Mod Elem Tipo Resorte Cont

Modelamiento de Sistemas Dinamicos
Dr. Jorge A. Olrtegui Yume, Ph.D.

Lecture No 6
Escuela Acadmico Profesional de Ingeniera Mecnica
Universidad Privada Cesar Vallejo
MODELADO DE ELEMENTOS TIPO
RESORTE
(Continuacion)
Dr. Jorge A. Olortegui Yume, Ph.D.
Dr. Jorge A. Olortegui Yume, Ph.D. 2 Mod. Sist. Mec. de Solidos Rigidos
RESORTES NO LINEALES
RESORTE LINEAL
(Ley de Hooke)
Relacin funcional entre Fuerza y Deformacin distinta a la Ley de Hooke
RESORTE NO LINEAL
F = kx
Comportamiento
Lineal - F = kx
Comportamiento
No Lineal
Zona en que se
puede linealizar
el resorte no lineal
Ejemplo
Solucin
Solucin
Solucin
Ejemplo
Solucin
Solucin
RESORTES IDEALES Y REALES
MODELADO DE SISTEMAS MASA RESORTE
No tiene masa
No posee propiedades de amortiguamiento
Puede aproximar a un resorte real cuando su masa es despreciable
frente a la masa del cuerpo/sistema conectado
Equation of Motion
Equation of Motion
12
VIBRACIONES LIBRES NO AMORTIGUADAS DE 1 GDL
Initially disturbed, then allowed to vibrate freely
Damping is neglected, i.e. no friction, no dashpots, thus energy preserved
13
Initially disturbed, then allowed to vibrate freely
Damping is neglected, i.e. no friction, no dashpots, thus energy preserved
The mass-spring system
m: mass Inertia (kg)
a) Define SEP & (+)x displacement
SEP
x
b) Draw FBD @ (+)x displacement
c) Apply Dynamics (Newtons 2
nd
law)
k: spring constant Stiffness (N/m)
mg W =
kx F
s
=
W: weight (N)
F
s
: Spring force (N)
|
.
|
\
|
=
- -
x m F
- - - -
= = x m kx x m F
s
F
s
opposed to x
Force
Force
0 = +
- -
kx x m
EOM: Eq. Of Motion
d) Solve EOM
Gen. solution or Response
( ) ( ) | e + = t X t x
n
sin
m
k
n
= e

n
: Natural Freq. (rad/s)
X: Amplitude (m)
|: Phase (rad)
14
The mass-spring system (contd)
Solution to EOM
0 = +
- -
kx x m
2nd order, Linear, Homogeneous, Ordinary Diff. equation
( ) t X t x e sin =
Trial solution
( ) t X t x e ecos =
-
( ) t X t x e e sin
2
=
- -
Mapping into EOM
( ) ( ) 0 sin sin
2
= + t X k t X m e e e
( ) ( ) 0 sin
2
= + k m t X e e
( ) 0 sin
2
= m k t X e e
( )
=
= = =
= =
0
,... 2 , 1 , 0 , 0 sin
0 0
2
m k
relevant not n n t t
solution trivial t x X
e
t e e
m
k
=
2
e
i.e.,
( ) t X t x e sin =
Is a solution to EOM
if
m
k
=
2
e
m
k
n
= e
Frecuencia Natural (rad/s)
15
Solution to EOM (contd)
0 = +
- -
kx x m
( ) t X t x
n
e sin =
One solution is
Superposition principle for linear, ordinary differential equations
Another solution is
( ) t X t x
n
e cos =
( ) t C t C t x
n n
e e cos sin
2 1
+ =
General solution to
EOM
(1st form)
Transforming
( )
|
|
.
|
\
|
+
+
+
+ = t
C C
C
t
C C
C
C C t x
n n
e e cos sin
2
2
2
1
2
2
2
2
1
1
2
2
2
1
( ) ( ) t t X t x
n n
e | e | cos sin sin cos + =
( ) ( ) | e + = t X t x
n
sin
General solution to
EOM
(2nd form)
2
2
2
1
C C X + =
16
Solution to EOM (contd)
0 = +
- -
kx x m
( ) t X t x
n
e sin =
In general, the following are all solutions or responses to the EOM
( ) t X t x
n
e cos =
( ) t C t C t x
n n
e e cos sin
2 1
+ =
( ) ( ) | e = t X t x
n
sin
( ) ( ) | e t X t x
n
cos =
s en :
rad/s en :
m en : C , C
m en : X
m en : x
(S.I.) System Unit nal Internatio
n
2 1
t
e
17
Observations
i) 2 ways of expressing the EOM
0 = +
- -
kx x m
=
|
|
.
|
\
|
+ = +
|
.
|
\
|
=
(
+
|
.
|
\
|
- - - - - -
0 0 0
1 1
2
x
m
k
x x
m
k
x
m
kx x m
m
0
2
= +
- -
x x
n
e
Standard form of the EOM
18
Observations
ii) 2 ways of expressing the EOM solution
0
2
= +
- -
x x
n
e
( ) ( ) | e + = t X t x
n
sin
( ) ( ) ( ) t C t C t x
n n
e e cos sin
2 1
+ =
C
1
, C
2
: Constants
X, |: Constants
Apply ICs (i.e., t=0) to find constants in both cases. Assuming:
EOM Soln
EOM Soln
( ) ( )
o o
v x x x = =
-
0 ; 0
( ) ( ) ( ) | | e sin 0 sin 0 X x X x
o n
= + =
|
.
|
\
|
=

