Coulomb Damping

Todays Objectives: Students will be able to:

6

b) Identify system parameters when it has Coulomb damping Trivia of the day

-2

-4

-6

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Rose-Hulman Institute of Technology Mechanical Engineering

Displacement

a) Understand the difference between Coulomb and viscous damping

SDOF concept map

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Rose-Hulman Institute of Technology Mechanical Engineering

Coulomb Damping (dry friction) EOM

Damping Force: Fd=kN (independent of velocity)
(SEP) x k m k, s

FBD

a) Motion to the right (SEP) kx x

b) Motion to the left (SEP) x mg

mg kx

Fd

Fd

Find EOM using conservation of linear momentum rate (Newtons 2nd Law) in the x-direction

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r dPsys dt

r = F

& m&& = kx Fd sgn (x ) x 1 3 2

& sign of x

Rose-Hulman Institute of Technology Mechanical Engineering

Coulomb Damping (dry friction) EOM

We can write this as two EOM (one for each direction) m&& + kx = Fd x m&& + kx = Fd x Or in standard from & x > 0 (moving right) & x > 0 (moving left) (1) (2)

&& x && x

2 n

+x= +x=

Fd k

& x > 0 (moving right) & x > 0 (moving left)

(3) (4)

2 n

Fd k

where

n =

k m

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Rose-Hulman Institute of Technology Mechanical Engineering

Coulomb Damping (dry friction) Solution

We can solve Eqns. 3 and 4 F xR (t ) = A1cosn t + A2sinn t d k F xR (t ) = A3cosn t + A4sinn t + d k Assume ICs x(0 ) = x0 starts moving to the left & x(0 ) = 0 Procedure (see book for details)
1. 2. 3. 4. 5. Eq. 1 and 2 are valid for only a cycle Solve Eq. 6 for A3 and A4 using ICs Endpoint of this cycle becomes the IC for the moving right phase governed by Eq. 5 Solve Eq. 5 for A1 and A2. Endpoint of this cycle is IC for next cycle Go to step 2

(moving right) (moving left)

(5) (6)

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Rose-Hulman Institute of Technology Mechanical Engineering

Coulomb damping Free response

Observations
6

x0
4 2

x0

4 Fd k
Offset

-2

-4

Displacement

-6

2F x0 d k

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Rose-Hulman Institute of Technology Mechanical Engineering

Hysteretic Damping (structural or solid damping) Experimental results indicate that for most structural materials such as steel or aluminum the energy loss is:
Independent of the frequency Proportional to the amplitude squared

Notes:
Rarely is only one form of damping present A semilog plot can provide an indication of the damping present
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Rose-Hulman Institute of Technology Mechanical Engineering

Damping records of automobile motion (Figures taken from An Introduction to Mechanical Vibrations by Steidel)

Well function shock absorber

Shock absorber action is poor and damping is primarily structural

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Rose-Hulman Institute of Technology Mechanical Engineering

Damping records of automobile motion (Figures taken from An Introduction to Mechanical Vibrations by Steidel)

Dry friction or rubbing structural parts is apparent

Shock absorbers are ineffective. A loose fitting plunger makes the damping different in each direction

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Rose-Hulman Institute of Technology Mechanical Engineering

We will use Simulink

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Rose-Hulman Institute of Technology Mechanical Engineering

Generic Simulink Model for SDOF System

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Rose-Hulman Institute of Technology Mechanical Engineering

One way to get the envelope is to use the Hilbert Transform

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Rose-Hulman Institute of Technology Mechanical Engineering