Ch.03 Single DOF Systems - Governing Equations

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Single DOF Systems: Governing Equations
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03. Single DOF Systems: Governing Equations
1.Chapter Objectives Obtain the governing equation of motion for single degree-offreedom (dof) translating and rotating systems by using force balance and moment balance methods Obtain the governing equation of motion for single dof translating and rotating systems by using Lagranges equations Determine the equivalent mass, equivalent stiffness, and equivalent damping of a single dof system Determine the natural frequency and damping factor of a system
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Nguyen Tan Tien
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2.Force-Balance and Moment-Balance Methods 1.Force Balance Method Newtonian principle of linear momentum = 0 (3.1a) : the net external force vector acting on the system : the absolute linear momentum of the considered system For a system of constant mass whose center of mass is moving with absolute acceleration , the rate of change of linear momentum = = 0 (3.1b) : inertial force The sum of the external forces and inertial forces acting on the system is zero; that is, the system is in equilibrium under the action of external and inertial forces
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
2.Force-Balance and Moment-Balance Methods Vertical Vibrations of a Spring-Mass-Damper System - Obtain an equation to describe the motions of the spring-massdamper system in the vertical The position vector of the mass from the fixed point = = ( + + ) Force balance along the direction 2 2 = 0
+ +
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2.Force-Balance and Moment-Balance Methods - Noting that and are constants, rearranging terms to get the following scalar differential equation
2 + + + = + 2
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2.Force-Balance and Moment-Balance Methods Static Equilibrium Position - The static-equilibrium position of a system is the position that corresponds to the systems rest state; that is, a position with zero velocity and zero acceleration - The static-equilibrium position is the solution of + = - The static displacement = = 0 is the static-equilibrium position of the system - The spring has an unstretched length , the static-equilibrium position measured from the origin is given by = = ( + )
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2.Force-Balance and Moment-Balance Methods Equation of Motion for Oscillations about the Static-Equilibrium Position 2 2 + + + = + = 2 2 + + = (3.8) Equation (3.8) is the governing equation of motion of a single dof system for oscillations about the static-equilibrium position The left-hand side: the forces from the components that comprise a single dof system The right-hand side: the external force acting on the mass
2.Force-Balance and Moment-Balance Methods Horizontal Vibrations of a Spring-Mass-Damper System Consider a mass moving in a direction normal to the direction of gravity It is assumed that the mass moves without friction The unstretched length of the spring is , and a fixed point is located at the unstretched position of the spring The spring does not undergo any static deflection and carrying out a force balance along the direction The static-equilibrium position = 0 coincides with the position corresponding to the unstretched spring
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2.Force-Balance and Moment-Balance Methods Force Transmitted to Fixed Surface The total reaction force due to the spring and the damper on the fixed surface is the sum of the static and dynamic forces = + + If considering only the dynamic part of the reaction force-that is, only those forces created by the motion () from its static equilibrium position, then = +
2.Force-Balance and Moment-Balance Methods - Ex.3.1 Wind-drivenOscillationsabouta Systems Static-Equilibrium Position The wind flow across civil structures typically generates a excitation force () on the structure that consists of a steadystate part and a fluctuating part = + () : the time-independent steady-state force () : the fluctuating time-dependent portion of the force A single dof model of the vibrating structure 2 2 + + = + = 0 + () 0 : the static equilibrium position, 0 = / () : motions about the static position 2 2 + + =
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2.Force-Balance and Moment-Balance Methods - Ex.3.2 EardrumOscillations:NonlinearOscillatorand LinearizedSystems Determine the static-equilibrium positions of this system and illustrate how the governing nonlinear equation can be linearized to study oscillations local to an equilibrium position Solution The governing nonlinear equation 2 () 2 + + 2 = 0 The restoring force of the eardrum has a component with a quadratic nonlinearity Static-Equilibrium Positions Equilibrium positions = 0 are solutions of the algebraic equation 2 0 + 0 = 0 0 = 0, 0 = 1
2.Force-Balance and Moment-Balance Methods Linearization Equilibrium positions = 0 are solutions of the algebraic equation 2 0 + 0 = 0 0 = 0, 0 = 1 Subtitute = 0 + () into (a) with note that
2 2 = 0 + 0 + 20 + 2 2 0 + 2 = = 2 2 2 2 2 2 + 0 + () + 0 + 20 = 0 2 0 = 0 2 + () = 0 2 0 = 1 2 () = 0 the equations have different stiffness terms
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2.Force-Balance and Moment-Balance Methods 2. Moment-Balance Methods
2.Force-Balance and Moment-Balance Methods
For single dof systems that undergo rotational motion, the moment balance method is useful in deriving the governing equation The angular momentum about the center of mass of the disc = =
The governing equation of motion
2 =0 2
2 + + = 2
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2.Force-Balance and Moment-Balance Methods All linear single dof vibratory systems are governed by a linear second-order ordinary differential equation with an inertia term, a stiffness term, a damping term, and a term related to the external forcing imposed on the system Translational motion 2 2 + + = Rotational motion 2 2 + + =
2.Force-Balance and Moment-Balance Methods Ex.3.3 Hand Biomechanics The moment balance about point 0 = 0 0: the rotary inertia of the forearm and the object held in the hand The net moment acting about the point due to gravity loading and the forces due to the biceps and triceps = + 2 + 0 = 0 2
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2.Force-Balance and Moment-Balance Methods + 0 = 0 2 Note that: = , = = , 0 = 2 /3 + 2 2 + + 2 + + + = 0 3 2 Static-Equilibrium Position The equilibrium position = 0 is a solution of the transcendental equation 0 + + 0 = 0 2
2.Force-Balance and Moment-Balance Methods Linear System Governing Small Oscillations about the StaticEquilibrium Position Consider oscillations about the static-equilibrium position and expand the angular variable = 0 + with note that = cos 0 + 0 0 + () (0 + ) = = () 2 2 () (0 + ) = = () 2 2 2 2 + + + = 0 3 where = + 0 2
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3.Natural Frequency and Damping Factor 1.Natural Frequency Translation Vibrations: Natural Frequency = 2 = (/) (3.14)
3.Natural Frequency and Damping Factor Rotational Vibrations: Natural Frequency = 2 = (/) (3.16)
: the stiffness of the system, / : the system mass, : the natural frequency, For the mass-damper-spring system = 2 = (/) (3.15)
: the torsion stiffness of the system, / : the system mass, / 2 : the natural frequency, Period of Undamped Free Oscillations For an unforced and undamped system, the period of free oscillation of the system is given by 1 2 (3.17) = =
: the static deflection of the system,