X
x
o
1
sin |
( ) ( ) | e e + =
-
t X t x
n n
cos
( ) ( ) ( ) | e | e e cos 0 cos 0
n o n n
X v X x = + =
-
| e cos
n
o
v
X =
( ) ( ) ( ) ( ) ( ) 0 cos 0 sin 0
2 1 n n
C C x e e + =
2
C x
o
=
( ) ( ) ( ) t C t C t x
n n n n
e e e e sin cos
2 1
=
-
( ) ( ) ( ) ( ) ( ) 0 sin 0 cos 0
2 1 n n n n
C C x e e e e =
-
=
n o
C v e
1
n
o
v
C
e
=
1
19
Special case
Vertical mass-spring system
a) Define SEP & (+)y displacement
SEP
+y
b) Draw FBD @ (+) y position
y
c) Apply Dynamics
|
.
|
\
|
=
- -
y m F
- - - -
= = y m ky y m F
s
0 = +
- -
ky y m
EOM
d) Solve EOM
Response
( ) ( ) | e + = t Y t y
n
sin
m
k
n
= e

n
: Natural Freq. (rad/s)
Y: Amplitude (m)
|: Phase (rad)
No need to draw W=mg if:
y measured From SEP
mg is not restoring force
Static offset (o
st
)
n
experimentally
From Statics
( ) 0 0 = + =
mg k F
st
o
=
st
g
m
k
o
st
n
g
o
e =
FBD @ SEP
20
Plots, Period and Frequency
SEP
+y
y
( ) t Y t y
n
e sin =
A=10mm
t=6 s
Period (t)
Time between 2 correspondent points
( ) ( ) ( ) ( ) ( ) t e t e e t e e 2 sin sin sin sin + = + = + = = t t t Y t Y t y
n n n n n
t t e 2 =
n
n
e
t
t
2
=
s. en : t
s 6
3 /
2
= =
t
t
t
s rad
n
/
3 9
2
t t
e = =
kg m
m N k
9
/
2
=
=t
Frequency (f)
No. of oscillations per unit time
t
e
2
n
f =
(Hertz). Hz ns/s oscillatio en : = f
t
1
= f
Hz
s
f 167 . 0
6
1
= =
Example:
21
Plots, Period and Frequency
( ) ( ) | e + = t Y t y
n
sin
y
Y
Y
t
Ysin|
m
k
n
= e
n
e
t
t
2
=
t
|
n
t
e
|
|
=
( ) | sin 0 Y y =
t
1
= f
f
n
t e 2 =
22
Brief Review on Dynamics
For particle systems, rigid bodies of constant
mass, and plane motion
1 F
2 F
3 F
c r
1
r
R F
c a
CM R i
a m F F = =
( ) o
P P R
i i
i
I M F x r M = = =

