2.
4 Base Excitation
Important class of vibration analysis
Preventing excitations from passing
from a vibrating base through its mount
into a structure
Vibration isolation
Vibrations in your car
Satellite operation
Disk drives, etc.
D.J.Inman
MechanicalEngineeringat
FBD of SDOF Base Excitation
System Sketch
x(t)
m
k
y(t)
System FBD
m
c
k ( x y ) c(x y )
base
&
-y )=mx&
F =-k (x-y)-c(x&&
&+cx&+ kx = cy&+ ky
mx&
D.J.Inman
MechanicalEngineeringat
(2.61)
SDOF Base Excitation (cont)
Assume: y (t ) Y sin(t ) and plug into Equation(2.61)
&+cx&+ kx = cY cos(t ) + kY sin(t ) (2.63)
mx&
1 4 4 4 4 2 4 4 4 43
harmonic forcing functions
For a car,
2 2V
The steady-state solution is just the superposition of the
two individual particular solutions (system is linear).
}f0 s
64 7f0 c 48
&
x&+2n x&+ n2 x = 2nY cos(t ) + n2Y sin(t )
1 4 42 4 43
1 42 43
D.J.Inman
MechanicalEngineeringat
(2.64)
Particular Solution (sine term)
With a sine for the forcing function,
2
&
&
&
x +2n x + n x =f 0 s sin t
x ps As cos t Bs sin t X s sin(t s )
where
As
Bs
2n f 0 s
( ) 2n
2
n
2 2
( ) f 0 s
2
n
2 2
( ) 2n
D.J.Inman
Use rectangular form to
make it easier to add
the cos term
2
n
MechanicalEngineeringat
Particular Solution (cos term)
With a cosine for the forcing function, we showed
&
x&+2n x&+ n2 x =f 0 c cos t
x pc Ac cos t Bc sin t X c cos(t c )
where
Ac
Bc
( ) f 0 c
2
n
2 2
( ) 2n
2
n
2n f 0 c
( ) 2n
D.J.Inman
2
n
2 2
MechanicalEngineeringat
Magnitude X/Y
Now add the sin and cos terms to get the
magnitude of the full particular solution
f0c2 f02s
( ) 2 n
2
n
2 2
nY
(2 )2 n2
( n2 2 )2 2 n
where f0c 2 nY andf0 s n2Y
ifwedefiner n thisbecomes X Y
1 (2 r)2
(1 r ) 2 r
2 2
X
1 (2 r)2
2 (2.71)
2 2
Y
(1 r ) 2 r
D.J.Inman
MechanicalEngineeringat
(2.70)
The relative magnitude plot
of X/Y versus frequency ratio: Called the
Displacement Transmissibility
40
=0.01
=0.1
=0.3
=0.7
30
X/Y (dB)
20
10
0
-10
-20
0
0.5
1.5
2
Frequency ratio r
2.5
Figure 2.13
D.J.Inman
MechanicalEngineeringat
From the plot of relative Displacement
Transmissibility observe that:
X/Y is called Displacement Transmissibility Ratio
Potentially severe amplification at resonance
Attenuation for r > sqrt(2) Isolation Zone
If r< sqrt(2) transmissibility decreases with
damping ratio Amplification Zone
If r >> 1 then transmissibility increases with
damping ratio Xp~2Y /r
D.J.Inman
MechanicalEngineeringat
Next examine the Force Transmitted to the
mass as a function of the frequency ratio
&
FT k ( x y ) c( x& y&) mx&
From FBD
At steady state, x(t ) X cos(t ),
2
&
&
so x =- X cos(t )
x(t)
FT m X k r X
2
FT
k
c
y(t)
D.J.Inman
base
MechanicalEngineeringat
Plot of Force Transmissibility (in dB)
versus frequency ratio
40
=0.01
=0.1
=0.3
=0.7
F/kY (dB)
30
20
10
0
-10
-20
0.5
Figure 2.14
D.J.Inman
1.5
2
Frequency ratio r
2.5
MechanicalEngineeringat
Figure 2.15 Comparison between force
and displacement transmissibility
Force
Transmissibility
Displacement
Transmissibility
D.J.Inman
MechanicalEngineeringat
Example 2.4.1: Effect of speed
on the amplitude of car vibration
D.J.Inman
MechanicalEngineeringat
Model the road as a sinusoidal input to
base motion of the car model
Approximation of road surface:
y(t) (0.01m)sin bt
1
hour 2 rad
b v(km/hr)
0.2909vrad/s
0.006km 3600s cycle
b (20km/hr)=5.818rad/s
From the data give, determine the frequency and
damping ratio of the car suspension:
n
4 10 4 N/m
6.303rad/s( 1Hz)
1007kg
c
=
2 km 2
D.J.Inman
2000Ns/m
4 10
N/m 1007kg
0.158
MechanicalEngineeringat
From the input frequency, input amplitude,
natural frequency and damping ratio use
equation (2.70) to compute the amplitude
of the response:
r
b 5.818
6.303
1 (2 r)2
X Y
(1 r 2 )2 (2 r)2
0.01m
1 2(0.158)(0.923)
1 0.923 2 0.158 0.923
2 2
0.0319m
What happens as the car goes faster? See Table 2.1.