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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3.Natural Frequency and Damping Factor Ex.3.4 Natural Frequency from Static Deflection of a Machine System The static deflections of a machinery are found to be 0.1, 1, 10(). Determine the natural frequency for vertical vibrations Solution
1 =
1 1 9.81 = = 49.85 2 1 2 0.1 103 1 1 9.81 = = 15.76 2 2 2 1 103 1 1 9.81 = = 4.98 2 3 2 10 103
(/) (3.15)
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2 =
3 =
= 2 =
3.Natural Frequency and Damping Factor - Ex.3.5 Static Deflection and Natural Frequency of the Tibia Bone in a Human Leg Consider a person of 100 mass standing upright. The tibia has a length of 40, and it is modeled as a hollow tube with an inner diameter of 2.4 and an outer diameter of 3.4. The Youngs modulus of elasticity of the bone material is 2 1010/2. Determine the static deflection in the tibia bone and an estimate of the natural frequency of axial vibrations Solution Assume that both legs support the weight of the person equally, so that the weight supported by the tibia = 100/2 9.81 = 490.5
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3.Natural Frequency and Damping Factor The stiffness of the tibia 10 2 2 2.4 102 1 10 4 3.4 10 = = 2 40 10 = 22.78 106 /2 The static deflection 490.5 = = = 21.53 106 22.78 106 The natural frequency = 1 1 9.81 = = 107.4 2 2 21.53 106
3.Natural Frequency and Damping Factor Ex.3.6 System with A Constant Natural Frequency Examine how the spring-mounting system can be designed and discuss a realization of this spring in practice Solution In order to realize the desired objective of constant natural frequency regardless of the system weight, we need a nonlinear spring whose equivalent spring constant is given by = : a constant, = : the weight, : the gravitational constant The natural frequency =
1 1 1 = = 2 2 2
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= 2 =
(/)
(3.15)
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is constant irrespective of the weight of the mass