P
Resultant Force of external forces (N)
Resultant Moment of external forces (N.m)
Absolute acceleration of C.M. (m/s
2
)
Mass moment of Inertia about P (kg.m
2
)
Angular acceleration of rigid body (rad/s
2
)
Mass of rigid body (kg)
R
F
CM CM r a
- -
=
m
( )
P R
M
P
I
- -
=u o
NOTE: P must be:
C.M.
Fixed point
( & )
0 = v
0 = a
Paralell axis theorem
known
CM
I
2
md I I
CM P
+ =
Example: Concentrated mass
2
md I I
CM P
+ =
0
2
md I
P
=
Kinematics of rolling
- - - -
- -
= =
= =
= =
u
u
u
r x a
r x v
r x s
(rad/s
2
)
(rad/s)
(rad)
- -
-
u
u
u
a
v
x
(m/s
2
)
(m/s)
(m)
) (m r
23
Example
24
Example
25
Example
26
Example
27
Example: (Simple pendulum) Derive the EOM for the oscillating mass. Determine also
the EOM general solution and natural frequency
a) SEP & (+)u Solution:
( )u +
b) FBD @ arb. pos.
SEP
u +
u +
( )
-
+ u
( )
- -
+ u I
=
Kinematics diagram
( )
- -
+ u
c) EOM - Dynamics
|
.
|
\
|
=
- -
u
A A
I M
( ) ( ) ( )
- -
= u u
2
sin 0 mL L W T
( ) ( )
- -
= u u
2
sin mL L mg
( ) ( ) 0 sin
2
= +
- -
u u mgL mL
0 = +
- -
u u
eq eq
k m
Some non-linear ODEs have explicit solns.
EOM
c) EOM Solution
A eq
I mL m = =
2
mgL k
eq
=
Non-linear ODE, 2
nd
Order, Homogeneous
( ) t u
Small , Non-linearLinear (Linearization)
EOM
u u ~ sin
( ) ( ) 0
2
= +
- -
u u mgL mL
Series soln. for
Take series 1
st
term OR solve as before
( ) ( ) | e u + O = t t
n
sin
View as
O: Angular amplitude (rad)
Response to EOM
=
eq
eq
n
m
k
e
L
g
n
= e
s rad
m
s m
n
n
/ 429 . 4
5 . 0
/ 81 . 9
2
=
=
e
e
28
VIBRACIONES MECANICAS LIBRES Y SIN AMORTIGUAMIENTO DE 2GDL
~ ~ ~ ~ ~
0 = +
- -
x K x M
EDM
Mas facil de analizar
Base para sistemas mas complejos de 2-GDL

Hallar Frecuencias Naturales y Modos Normales
(
= =
0 0
0 0
0
~ ~
C
( )
~ ~
0
0
0
=
(
= t F
Resolver EDM
( )
( )
( )
( ) ( )
2 2
2
2 1 1
1
1
2
1
~
sin
1
sin
1
| e
o
| e
o
+
(
+ +
(
=
(
= t C t C
t x
t x
t x
2 2
1 1
e
e
=
=
( ) ( )
(
=
(
=
1
,
1
2 2
~
1 1
~
o o
u u
Soln. de EDM (Respuesta )
C
1
, C
2
, |
1
, |
2
obtenidas
de CIs
METODO: Analisis de Formas de Modos Normales
(
=
2
1
~
0
0
m
m
M
(
+
=
2 2
2 2 1
~
k k
k k k
K
EJEMPLO TEORICO
e
1
, e
2 :
Frec. naturales

1
,
2 :
Eigenvalores

u(1), u (2): Modos Normales
o1, o2: Const. de Normalizacion
29
VIBRACIONES MECANICAS LIBRES Y SIN AMORTIGUAMIENTO DE 2GDL METODO DE SOLUC.
SOLUCION
PASO 4: Aplicar CIs para determinar C
1
, C
2,
|
1
, |
2
PASO 1: Determinar EDM (i.e., Matrices M y K)
PASO 2: Determinar Frecuencias Naturales & Formas Modales
(i.e., Eigenvalores/Eigenvectores)
PASO 3: Soluc.=Combin. Lineal Modos Normales de Oscilac.

