough
carmassm

c1

9/38

k2

tyremassm1

refined

SDOF Spring-Mass System

Lecture Part 2 L1 & L2

bodymassm2

k1

2-DOFs Spring-Mass System

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Further refined
Finite Element Modeling

Multiple Degrees of Freedom System

Lecture Part 2 L1 & L2

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Degree Of Freedom (DOF):

The minimum number n, of independent coordinates
required to determine the positions of all parts of a
system at any instant of time, is called the Degrees of
Freedom (DOF) of the system.
For a simple pendulum,
given fixed length l, only
ONE independent
coordinate is required
to describe the position
of the pendulum at any
instant of time, hence,

DOF = n = 1
It is a 1 DOF system.
Lecture Part 2 L1 & L2

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More Examples of 1 DOF (SDOF) Systems:

Space Needle

m
k

Cam
-Followe
r
System
Lecture Part 2 L1 & L2

12/38

Introduction to Vibration

Simplified
Vibration
Model

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Examples of 2 DOFs Systems:

Mass-spring 2DOF System

SliderPendulum

Marine Engine Propeller System

Lecture Part 2 L1 & L2

13/38

Simplified 2DOF Torsional System

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How many DOFs are there if an aircraft is considered

as a non-rigid, elastic body undergoes vibrational
motions?

Thousands or
even millions
of DOFs,
depending on
how precisely
we want to
model its
vibration
properties.
Lecture Part 2 L1 & L2

14/38

F117 Finite Element Model

for Vibration Analysis
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Spring, Mass and Damping Elements:

c

k
m

(b) Single DOF model

k
m
c

Spring element with spring constant k

Mass element with mass m
Damping element with damping constant c

How do we identify / obtain values for these elements?

Lecture Part 2 L1 & L2

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Determination of Stiffness / Spring Constant:

Bending Stiffness k:
c

k
m

(b) Single DOF model

F
k

Lecture Part 2 L1 & L2

16/38

For cantilevered beam,

Fl 3
(From Strength of

Materials course)
3E I
F
3E I
k 3

l
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Also From Strength of Materials Course:

m

E,I

l/2

E,I

Area Moment of Inertia I:

F
m

Fl 3
F
48 E I

k
48 E I

l3

la

bh3
I
12

Fa l a
F
3E I l
k 2
2
3E I l

a l a
2

d1 d
2

d 24 d 14
I
64

These are the bending stiffness / spring constants.

Lecture Part 2 L1 & L2

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More From Strength of Materials Torsional Stiffness kt:

Ml

GIP

GI p
M
kt

l
Polar Moment of Area Ip:

d1 d
2

d 24 d 14
IP
32

And More From Strength of Materials Axial Stiffness ka:

E, A
Fl
F
EA

m
ka
F
EA

l
l
ka
x Note: k and k have the SAME unit
a
m
of N/m but kt has a unit of N-m/rad
Lecture Part 2 L1 & L2

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Springs in Parallel:
If n springs with spring constants k1, k2, , kn are in
parallel, the total equivalent spring constant k can be
obtained to become,

k k1 k 2 ... k n

F k1 k 2
F k1 k 2
F
k k1 k 2

Lecture Part 2 L1 & L2

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Springs in Series:
If n springs with spring
constants k1, k2, , kn are
in series, the total
equivalent spring constant
k can be obtained from the
following

1 1 1
1
...
k k1 k 2
kn

1 2

(1)

F
F
1
F k1 1
2
(2) F k 2 2
(3)
k1
k2
/ F 1 / k 1 / k1 1 / k 2
F / k1 F / k 2
Lecture Part 2 L1 & L2

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Ex 1 A hoisting
drum, carrying a steel
wire rope, is mounted
at the end of a
cantilever beam as
shown. Determine the
equivalent stiffness /
spring constant when
the mass undergoes
vertical vibration.
2
EA
E d / 2
ka

L
l
3
3 EI
3
E
a
t
/ 12
kb 3
L
b3
1 1 1
4b3
4l

3
k kb ka
Ea t Ed 2
Lecture Part 2 L1 & L2

21/38

kb

ka
m

E
a t 3d 2

k
2 3
3
4 d b lat

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Ex 2 Determine the torsional

stiffness / spring constant of
the steel propeller shaft shown
(G=81010 N/m2).

I, ktI

II, ktII

d 24 d 14
kt
, IP
l
32
GI p

G I PI
G d 24I d 14I
k tI

lI
32 l I

8 10 10 0.34 0.2 4
25525500 Nm / rad

32 2
G d 24II d 14II
8 1010 0.254 0.154
k tII

8901200 Nm / rad
32 3
32l II

They are in parallel, WHY?? kt ktI ktII 34426700 Nm / rad

Lecture Part 2 L1 & L2

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Spring, Mass and Damping Elements:

c

k
m

x
(b) Single DOF model

k
m
c

Spring element with spring constant k

Mass element with mass m
Damping element with damping constant c

How do we identify / obtain values for these elements?

