Beruflich Dokumente
Kultur Dokumente
Vibrations
Ara Arabyan
Week 12
Spring 05
AME 463
Vibration Analysis
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AME 463
l0
u
m
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AME 463
ku
&
& ku
From Newtons 2nd Lawmu
or
&
& ku 0
mu
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AME 463
u 0 u0 u& 0 u&0
u t U sin nt
where U is known as the amplitude and
oscillation
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AME 463
as the phase of
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f n
2
The period of the motion1(in 2seconds)
is given by
f n
AME 463
u(t)
The equation of
motion of the
oscillator can
also be written
as
&
& n2u 0
u
-U
0
t
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Effect of Damping
l0
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ku
cu&
u&
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&
& 2nu& n2u 0
u
Where c/ 2mn
For 0 1
(underdamped) the solution of this
equation is given by
u t Uent sin dt d
where d n 1 2
frequency
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u(t)
Ue t
n
In the presence
of damping the
oscillator always
comes to rest
This motion is
also known as
transient
vibration
-U
0
t
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10
l0
F t
ku
cu&
u&
F t
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11
f
Where
is the excitation amplitude and
is the
excitation or forcing frequency
st F0 / k
The quantity
is known as the static
deflection
F0
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12
Transient response
u t Uent sin dt d
where
Uf
U f sin
F0
k m
2
f
arctan
c
2
1/ 2
c f
k m 2f
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13
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Transient + steady-state
Steady-state
Uf
u(t)
-Uf
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Amplification of Response
where
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F0 / k
1 r
r f / n
2 2
2 r
st
1 r
2 2
2 r
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15
Resonance
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16
Amplification and
Resonance
The ratio of the steady
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Uf
F0 / k
Uf
F0 / k
Resonanc
e
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17
Energy Considerations
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18
Two-DOF Systems
u2
u1
k1
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m1
k2
m2
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19
u2
u1
k1u1
m1
k2 u2 u1
m2
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k
k
2
2
2
2 2
Mass
matrix
Stiffness
matrix
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21
Solution of Two-DOF
Systems
Assume that the two masses will undergo harmonic
U
u
t
2
2
k1 k2 k 2 U 1
0
m1 0 U 1
sin t
sin t
k2 k2 U 2
0
0 m2 U
2
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22
Eigenvalue Problem
K M U sin t 0
2
or
K 2I U sin t 0
These equations can have a nontrivial solution for U for all time
if and only if the determinant of the matrix in the parenthesis
vanishes
1
2
det M K I 0
M 1K
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2
2
This is equivalent
to finding
the
eigenvalues
of
2
1
2
case two values of
which we will call
and
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(in this
)
23
K i2I U i 0 i 1,2
1
where each vectorU i
is the ith eigenvector
Mof
K
Recall that the components of i
cannot be determined
U
explicitly; only the ratio between the two components can
be determined
The resulting
i are known as the mode shapes of
U
vibration
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24
Multi-DOF Systems
N N N 1
N 1
&
& K u 0
M u
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25
Modal Analysis
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26
u2
u1
k1
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m1
k2
m2
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27
80
0
20
386.4
Thus
matrices are
80
80
3.864 1.546
3
M K
10
1.546 1.546
1
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28
U 2 0.894 0.447
U 2 1.0 0.5
1.0
2.0
1.0 0.5
m1
m2
m1
m2
Mode 2
Mode 1
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are
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29
Example 1: Time-domain
Solution
u2 t U 21 sin 1t 1 U 22 sin 2t 2
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U 1 1 ,U 1 2 ,1 ,2
The four unknowns in these equations
(
) can be determined from the four
initial conditions given (quite complicated) resulting in
2
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30
Example 1: Time-domain
Solution
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1.5
u1(t)
1
u2(t)
0.5
u1, u2 (in)
-0.5
-1
-1.5
0
0.05
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0.1
0.15
0.2
t (sec)
0.25
0.3
0.35
0.4
31
The output of
ANSYS modal
analysis for
this problem is
shown on the
right
The first
natural
frequency is at
top left
The first mode
shape is
indicated by
the position of
the blue dots
relative to the
black dots
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The
secondmode
solutions
shown on
the right
also agree
with handcomputed
results
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34
u2
u1
k1
m1
k2
m2
F1 sin f t
F2 sin f t
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The response
of the system
to the applied
harmonic force
is shown on the
right
As is evident
resonance
occurs at both
natural
frequencies but
the response at
the first natural
frequency is
more dominant
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37
Conclusions
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38