PASO 1: Determinar EDM
PES, Aplicar desplazam. (+), foto, DCL
Dinmica
Definir Sistema de Ecuaciones
Expresar en forma matricial
( )
1
1 2 1 2 1 1
- -
= x m x x k x k
( )
2
2 2 1 2
- -
= x m x x k
( ) 0
2 2 1 2 1
1
1
= + +
- -
x k x k k x m
0
2 2 1 2
2
2
= +
- -
x k x k x m
|
.
|
\
|
=
- -
1
1
x m F
|
.
|
\
|
=
- -
2
2
x m F
( ) ( ) 0 0
2 2 1 2 1
2 1
1
= + + +
- - - -
x k x k k x x m
( ) 0 0
2 2 1 2
2
2
1
= + +
- - - -
x k x k x m x
(
=
(
+
+
(
(
- -
- -
0
0
0
0
2
1
2 2
2 2 1
2
1
2
1
x
x
k k
k k k
x
x
m
m
~ ~ ~ ~ ~
0 = +
- -
x K x M
EDM
(
=
2
1
~
0
0
m
m
M
(
+
=
2 2
2 2 1
~
k k
k k k
K
Para m
1

For m
2

Asumir
2 1
x x >
EDM
( ) 1
( ) 1
Matrices de Masa(M) & Rigidez (K)
30
PASO 2: Determinar Frecuencias Naturales & Formas Modales
~ ~ ~ ~ ~
0 = +
- -
x K x M
EDM
Soluc. Tentativa (Mov. Sncrono)
( ) ( ) | e + = t u t x sin
~ ~
( )
( )
( ) | e +
(
=
(
t
A
A
t x
t x
sin
2
1
2
1
( ) ( )
( ) ( ) | e e
| e e
+ =
+ =
- -
-
t u t x
t u t x
sin
cos
~
2
~
~ ~
Reempl. en EDM
- - -
x x x , ,
( ) ( ) ( ) ( )
~ ~ ~ ~
2
~
0 sin sin = + + + | e | e e t u K t u M
( ) ( )
~ ~ ~
2
~
0 sin = + | e e t u M K
( ) ... 3 , 2 , 1 ; 0 sin = = + = + n n t t t | e | e
No es relevante
( )
~ ~ ~
2
~
0 = u M K e Problema de Eigenvalor
Obtener e ,
~
u
~ ~ ~
0 0 0 = = u
Soluc. Trivial
( )
~
2
~
M K e
Singular 0
~
= u
Soluc. No-trivial
( ) 0 det
~
2
~
= M K e
0
0
0
det
2
1
2 2
2 2 1
=
|
|
.
|
\
|
(
+
m
m
k k
k k k
2
e =
( )
0 det
2 2 2
2 1 2 1
=
|
|
.
|
\
|

+
m k k
k m k k
( )
~
2
~
M K e
Singular
Sea
Obtener soluc. a EDM
| | ( ) | | 0
2 1 1 2 2 2 1
2
2 1
= + + + k k m k m k k m m
Ecuacin Caracteristica
Salida
2
2 2
2
1 1
e
e
=
=

31
PASO 2: Determinar Frecuencias Naturales & Formas Modales (cont.)
2
2 2
e =
Conocidas
1
,
2
, reempl. en Problema de Eigenvalor phallar formas modales
2
1 1
e =
( )
( )
=
~ ~
1
~
1
~
0 u M K
( )
( )
=
~ ~
2
~
2
~
0 u M K
( )
( )
( )
(
=
(
(