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3.Natural Frequency and Damping Factor Nonlinear Spring Mounting When the side walls of a rubber cylindrical tube are compressed into the nonlinear region, the equivalent spring stiffness of this system approximates the characteristic given by = For illustrative purposes, consider a spring that has the general force-displacement relationship = , : scale factors, : shape factor The static deflection 1/ 0 =
3.Natural Frequency and Damping Factor For small amplitude vibrations about 0 , the linear equivalent stiffness of this spring is determined = () =
=0
The natural frequency of this system = 1 2 / 1 2 1 2

1/
= =
1/2
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3.Natural Frequency and Damping Factor Representative Spring Data Consider the representative data of a nonlinear spring shown in the figure Using lsqcurvefit in Matlab to identify = 2500, = 0.011, = 2.77 1 1/2 = 2 = 32.4747 1/3.54 Plot ()
3.Natural Frequency and Damping Factor Representative Spring Data From the figure of () over a sizable portion of the load range, the natural frequency of the system varies within the range of 8.8% The natural frequency of a system with a linear spring whose static displacement ranges from 12 5 varies approximately from 4.5 7.0 or approximately 22% about a frequency of 5.8 1 9.8 1 9.8 4.5, 7 2 0.012 2 0.005
of 5.8 Hz
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3.Natural Frequency and Damping Factor 2.Damping Factor Translation Vibrations: Damping Factor For translating single dof systems, the damping factor or damping ratio is defined as = = = (3.18) 2 2 2 : the system damping coefficient, / : the system stiffness, / : the system mass, Critical Damping, Underdamping, and Overdamping Defining the critical damping = 2 = 2 , = / (3.19) 0 < < 1: underdamped, > 1: overdamped, = 1: critically damped
3.Natural Frequency and Damping Factor Rotational Vibrations: Damping Factor For rotating single dof systems, the damping factor or damping ratio is defined as = = 2 2 : the system damping coefficient, / : the system stiffness, / : the system moment of inertia, 2
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3.Natural Frequency and Damping Factor Governing Equation of Motion in Terms of Natural Frequency and Damping Factor Rewriting the equation of motion 2 () 2 + 2 + = 2 If we introduce the dimensionless time = , then the equation can be written 2 () + 2 + = 2
3.Natural Frequency and Damping Factor - Ex.3.7 Effect of Mass on the Damping Factor A system is initially designed to be critically damped - that is, with a damping factor of = 1. Due to a design change, the mass of the system is increased 20% - that is, from to 1.2. Will the system still be critically damped if the stiffness and the damping coefficient of the system are kept the same? Solution The damping factor of the system after the design change = = 0.91 = 0.91 = 0.91 2 2 (1.2) The system with the increased mass is no longer critically damped; rather, it is now underdamped
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3.Natural Frequency and Damping Factor - Ex.3.8 Effects of System Parameters on the Damping Ratio An engineer finds that a single dof system with mass , damping , and spring constant has too much static deflection . The engineer would like to decrease by a factor of 2, while keeping the damping ratio constant. Determine the different options Solution The problem involves vertical vibrations = 2 = 1 2 = = 2
3.Natural Frequency and Damping Factor First choice Let remain constant, reduce by one-half = Before (a) = = = After (b) 2 2 Comparing (a) and (b) / 2 = = = , = 2 2 2 2 Check the damping ratio 2 = = 2 2 / 2
2
= 2 2
there are three ways that one can achieve the goal
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3.Natural Frequency and Damping Factor Second choice Let remain constant, reduce by one-half Before
2 =
1 2 = 2
(c)
After
1 2 1 2 2 = = 2
(d)
Comparing (c) and (d) 2 = 2 = 2 2 The static deflection = = = = 2 2 2

3.Natural Frequency and Damping Factor Third choice Let remain constant, reduce by one-half = Before = = = After 2 2 Comparing (e) and (f) = = 2 2 The constant damping ratio
(e) (f)
2 =
= 2 2 /2
2 = = 2 2 2
= 2
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4.Governing Equations for Different Type of Damping The governing equations of motion for systems with different types of damping are obtained by replacing the term corresponding to the force due to viscous damping with the force due to either the fluid, structural, or dry friction type damping Coulomb or Dry Friction Damping Using Eq. (2.52) and Eq. (3.8), the governing equation of motion takes the form 2 2 + + () = ()