D.J.Inman
MechanicalEngineeringat
Example 2.4.2: Compute the force
transmitted to a machine through base
motion at resonance
From (2.77) at r =1:
FT 1 (2 )
kY (2 )2
2
1/2
FT
kY
1 4 2
2
c
900
0.04
From given m, c, and k:
2 km 2 40, 000 g3000
From measured excitation Y = 0.001 m:
FT
kY
(40, 000 N/m)(0.001 m)
1 4 2
1 4(0.04) 2 501.6 N
2
2(0.04)
D.J.Inman
MechanicalEngineeringat
2.5 Rotating
Unbalance
Gyros
Cryo-coolers
Tires
Washing machines
m0
e
Machine of total mass m i.e. m0
included in m
e = eccentricity
k
mo = mass unbalance
= rotation
frequency
D.J.Inman
MechanicalEngineeringat
Rotating Unbalance (cont)
Rx
What force is imparted on the
structure? Note it rotates
with x component:
m0
Ry
xr e sin r t
a x xr e r2 sin r t
From sophomore dynamics,
Rx m0 a x mo er2 sin mo er2 sin r t
R y m0 a y mo er2 cos mo er2 cos r t
D.J.Inman
MechanicalEngineeringat
Rotating Unbalance (cont)
The problem is now just like any other SDOF
system with a harmonic excitation
m0e 2sin( t)
x(t)
m
k
c
D.J.Inman
2
&
&
&
mx cx kx mo er sin r t
(2.82)
mo 2
or &
x& 2n x& x
er sin r t
m
2
n
Note the influences on the
forcing function (we are assuming that
the mass m is held in place in the y direction as
indicated in Figure 2.18)
MechanicalEngineeringat
Rotating Unbalance (cont)
Just another SDOF oscillator with a
harmonic forcing function
Expressed in terms of frequency ratio r
x p (t ) X sin(r t )
(2.83)
mo e
r
X
m (1 r 2 ) 2 2 r 2
(2.84)
2 r
tan
2
1
(2.85)
D.J.Inman
MechanicalEngineeringat
Figure 2.20: Displacement magnitude vs
frequency caused by rotating unbalance
D.J.Inman
MechanicalEngineeringat
Example 2.5.1:Given the deflection at resonance (0.1m),
= 0.05 and a 10% out of balance, compute e and the amount of added
mass needed to reduce the maximum amplitude to 0.01 m.