+
0
0
1
2
1
2 1 2 2
2 1 1 2 1
1
A
A
m k k
k m k k
( ) ( )
( ) ( )
( )
( )
( )
1 1 2 1
2
1
2
1
1
1
2 2
1
1 1 1 2 1
0
m k k
k
A
A
A k A m k k
+
= = +
( )
( )
( )
( )
( )
( )
( )
2
2 1 2
1
2
1
1
1
2 2 1 2
1
1 2
0
k
m k
A
A
A m k A k

= = +
( )
( )
( )
( )
1
2
2 1 2
1 1 2 1
2
1
2
1
1
o
=
+
=
k
m k
m k k
k
A
A
( )
( )
( )
( )
(
=
(
=
1
1 1
2
1
2
1
1
1
~
o
A
A
A
u
( )
(
=
1
1 1
~
o
u
FORMA DE MODO NORMAL 1
(Eigenvector 1)
Tomar
( )
1
1
2
= A
( )
( )
( )
( )
2
2
2 2 2
1 2 2 1
2
2
2
2
1
o
=
+
=
k
m k
m k k
k
A
A
( )
( )
( )
( )
(
=
(
=
1
2 2
2
2
2
2
1
2
~
o
A
A
A
u
( )
(
=
1
2 2
~
o
u
( )
1
2
2
= A
Repetir
procedim.
Mismo valor cuando
1
reempl.
Cociente de Amplitudes
Cociente de Amplitudes
i.e., Normalizar r.d.
( ) 1
2
A
(Eigenvector 2)
Tomar
i.e., Normalizar r.d.
( ) 2
2
A
32
PASO 2 : Determinar Frecuencias Naturalesy Formas Modales (cont.)
( )
(
=
1
1 1
~
o
u
(Eigenvector 1)
( )
(
=
1
2 2
~
o
u
(Eigenvector 2)
( )
( )
( )
( )
( ) ( )
1 1
1
1 1
1
~
1
2
1
sin
1
sin | e
o
| e +
(
= + =
)
`
t t u
t x
t x
( )
( )
( )
( )
( ) ( )
2 2
2
2 2
2
~
2
2
1
sin
1
sin | e
o
| e +
(
= + =
)
`
t t u
t x
t x
Modo Normal de oscilacion 1
Modo Normal de oscilation 2
( ) ( ) | e + = t u t x sin
~ ~
Recordar:
Soln. tentativa
33
=
2
2 2
e
=
2
1 1
e
( )
(
=
1
1 1
~
o
u con
( )
(
=
1
2 2
~
o
u
PASO 3: Solucion General = Combinacion Lineal de modos normales de oscilacion

( )
( )
( )
( )
( )
( )
( )
2 2
2
~
2 1 1
1
~
1
2
1
~
sin sin | e | e + + + =
(
= t u C t u C
t x
t x
t x
EDM
( ) ( ) | e + = t u t x sin
~ ~
( ) =
~ ~ ~
2
~
0 u M K e

( )
( )
( ) | e +
(
=
(
t
A
A
t x
t x
sin
2
1
2
1
Soln. tentativa llevo a:
con
( )
( )
( )
( )
( )
( )
( )
( )
( ) 2
2
1
2
1
2
1
1
2
1
~
)
`
+
)
`
=
(
=
t x
t x
C
t x
t x
C
t x
t x
t x
( )
( )
( )
( )
1 1
1
1
2
1
sin
1
| e
o
+
(
=
)
`
t
t x
t x
( )
( )
( )
( )
2 2
2
2
2
1
sin
1
| e
o
+
(
=
)
`
t
t x
t x
Combinacin Lineal de modos normales de oscilacin
( )
( )
( )
( ) ( )
2 2
2
2 1 1
1
1
2
1
~
sin
1
sin
1
| e
o
| e
o
+
(
+ +
(
=
(
= t C t C
t x
t x
t x
Solucin General p EDM
1 1
e =
2 2
e =
Frec. Naturales
Formas de Modo Normales
Modos Normales de Oscilacin
Recordar Soln. Tentativa
~ ~ ~ ~ ~
0 = +
- -
x K x M
34
( )
( )
( )
( ) ( )
2 2
2
2 1 1
1
1
2
1
~
sin
1
sin
1
| e
o
| e
o
+
(
+ +
(
=
(
= t C t C
t x
t x
t x
Solucion General pEDM (
1
,
2,
o
1
, o
2