Lecture Part 2 L1 & L2

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Determination of Mass / Inertia Element:

An object has a mass of m=25kg and a radius of gyration
r=0.2m. It is thus set up to undergo translational and
rotational vibrations as shown (a=0.3m). Determine the
vibration mass m and mass moment of inertia J.
(a) The vibration mass m in the
case of translational vibration is
just the total mass of the object:

m = 25 kg
(b) The vibration mass moment
of inertia in the case of rotational
vibration becomes:

J mr 2 ma 2 3.25 kgm 2

(a) Translational
Lecture Part 2 L1 & L2

24/38

Introduction to Vibration

(b) Rotational
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Translational and Rotational Masses Coupled:

J0
kt

Jeq

x
meq

The rack and pinion mechanism can be modeled as a single

degree of freedom system since the 2 coordinates used to
describe the positions of the system (x, ) are related by
x=R. It can be modeled as an SDOF translational system if
independent coordinate x is used and an SDOF
torsional/rotational system if is used.
Lecture Part 2 L1 & L2

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Principle of Equal Kinetic Energy:

(a) Equivalent Translational Mass meq:

1
1
1
2
2

m x J 0 m eq x 2

x R
2
2
2
2
J0

1
1
x
1
2
2

m x J 0 2 m eq x m eq m 2
R
2
2
2
R

(b) Equivalent rotational Mass Moment of Inertia Jeq:

1
1
2 1
2

m x J 0 J eq 2
x R
2
2
2
2
1
1
1
2

m R J 0 J eq 2
2
2
2
J eq J 0 m R 2

Lecture Part 2 L1 & L2

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Ex 1 - Find the equivalent mass and stiffness of the system

shown in Figure 1.
x

k1

x
x1

J3

k3

Lecture Part 2 L1 & L2

meq

m1
O

k2

keq

x3
m2
27/38

a
b
b

x2
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From kinematics relationships, we have,

x
2b
b
x1 x , , x 2
x , x3 x
a
a
a
Kinetic Energy of the system,

1
1 2 1
2
2

KE m1 x1 J 3 m2 x 2
2
2
2
1
1
2
m1 x J 3
2
2

2
x 2 1

2bx
m2

a
2
a

2
J
1
1
1
4
b
2
2
2
3

m1 x
x m2
x
2
2 a2
2
a2
Lecture Part 2 L1 & L2

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Kinetic Energy of the equivalent system,

1
KE eq meq x 2
2
KE eq KE

2
J
1
1
1 3 2 1
4b 2
2
2
meq x m1 x
x m2
x
2
2
2
2 a2
2
a

J3

4b 2

meq m1

m2
a2
a2
Lecture Part 2 L1 & L2

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Principle of Equal Potential Energy:

Potential Energy of the system,

x
2b
b
x1 x , , x 2
x , x3 x
a
a
a
1
2 1
2 1
2
PE k1 x1 k 2 x 2 k 3 x3
2
2
2
2

1
1 b
2b
2 1
k1 x k 2
x k3 x
2
2 a
2 a
2
2
1
4b 2 1 b 2
2 1
k1 x k 2
x k3
x
2
2
2
2
2
a
a
Lecture Part 2 L1 & L2

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Potential Energy of the equivalent system,

1
PEeq k eq x 2
2
PEeq PE

2
1
1
1
4
b
2
2
2 1
k eq x k1 x k 2
x k3
2
2
2
2
a2

k eq k1
Lecture Part 2 L1 & L2

31/38

4b 2
a

k2

b2
a

k3

Introduction to Vibration

b2 2
x
a2

#
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Ex 2* A mass m is connected to a spring and a pulley and a

uniform disk through 2 rigid links as shown. Link 1 is attached
to the pulley and rotates together with the pulley. The disk
moves on a flat surface without slip. Find the equivalent mass
and stiffness if it is to be modeled as an SODF system.

Jp

Jd

meq ?? keq ??
Lecture Part 2 L1 & L2

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(a) Equivalent Mass:

Kinematic

p x / rp , v2 p l1 x l1 / rp

Relationships:

d v2 / rd x l1 / rp rd

Lecture Part 2 L1 & L2

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1 2 2
1 2 1
1
1
2 1
2
2
KE mx J p m1l1 p m2 v2 J d d md v2
2
3
2
2
2
2

p x / rp ,

v2 p l1 x l1 / rp

keq

meq

d v2 / rd x l1 / rp rd

2
2

1
1
x
1
l

1 2
2
2
KE mx J p m1l1 2 m2 12 x
2
3
2
rp
rp
2
1
l12 2 1
l12 2
1
J d 2 2 x md 2 x meq x 2
2 rp rd
2 rp
2

meq m
Lecture Part 2 L1 & L2

34/38

Jp
2
rp

m1l12
2
3 rp

m2l12
2
rp

Introduction to Vibration

J d l12
2 2
rp rd

md l12
2
rp

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(b) Equivalent Stiffness:

x
p
rp

x2 x A
x A p l1
Compression of k2:
Lecture Part 2 L1 & L2

35/38

x l1
x2 x A p l1
rp
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Potential energy of the system:

1
1
2
PE
k1 x1
k 2 x22
2
2
2
1
1 x l1
2

k1 x
k2
2
2 rp

1
1
l12
2
2

k
x

k1 2 k 2 x
eq

2
2
r
p

Lecture Part 2 L1 & L2

36/38

keq k1

Introduction to Vibration

l12

2
rp

k2

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SUMMARY
Models of Vibration Systems
Degree of Freedom (DOF)
Mass / Inertial Properties of Vibration Systems
Equivalent Mass based on Kinetic Energy
Stiffness Properties of Vibration Systems
Equivalent Stiffness based on Potential Energy
SDOF, 2DOFs and millions of DOFs and in fact, a
continuous practical structure has infinite DOFs in theory!
Lecture Part 2 L1 & L2

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Table of Spring Stiffness

k1

Parallel Springs

keq k1 k2

S/S Beam at centre

l/2

k2
k1

Series Springs

k2

1
1 1

keq k1 k2

keq

keq
Lecture Part 2 L1 & L2

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Introduction to Vibration

l3

S/S Beam general

a
b

Cantilever @ tip

3 EI

48 EI

keq

3 EI a b
a 2b 2
Tuesday, July 28, 2015