At resonance r = 1 and
mX
1
1
0.1 m 1
10
10 e 0.1 m
m0e 2 2(0.05)
e
2
Now to compute the added mass, again at resonance;
m X
10
m0 0.1m
Use this to find m so that X is 0.01:
m m 0.01 m
m m
100 m 9m
10
m0 0.1 m
(0.1)m
D.J.Inman
Here m0 is 10%m or 0.1m
MechanicalEngineeringat
Example 2.5.2 Helicopter rotor unbalance
Given
Fig 2.21
k 1 10 5 N/m
mtail 60kg
mrot 20kg
m0 0.5kg
Fig 2.22
=0.01
Compute the deflection at
1500 rpm and find the rotor
speed at which the deflection is maximum
D.J.Inman
MechanicalEngineeringat
Example 2.5.2 Solution
The rotating mass is 20 + 0.5 or 20.5. The stiffness is provided by the
Tail section and the corresponding mass is that determined in Example
1.4.4. So the system natural frequency is
k
105 N/m
n
46.69 rad/s
m
60 kg
20.5 +
m tail
3
3
The frequency of rotation is
rev min 2 rad
r 1500 rpm = 1500
157 rad/s
min 60 s rev
157 rad/s
r
3.16
49.49 rad/s
D.J.Inman
MechanicalEngineeringat
Now compute the deflection at r =
3.16 and =0.01 using eq (2.84)
m0 e
r2
X
m (1 r 2 ) 2 (2 r ) 2
0.5 kg 0.15 m
20.5 kg
3.16
1 (3.16) 2(0.01)(3.16)
2 2
0.004 m
At around r = 1, the max deflection occurs:
At r = 1:
rad rev 60s
r 1 r 49.69rad/s=49.69
474.5rpm
s 2 rad min
0.5 kg 0.15 m
X
20.5 kg
D.J.Inman
1
0.183 m or 18.3 cm
2(0.01)
MechanicalEngineeringat
2.6 Measurement Devices
A basic transducer
used in vibration
measurement is the
accelerometer.
&
-y )=mx&
This device can be F =-k (x-y )-c(x&&
modeled using the mx&&= -c( x& y&) - k ( x y )
base equations
(2.86) and (2.61)
developed in the
Here, y(t) is the measured
previous section
response of the structure
D.J.Inman
MechanicalEngineeringat
Base motion applied to
measurement devices
Let z (t ) x(t ) y (t ) (2.87) :
& cz&(t ) kz (t ) mb2Y cos bt (2.88)
mz&
Z
r2
Y
(1 r 2 ) 2 (2 r ) 2
(2.90)
Accelerometer
and
2 r
2
1 r
tan 1
(2.91)
These equations should be familiar
from base motion.
Here they describe measurement!
D.J.Inman
MechanicalEngineeringat
Strain Gauge
Magnitude and sensitivity
plots for accelerometers.
Effect of damping on
proportionality constant
Fig 2.27
Fig 2.26
Magnitude plot showing
Regions of measurement
In the accel region, output voltage is
nearly proportional to displacement
D.J.Inman
MechanicalEngineeringat
2.7 Other forms of damping
These various other forms of damping are all nonlinear. They can
be compared to linear damping by the method of equivalent viscous
damping discussed next. A numerical treatment of the exact response
is given in section 2.9.
D.J.Inman
MechanicalEngineeringat
The method of equivalent viscous
damping: consists of comparing the energy
dissipated during one cycle of forced response
Assume a stead state resulting from a harmonic
input and compute the energy dissipated per one cycle
xss X sin t
The energy per cycle for a viscously damped system is
E
Fd dx
2 /
dx
cx& dt
dt
2 /
cx&2 dt
(2.99)
xss X sin t x& X cos t
E c
D.J.Inman
2 /
X cos t dt c X 2
2
MechanicalEngineeringat
(2.101)
Next compute the energy dissipated
per cycle for Coulomb damping:
E mg
2 /
sgn( x&&
) xdt mg
/2
3 / 2
/2
mgX (
cos udu
cos udu
cos udu ) 4 mgX
3 / 2
Here we let u = t and du =dt and split up the
integral according to the sign changes in velocity.
Next compare this energy to that of a viscous system:
4 mg
ceq X 4 mgX ceq
X
2
(2.105)
This yields a linear viscous system dissipating the same amount of
energy per cycle.
D.J.Inman
MechanicalEngineeringat
Using the equivalent viscous damping
calculations, each of the systems in Table 2.2
can be approximated by a linear viscous system
In particular, ceq can be used to derive
amplitude expressions. However, as
indicated in Section 2.8 and 2.9 the response
can be simulated numerically to provide
more accurate magnitude and
response information.
D.J.Inman
MechanicalEngineeringat
Hysteresis: an important concept
characterizing damping
A plot of displacement
versus spring/damping
force for viscous
damping yields a loop
At the bottom is a stress
strain plot for a system
with material damping
of the hysteretic type
The enclosed area is
equal to the energy lost
per cycle
D.J.Inman
MechanicalEngineeringat
The measured area yields the energy
dissipated. For some materials, called
2
(2.120)
hysteretic this is E k X
Here the constant , a measured quantity is called
the hysteretic damping constant, k is the stiffness
and X is the amplitude.