4.Governing Equations for Different Type of Damping Fluid Damping Using Eq. (2.54) and Eq. (3.8), the governing equation of motion 2 2 + || + = ()

which is a nonlinear equation characteristic is piecewise linear

= () 2 + + =
2
because
the
damping
(2.52) (3.8)
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which is a nonlinear equation due to the nature of the damping Structural Damping Using Eq. (2.57) and Eq. (3.8), the governing equation of motion 2 2 + || + = ()
= 2 = || = ||
2 2
(2.54) (2.57) (3.8)

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+ =
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5.Governing Equations for Different Type of Applied Forces 1.System with Base excitation - The base-excitation model is a prototype that is useful for studying buildings subjected to earthquakes packaging during transportation vehicle response, and designing accelerometers - The physical system of interest is represented by a single dof system whose base is subjected to a displacement disturbance (), and an equation governing the motion of this system is sought to determine the response of the system ()
5.Governing Equations for Different Type of Applied Forces
- A prototype of a single dof system subjected to a base excitation The vehicle provides the base excitation () to the instrumentation package modeled as a single dof The displacement response () is measured from the systems static-equilibrium position Assume that no external force is applied directly to the mass; that is, = 0
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- The following governing equation of motion 2 2 + + = + 2 2 2 2 + 2 + = 2 + () and () are measured from a fixed point located in an inertial reference frame and a fixed point located at the systems static equilibrium position, respectively
- If the relative displacement is desired, the governing equation of motion 2 2 2 + + = 2 with () 2 2 2 2 + 2 + = 2
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5.Governing Equations for Different Type of Applied Forces 2.System with Unbalanced Rotating Mass - Assume that the unbalance generates a force that acts on the systems mass. This force, in turn, is transmitted through the spring and damper to the fixed base
5.Governing Equations for Different Type of Applied Forces - From the free-body diagram (FBD) of the unbalanced mass 0 = 0 ( 2 ) = 0 2 - From the FBD of mas 2 2 + + = 2 ( + 0 ) 2 + + = 0 2 2 () 2 2 + 2 + = where = + 0 , = /, = 0 2 - The static displacement of the spring + 0 = =
- The unbalance is modeled as a mass 0 that rotates with an angular speed , and this mass is located a fixed distance from the center of rotation
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5.Governing Equations for Different Type of Applied Forces 3.System with Added Mass Due to a Fluid
5.Governing Equations for Different Type of Applied Forces - The force generated by the fluid on the rigid body 2 2
- The equation of motion of the system 2 2 + = + 1 () () : measured from the unstretched position of the spring () : the externally applied force 1 () : the force exerted by the fluid on the mass due to the motion of the mass
1 = 0
: the mass of the fluid displaced by the body 0 : an added mass coefficient : a positive fluid damping coefficient - The governing equation of motion 2 + 0 + + = 2 0 : the added mass due to the fluid
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6. Lagranges Equations Consider a system with degrees of freedom that is described by a set of generalized coordinates , = 1,2, . In terms of the chosen generalized coordinates, Lagranges equations have the form + + = , = 1,2, , (3.41) : generalized coordinate : generalized velocity : : : : the kinetic energy of the system the potential energy of the system the Rayleigh dissipation function the generalized force that appears in the equation
6. Lagranges Equations The generalized force that appears in the equation = +

, : the vector representations of the externally applied forces and moments on the body : the position vector to the location where the force is applied : the bodys angular velocity about the axis along which the considered moment is applied
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6. Lagranges Equations Linear Vibratory Systems For vibratory systems with linear characteristics = 1 2 1 2

=1 =1
6. Lagranges Equations Single Degree-Of-Freedom The case of a single degree-of-freedom system, = 1, the Lagranges equation + + = 1 (3.44) 1 1 1 1 where the generalized force is obtained from 1 = + 1 1

=1 =1
1 2

=1 =1
: the inertia coefficients : the stiffness coefficients : the damping coefficients

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6. Lagranges Equations Linear Single Degree-Of-Freedom Systems The expressions for the system kinetic energy, the system potential energy, and the system dissipation function reduce to = = = 1 2
1 1
1 2
1 2
=1 =1 1 1
1 1 2 2 = 11 1 1 2 2
=1 =1 1 1
1 1 2 2 = 11 1 1 2 2
1 1 2 2 = 11 1 1 2 2
(3.46)
6. Lagranges Equations To obtain the governing equation of motion of a linear vibrating system with viscous damping Obtains expressions for the system kinetic energy , system potential energy , and system dissipation function Identify the equivalent mass , equivalent stiffness , and equivalent damping Determine the generalized force Apply the governing equation 1 + 1 + 1 = 1 Determine the system natural frequency = , = = 2 2
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=1 =1
, , : the equivalent mass, stiffness, and damping From Lagranges equation 1 + 1 + 1 = 1