conocidos de PASOS previos)
EDM
~ ~ ~ ~ ~
0 = +
- -
x K x M Definir CIs :
( )
( )
( )
(
=
(
=
2
1
2
1
~
0
0
0
o
o
x
x
x
x
x
( )
( )
( )
(
=
(
(
=
(
(
=
-
-
-
-
-
2
1
2
1
2
1
~
0
0
0
o
o
o
o
v
v
x
x
x
x
x
( ) 0
~
-
x
Aplicar:
( ) 0
~
x
( ) ( ) ( ) ( ) ( ) +
(
+ +
(
=
(
=
2 2
2
2 1 1
1
1
2
1
~
0 sin
1
0 sin
1
0 | e
o
| e
o
C C
x
x
x
o
o
2 1 2 1
, , ,
o o o o
v v x x Son valores conocidos
( ) ( )
( ) ( )
+ =
+ =
2 2 1 1 2
2 2 2 1 1 1 1
sin sin
sin sin
| |
| o | o
C C x
C C x
o
o
PASO 4: Aplicar CIs p determinar C
1
, C
2,
|
1
, |
2,
esto es, hallar Solucin Particular

( )
( )
( )
( ) ( )
2 2
2
2 2 1 1
1
1 1
2
1
~
cos
1
cos
1
| e
o
e | e
o
e +
(
+ +
(
=
(
(
=
-
-
-
t C t C
t x
t x
t x
Aplicar:
( ) ( ) ( ) ( ) ( ) +
(
+ +
(
=
(
=
-
2 2
2
2 2 1 1
1
1 1
2
1
~
0 cos
1
0 cos
1
0 | e
o
e | e
o
e C C
v
v
x
o
o
( ) ( )
( ) ( )
+ =
+ =
2 2 2 1 1 1 2
2 2 2 2 1 1 1 1 1
cos cos
cos cos
| e | e
| o e | o e
C C v
C C v
o
o
Resolver sistema de 4 ecuaciones
(Caso mas complejo)
Vectores Desplazamiento y Velocidad inicial
35
EJEMPLO: Dado el siguiente sistema vibratorio de 2 grados de libertad,
determinar:
(a) Su Ecuacin de Movimento (EDM)
(b) Sus frecuencias naturales
(c) Sus modos normales de vibracin
(d) Su respuesta en forma general
(e) Su respuesta para las siguientes condiciones iniciales:
( ) ( )
(
=
(
=
-
0
0
0 ;
0
0 x
A
x
36
SOLUCION
37
EJEMPLO: Considerar el siguiente sistema de 2-GDL.

(a) Las frecuencias naturales del sistema
(b) Los modos normales de vibracin
(c) Su respuesta en forma general
(d) Su respuesta para las siguientes condiciones iniciales:

m=1 kg y k=1 N/m
(
=
(

+
(
(
- -
- -
0
0 3
4 0
0
2
1
2
1
x
x
k k
k k
x
x
m
m
( ) ( )
(
=
(
=
-
0
0
0 ;
0
0 x
A
x
38
EJEMPLO: La vibracin torsional del ala de un avin se modela mediante dos ejes y dos discos

a) Halle las ecuaciones de movimiento identificando , y
b) Verificar que la 2da forma de modo normal y su frecuencia natural correspondiente son:

( )
(
=
1
593 . 0
2
~
u
2 2
2
/ 1 186 . 3 s
J
k
|
.
|
\
|
= e
~
M
~
K
Nota: J
1
y J
2
son los momentos de inercia msico de las ruedas y k
1
, k
2
son las constantes
torsionales elsticas
39
EJEMPLO:

Mod Elem Tipo Resorte Cont

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Modelamiento de Sistemas Dinamicos

Dr. Jorge A. Olrtegui Yume, Ph.D.

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