Comparing this to the viscous energy yields:
k
ceq
D.J.Inman
MechanicalEngineeringat
Hysteresis gives rise to the
concept of complex stiffness
Substitution of the equivalent damping coefficient
and using the complex exponential to describe a
harmonic input yields:
k
&
mx&
x& n2 x F0 e jt
Assuming x(t ) Xe jt and x&(t ) Xje jt
yields
&
mx&
(t ) k (1 j ) x(t ) F0e jt
14 2 43
complex stiffness
D.J.Inman
MechanicalEngineeringat
2.8 Numerical Simulation and
Design
Four things we can do computationally to help
solve, understand and design vibration
problems subject to harmonic excitation
Symbolic manipulation
Plotting of the time response
Solution and plotting of the time response
Plotting magnitude and phase
D.J.Inman
MechanicalEngineeringat
Symbolic Manipulation
Let
n2 2 2 n
A
2
2
2 n n
and
f0
x
0
What is
An A 1 x
This can be solved using Matlab, Mathcad or Mathematica
D.J.Inman
MechanicalEngineeringat
Symbolic Manipulation
Solve equations (2.34) using Mathcad symbolics :
Enterthis
2. . n.
D.J.Inman
. f0
4. . n .
Chooseevaluate
undersymbolicsto
getthis
n
2. n .
. f0
0
2. . n.
2. . n.
2 2
2. n .
2
2 2
4. . n .
. f0
MechanicalEngineeringat
In MATLAB Command Window
>>
>>
>>
>>
syms z wn w f0
A=[wn^2-w^2 2*z*wn*w;-2*z*wn*w wn^2-w^2];
x=[f0 ;0];
An=inv(A)*x
An =
[ (wn^2-w^2)/(wn^4-2*wn^2*w^2+w^4+4*z^2*wn^2*w^2)*f0]
[ 2*z*wn*w/(wn^4-2*wn^2*w^2+w^4+4*z^2*wn^2*w^2)*f0]
>> pretty(An)
[
2 2
]
[
(wn - w ) f0
]
[ --------------------------------- ]
[ 4
2 2 4
2 2 2]
[ wn - 2 wn w + w + 4 z wn w ]
[
]
[
z wn w f0
]
[2 ---------------------------------]
[ 4
2 2 4
2 2 2]
[ wn - 2 wn w + w + 4 z wn w ]
D.J.Inman
MechanicalEngineeringat
Magnitude plots: Base Excitation
%m-file to plot base excitation to mass vibration
r=linspace(0,3,500);
ze=[0.01;0.05;0.1;0.20;0.50];
X=sqrt( ((2*ze*r).^2+1) ./ ( (ones(size(ze))*(1-r.*r).^2) + (2*ze*r).^2) );
figure(1)
plot(r,20*log10(X))
40
The values of can
then be chosen directly
off of the plot.
If the T.R. needs to be
less than 2 (or 6dB)
and r is close to 1 then
must be more than
0.2 (probably about
0.3).