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6. Lagranges Equations - Ex.3.9 Motion of A Linear Single Degree-Of-Freedom System Obtain the governing equation for the mass-damper-spring system Solution Identify the following 1 = , = (), = , = 0 Determine the generalized force 1 = + 0 = = () 1
6. Lagranges Equations Identify the following 1 = , = (), = , = 0 Determine the generalized force 1 = + 0 = = () 1
The system kinetic energy , system potential energy , and system dissipation function 1 1 1 = 2 , = 2 , = 2 2 2 2
The system kinetic energy , system potential energy , and system dissipation function 1 1 1 = 2 , = 2 , = 2 2 2 2 = , = , = The governing equation 2 2 + + = ()
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6. Lagranges Equations - Ex.3.10 Motion of A System that Translates and Rotates Obtain the governing equation of motion for small oscillations about the upright position Solution Choose the generalized coordinate 1 = , = 0, = , = The generalized force 1 = = = () 1
6. Lagranges Equations The potential energy 1 1 1 = 2 = ()2 = 2 2 2 2 2 the equivalent stiffness = 2 The kinetic energy of the system 1 1 = 2 + 2 2 2

1 1 3 2 + 2 = 2 2 2 2 2 3 the equivalent mass of the system = 2 2 =

= 1 2 2
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6. Lagranges Equations The dissipation function 1 1 1 = 2 = ()2 = ( 2 ) 2 2 2 2 the equivalent damping coefficient = 2 The governing equation of motion 3 2 + 2 + 2 = () 2 Natural frequency and damping factor = = = 2 3 2 /2 = 2 3
6. Lagranges Equations - Ex.3.11 Inverted Pendulum Obtain the governing equation of motion for small oscillations about the upright position Solution The total rotary inertia of the system = 1 + 2 1 : mass moment of inertia of 1 about point 2 : massmomentof inertiaof the baraboutpoint 2 1 = 1 2 + 1 2 1 5 1 2 2 1 2 2 = + 2 = 2 2 2 12 2 2 2 3
2 6 = = 2 2(3 2 /2) 2/3 6

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6. Lagranges Equations Choosing 1 = as the generalized coordinate, the system kinetic energy takes the form 1 1 = 2 = 1 + 2 2 2 2 1 2 1 2 2 = 1 2 + 1 2 1 + 2 2 2 5 3 For small 1 1 The system potential energy 1 2 1 1 2 = 1 1 1 2 2 2 2 2 2 2 1 2 2 = 2 1 1 2 1 2 2 The dissipation function 1 2 1 2 2 = 1 = 1 2 2
6. Lagranges Equations The equivalent inertia, the equivalent stiffness, and the equivalent damping properties of the system 1 2 1 2 2 1 2 2 2 2 = 2 + 12 1 + 22 = 1 +11 + 22 2 5 1 3 5 3 2 1 2 2 2 2 = 1 11 2 = 1 11 2 2 2 2 1 2 1 2 2 = 1 = 1 = 2 1 2 2 The governing equation of motion + + = 0 Natural frequency
2 1 1 1 2 2 /2 1 + 2
can be negative, which affects the stability of the system

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6. Lagranges Equations Natural Frequency of Pendulum System Now locate the pivot point on the top, the equivalent stiffness of this system 2 = 2 1 + 1 1 + 2 2 and the natural frequency of this system = = 2 1 + 1 1 + 2 2 /2 1 + 2
If 2 1 , 1 , and = 0, then = 1 1 1 + 2 2 /1 1 2 2 1 2 1 1 + 2 /51
the natural frequency of a pendulum composed of a rigid, weightless rod carrying a mass a distance 1 from its pivot
6. Lagranges Equations - Ex.3.12 Motion of A Disk Segment Derive the governing equation of motion of a disk segment Solution The position vector from the fixed point to the center of mass = + + ( ) The absolute velocity of the center of mass = + Selecting the generalized coordinate 1 = , the system kinetic energy 1 1 = 2 + 2 2 1 1 = 2 + 2 + 2 2 2 2 2
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6. Lagranges Equations Choosing the fixed ground as the datum, the system potential energy = Small Oscillations about the Upright Position Express the angular displacement as () = 0 + () Since 0 = 0 , and small , using , 1 1 2 , rewrite the energy functions 2 1 1 + 2 2 , + 2 2 2
Taylor series expansion = 0 + 0 0 2 2 0 + = 0 + 0 0 2 2 0 +
1 1
6. Lagranges Equations The equivalent inertia of the system 1 + 2 2 = + 2 2 The potential energy is not in standard form because of the constant term 1 + 2 2 However, since the datum for the potential energy is not unique, we can shift the datum for the potential energy from the fixed ground to a distance ( ) above the ground 1 = 2 2 Then, the equivalent stiffness can be defined =
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6. Lagranges Equations The governing equation + Natural Frequency = + +

2 2
+ = 0
= =
6. Lagranges Equations - Ex.3.13 Translating System with a Pre-tensioned/compressed Spring Derive the governing equation of motion for vertical translations of the mass about the static equilibrium position of the system Solution The equation of motion will be derived for small amplitude vertical oscillations; that is, / 1 The horizontal spring is pretensioned with a tension, which is produced by an initial extension of the spring by an amount 0 1 = 10 The kinetic energy of the system 1 = 2 2
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6. Lagranges Equations The potential energy of the system 1 = 1 0 + 2

1
1 2 2 2
2
: the change in the length of the spring with stiffness 1 due to the motion of the mass = 2 + 2 = 1 + (/)2 Assume that |/| 1, using binomial expansion 1 1 1 + (/)2= 1 + (/)2 1/2 = 1 + (/)2+ (/)4+ 2 8 1 + (/)2/2 = (/)2/2 1 = 1 0 + 2 2
Binomial expansion
2 2
6. Lagranges Equations Chose the generalize coordinate 1 = 1 = 2 2 = = = 0, = 0, = 0 2 2 1 1 = 1 0 + + 2 2 2 2 2 = 1 0 + 2

2 2
1 + 2 2 2
= 1 + + 2 ( 1) 2 +
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1
+2 = 1 +
10 1 3 1 + 2 2 + 2
1 +
+ + = 1
1 1 1
(3.44)
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6. Lagranges Equations The governing equation of motion 1 + 2 + = 0 The natural frequency = / = 2 + 1 / /
If the spring of constant 1 is compressed instead of being in tension, then we can replace 1 by 1 , and the natural frequency
= / = 2 1 / / The natural frequency can be made very low by adjusting the compression of the spring with stiffness 1 . At the same time, the spring with stiffness 2 can be made stiff enough so that the static displacement of the system is not excessive
6. Lagranges Equations - Ex.3.14 Equation of Motion for a Disk with An Extended Mass Determine the governing equation of motion and the natural frequency for the system Solution The velocity of = = + + = + +
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6. Lagranges Equations The kinetic energy of the system = + 1 1 = 2 + 2 2 2 1 1 = 2 2 + 2 2 2 1 2 = 2 1 2 = + + 2 1 = ( 2 + 2 2) 2 2 1 2 2 2 1 1 = + = 2 + 2 + 2 2 2 2