D.J.Inman
X/Y (dB)
For Example:
30
Design
value
20
10
=0.01
=0.05
=0.1
=0.2
=0.5
0
-10
-20
0
0.5
1
1.5
2
Frequency ratio r
MechanicalEngineeringat
2.5
Force Magnitude plots: Base Excitation
%m-file to plot base excitation to mass vibration
r=linspace(0,3,500);
ze=[0.01;0.05;0.1;0.20;0.50];
X=sqrt( ((2*ze*r).^2+1) ./ ( (ones(size(ze))*(1-r.*r).^2) + (2*ze*r).^2) );
F=X.*(ones(length(ze),1)*r).^2;
figure(1)
plot(r,20*log10(F))
40
=0.01
=0.05
=0.1
=0.2
=0.5
FT /kY (dB)
30
20
10
0
-10
-20
0
D.J.Inman
0.5
1
1.5
2
Frequency ratio r
2.5
MechanicalEngineeringat
Numerical Simulation
We can put the forced case:
&
mx&
(t ) cx&(t ) kx(t ) F0 cos t
&
x&
(t ) 2n x&(t ) n2 x(t ) f 0 cos t
Into a state space form
x&1 x2
x&2 2n x2 n2 x1 f 0 cos t
0
x&(t ) Ax(t ) f (t ), f (t )
f 0 cos t
D.J.Inman
MechanicalEngineeringat
Numerical Integration
Euler:x(ti 1 ) x(ti ) Ax(ti )t f(ti )t
Using the ODE45 function
Zero initial conditions
5
>>TSPAN=[0 10];
>>Y0=[0;0];
>>[t,y] =ode45('num_for',TSPAN,Y0);
>>plot(t,y(:,1))
4
3
Including forcing
function Xdot=num_for(t,X)
m=100;k=1000;c=25;
ze=c/(2*sqrt(k*m));
wn=sqrt(k/m);
w=2.5;F=1000;f=F/m;
f=[0 ;f*cos(w*t)];
A=[0 1;-wn*wn -2*ze*wn];
Xdot=A*X+f;
D.J.Inman
Displacement (m)
2
1
0
-1
-2
-3
-4
-5
4
6
Time (sec)
MechanicalEngineeringat
10
Example 2.8.2: Design
damping for an electronics
model
100 kg mass, subject to 150cos(5t) N
Stiffness k=500 N/m, c = 10kg/s
Usually x0=0.01 m, v0 = 0.5 m/s
Find a new c such that the max transient
value is 0.2 m.
D.J.Inman
MechanicalEngineeringat
Response of the board is;
transient exceeds design specification value
Displacement (m)
0.4
0.2
0
-0.2
-0.4
D.J.Inman
10
20
Time (sec)
30
MechanicalEngineeringat
40
To run this use the following file:
Create function
to model forcing
Matlab
command
window
function Xdot=num_for(t,X)
m=100;k=500;c=10;
ze=c/(2*sqrt(k*m));
wn=sqrt(k/m);
w=5;F=150;f=F/m;
f=[0 ;f*cos(w*t)];
A=[0 1;-wn*wn -2*ze*wn];
Xdot=A*X+f;
>>TSPAN=[0 40];
>> Y0=[0.01;0.5];
>>[t,y] = ode45('num_for',TSPAN,Y0);
>> plot(t,y(:,1))
>> xlabel('Time (sec)')
>> ylabel('Displacement (m)')
>> grid
Rerun this code, increasing c each time until a
response that satisfies the design limits results.
D.J.Inman
MechanicalEngineeringat
Solution: code it, plot it and change c
until the desired response bound is
obtained.
0.3
Displacement (m)
Meets amplitude limit when c=195kg/s
0.2
0.1
0
-0.1
D.J.Inman
10
20
Time (sec)
30
MechanicalEngineeringat
40
2.9 Nonlinear Response
Properties
More than one equilibrium
Steady state depends on initial conditions
Period depends on I.C. and amplitude
Sub and super harmonic resonance
No superposition
Harmonic input resulting in nonperiodic motion
Jumps appear in response amplitude
D.J.Inman
MechanicalEngineeringat
Computing the forced response
of a non-linear system
A non-linear system has a equation of motion given
by:
&
x&
(t ) f ( x, x&) f 0 cos t
Put this expression into state-space form:
x&1 (t ) x2 (t )
x&2 (t ) f ( x1 , x2 ) f 0 cos t
In vector form:
x&(t ) F(x) f (t )
D.J.Inman
MechanicalEngineeringat
Numerical form
Vector of nonlinear dynamics
Input force vector
x2 (t)
0
F(x)
, f(t)
f (x1 , x2 )
f0 cos t
Euler equation is
x(ti 1 ) x(ti ) F(x(ti ))t f(ti )t
D.J.Inman
MechanicalEngineeringat
Cubic nonlinear spring (2.9.1)
x 2 n x n2 x x 3 f0 cos t
Displacement (m)
2
1
0
-1
-2
Non-linearity included
Linear system
0
4
6
Time (sec)
Superharmonic resonance
D.J.Inman
2.964
MechanicalEngineeringat
10
Cubic nonlinear spring near
2 x x3 f cos t
resonance
n
n
0
3
Displacement (m)
2
1
0
-1
-2
-3
Non-linearity included
Linear system
0
4
6
Time (sec)
1.09
Responsenearlinearresonance
D.J.Inman
MechanicalEngineeringat
10