6. Lagranges Equations The potential energy of the system 1 = 2 + ( ) 2 1 = 2 2 + 1 2 1 1 2 = 2 2 + 2 1 2 2 2 1 1 2 2 2 = + 2 2 The dissipation function 1 1 1 = 2 = 2 2 2 2 2 2 The governing equation 2 + + + = 0, = = ( )2 + 2 +
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6. Lagranges Equations - Ex.3.15 Micro-Electromechanical System Determine the governing equation of motion and the natural frequency for the micro-electromechanical system Solution The potential energy 1 1 1 = 2 + 0 1 2 + 2(2 1)2 2 2 4 1 1 1 = 2 + 0 2 2 + 2(2 1)2 2 2 4 The kinetic energy 1 1 1 1 2 2 2 = 02 + 11 = 0 + 12 2 2 2 2 2 Dissipation function 1 2 1 2 2 1 = 2 = 1 2 2 2 2
6. Lagranges Equations 1 1 1 = 2 + 0 2 2 + 2 (2 1 ) 2 2 2 4 The potential energy is not in the standard form the governing equation must be derived from Lagranges equation 1 = + 2 2 + 2(2 1) 20 2 = 2 0 The governing equation of motion + + = 2 0 () The natural frequency = = + 2 2 + 2 (2 1 )/2 0 + 1 2 2
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6. Lagranges Equations Ex.3.16 Slider Mechanism Obtain the equation of motion of the slider mechanism Solution The geometric constraints on the motion 2 = 2 + 2 2 (a) = () = (b) = + (c) = 0 = = 2 2 () ()
6. Lagranges Equations System Kinetic Energy 1 1 1 1 = + 2 + 2 + 2 + 22 2 2 2 2 1 = 2 where 3 1 = 2 3 1 = 2 3 2 2 2 2 + + + + 2() () 1 = () 2 2
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6. Lagranges Equations System Kinetic Energy 1 = () 2 2 System Potential Energy 1 1 = 2 () + 2 2 2 Equation of motion = () = (), = 2 = + 2 2 () 1 + 2 + + 2 = 2 () 2
1
+ + = 1
1 1 1
(3.44)
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6. Lagranges Equations - Ex.3.17 Oscillations of A Crankshaft Obtain the equation of motion of the crankshaft Solution Kinematics The position vector of the slider mass = + + The position vector of the center of mass of the crank = + + + From geometry = + = = The slider velocity = = = +
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6. Lagranges Equations The velocity of the center of mass of the crank = + = + + System Kinetic Energy The total kinetic energy of the system 1 1 1 1 1 2 2 = 2 + + 2 + () 2 2 2 2 2 2 where, 2 2 = + + + +
2
6. Lagranges Equations Equation of Motion The governing equation of motion has the form = () After performing the differentiation operations 1 () 2 + = () 2 The angle can be expressed = + () Then 1 () 2 + + = () 2
+ 2 +
= 1
Nguyen Tan Tien
Nguyen Tan Tien
Vibrations
3.81
Vibrations
3.82
6. Lagranges Equations - Ex.3.18
Vibration of A Centrifugal Governor Derive the equation of motion of governor by using Lagranges equation Solution The velocity vector relative to point of the left hand mass = + +( + ) The kinetic energy
, = 2
1 2 = 2 + 2 + + = 2 + 2 + 2 2
6. Lagranges Equations The potential energy with respect to the static equilibrium position 1 = 2 1 2 2 2 Using equation (3.44) with 1 = = 0 1 = 0 and performing the required operations, to obtain the following governing equation 2 2 2 + 2 2 + + 2 = 0
1
+ + = 1
1 1 1
(3.44)
Nguyen Tan Tien
Nguyen Tan Tien
Vibrations
3.83
Vibrations
3.84
6. Lagranges Equations 2 2 2 + 2 2 + + 2 = 0 Introducing the quantities 2 2 2 , , Rewrite the equation 2 2 2 + 2 2 + + = 0 Assume that the oscillation about = 0 are small ( 1, ) to get the final equation 2 + 2 = 2
6. Lagranges Equations - Ex.3.19 Oscillations of A Rotating System Determine the change in the equilibrium position of the wheel and the natural frequency of the system about this equilibrium position Solution The spring force = the centrifugal force 2 = ( + )2 = 2 , 1 = 1 1 2 For small angles of rotation, the kinetic energy
1 1 2 2 2
1 1 3 + 2 = 2 2 2 2
The potential energy for oscillations about the equilibrium position

14
2/7/2014
Vibrations
3.85
Vibrations
3.86
6. Lagranges Equations The potential energy for oscillations about the equilibrium position 1 = 2 2 The Lagrange equation for this undamped system + + = = 2 where the centrifugal force 2 is treated as an external force The governing equation 3 + 2 = 0 2 The natural frequency = = 2 2 2 3 1
Nguyen Tan Tien
Excercises
Nguyen Tan Tien
15

Ch.03 Single DOF Systems - Governing Equations

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Ch.03 Single DOF Systems - Governing Equations

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Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

03. Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

2.Force-Balance and Moment-Balance Methods 2. Moment-Balance Methods

2.Force-Balance and Moment-Balance Methods

The governing equation of motion

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

: the static deflection of the system,

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

is constant irrespective of the weight of the mass

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

The natural frequency of this system = 1 2 / 1 2 1 2

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Single DOF Systems: Governing Equations

Single DOF Systems: Governing Equations

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien