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Dr.

Millerjothi, BITS Pilani, Dubai Campus


Chapter:1
! Brief review of fundamental concepts of vibration
! Vibration Analysis
! Analysis of Simple vibrating systems
Dr. Millerjothi, BITS Pilani, Dubai Campus
" Vibrations can lead to excessive deflections
and failure on the machines and structures.
" To reduce vibration through proper design of
machines and their mountings.
" To utilize profitably in several consumer and
industrial applications.
" To improve the efficiency of certain machining,
casting, forging & welding processes.
" To stimulate earthquakes for geological
research and conduct studies in design of
nuclear reactors.
Importance of the Study of
Vibration
Dr. Millerjothi, BITS Pilani, Dubai Campus

" Vibrational problems of prime movers due to
inherent unbalance in the engine.
" Wheel of some locomotive rise more than
centimeter off the track high speeds due to
imbalance.
" Turbines vibration cause spectacular
mechanical failure.
EXAMPLE OF PROBLEMS
Dr. Millerjothi, BITS Pilani, Dubai Campus
DISADVANTAGES

" Cause rapid wear.
" Create excessive noise.
" Leads to poor surface finish (eg: in metal
cutting process, vibration cause chatter).
" Resonance natural frequency of vibration of a
machine/structure coincide with the frequency
of the external excitation (eg: Tacoma Narrow
Bridge 1948)
Dr. Millerjothi, BITS Pilani, Dubai Campus
Applications
Dr. Millerjothi, BITS Pilani, Dubai Campus
Basic Concepts of Vibration
! Vibration = any motion that repeats itself after an interval of
time.

! Vibratory System consists of:
1) spring or elasticity
2) mass or inertia
3) damper


! Involves transfer of potential energy to kinetic energy and vice
versa.
Dr. Millerjothi, BITS Pilani, Dubai Campus
! Degree of Freedom (d.o.f.) = min. no. of independent
coordinates required to determine completely the
positions of all parts of a system at any instant of time
! Examples of single degree-of-freedom systems:
Basic Concepts of Vibration
Dr. Millerjothi, BITS Pilani, Dubai Campus
Basic Concepts of Vibration
! Examples of single degree-of-freedom systems:
Dr. Millerjothi, BITS Pilani, Dubai Campus
Basic Concepts of Vibration
! Examples of Two degree-of-freedom systems:
Dr. Millerjothi, BITS Pilani, Dubai Campus
Basic Concepts of Vibration
! Examples of Three degree of freedom systems:
Dr. Millerjothi, BITS Pilani, Dubai Campus
Basic Concepts of Vibration
! Example of Infinite number of degrees of freedom system:



! Infinite number of degrees of freedom system are termed
continuous or distributed systems.
! Finite number of degrees of freedom are termed discrete or
lumped parameter systems.
! More accurate results obtained by increasing number of
degrees of freedom.
Dr. Millerjothi, BITS Pilani, Dubai Campus
ClasslflcaLlon of vlbraLlon
!Free Vibration:
A system is left to vibrate on its own after an
initial disturbance and no external force acts on
the system. E.g. simple pendulum
!Forced Vibration:
A system that is subjected to a repeating external
force. E.g. oscillation arises from diesel engines
"Resonance occurs when the frequency of the external
force coincides with one of the natural frequencies of
the system
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
!Undamped Vibration:
When no energy is lost or dissipated in friction or
other resistance during oscillations
!Damped Vibration:
When any energy is lost or dissipated in friction
or other resistance during oscillations
!Linear Vibration:
When all basic components of a vibratory
system, i.e. the spring, the mass and the damper
behave linearly
Dr. Millerjothi, BITS Pilani, Dubai Campus
Damped and Undamped vibrations
Dr. Millerjothi, BITS Pilani, Dubai Campus
! Nonlinear Vibration:
If any of the components behave nonlinearly
! Deterministic Vibration:
If the value or magnitude of the excitation (force or
motion) acting on a vibratory system is known at any
given time
! Nondeterministic or random Vibration:
When the value of the excitation at a given time cannot
be predicted
Dr. Millerjothi, BITS Pilani, Dubai Campus
! Examples of deterministic and random excitation:
Dr. Millerjothi, BITS Pilani, Dubai Campus
Harmonic motion
! Periodic Motion: motion repeated after equal
intervals of time
! Harmonic Motion: simplest type of periodic motion
! Displacement (x):

! Velocity:

! Acceleration:

!
"
t
A x 2 sin =
) 2 / sin( cos ! " " " " + = = = t A t A
dt
dx
x
!
) ( sin sin
2 2
2
2
! " " " " + = # = = t A t A
dt
x d
x
! !
x x
2
! " =
! !
Dr. Millerjothi, BITS Pilani, Dubai Campus
The similarity between cyclic (harmonic) and sinusoidal
motion.
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
The trigonometric functions of sine and cosine are related to the
exponential function by Eulers equation.
exp(i!) = cos(!) + i sin(!)
The vector P rotating at constant angular
Speed " can be represented as




Where x =real component and y = imaginery
component.
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
Vibrations of several different frequencies exist simultaneously.
Such vibrations result in a complex waveform which is
repeated periodically as shown
Dr. Millerjothi, BITS Pilani, Dubai Campus
A periodic function:
Harmonic Analysis
Dr. Millerjothi, BITS Pilani, Dubai Campus
Fourier Series Expansion:
If x(t) is a periodic function with periodic #, its Fourier
Series representation is given by
!
"
=
+ + =
+ + +
+ + + =
1
0
2 1
2 1
0
) sin cos (
2
... 2 sin sin
... 2 cos cos
2
) (
n
n n
t n b t n a
a
t b t b
t a t a
a
t x
# #
# #
# #
Dr. Millerjothi, BITS Pilani, Dubai Campus
-Complex lourler Serles:
1he lourler serles can also be represenLed ln Lerms of
complex numbers.
t i t e
t i t e
t i
t i
! !
! !
!
!
sin cos
sin cos
" =
+ =
"
Also,
i
e e
t
e e
t
t i t i
t i t i
2
sin
2
cos
! !
! !
!
!
"
"
"
=
+
=
and
Dr. Millerjothi, BITS Pilani, Dubai Campus
-lrequency SpecLrum:
Parmonlcs ploLLed as verLlcal llnes on a dlagram of
ampllLude (!
"
and #
"
or $
"
and %
"
) versus frequency ("&).
Dr. Millerjothi, BITS Pilani, Dubai Campus
Even and odd functions:
!
"
=
+ =
= #
1
0
cos
2
) (
) ( ) (
n
n
t n a
a
t x
t x t x
$
Lven funcLlon & lLs lourler
serles expanslon
Cdd funcLlon & lLs lourler
serles expanslon
!
"
=
=
# = #
1
sin ) (
) ( ) (
n
n
t n b t x
t x t x
$
Dr. Millerjothi, BITS Pilani, Dubai Campus
Half-Range Expansions:
1he funcLlon ls exLended Lo lnclude
Lhe lnLerval - # Lo 0 as shown ln Lhe
flgure. 1he lourler serles expanslons
of '
1
(() and '
2
(() are known as half-
range expanslons.
Dr. Millerjothi, BITS Pilani, Dubai Campus
Example 1
Addition of Harmonic Motions
Find the sum of the two harmonic motions

Solution: Method 1: By using trigonometric
relations:
Since the circular frequency is the same for both
x
1
(t) and x
2
(t), we express the sum as
). 2 cos( 15 ) ( and cos 10 ) (
2 1
+ = = t t x t t x ! !
E.1) ( ) ( ) ( ) cos( ) (
2 1
t x t x t A t x + = + = ! "
Dr. Millerjothi, BITS Pilani, Dubai Campus
That is,


That is,


By equating the corresponding coefficients of cos!t and sin!t
on both sides, we obtain
( )
E.2) ( ) 2 sin sin 2 cos (cos 15 cos 10
) 2 cos( 15 cos 10 sin sin cos cos
t t t
t t t t A
! ! !
! ! " ! " !
# + =
+ + = #
E.3) ( ) 2 sin 15 ( sin
) 2 cos 15 10 ( cos ) sin ( sin ) cos ( cos
t
t A t A t
!
! " ! " !
#
+ = #
( )
1477 . 14
) 2 sin 15 ( 2 cos 15 10
2 sin 15 sin
2 cos 15 10 cos
2
2
=
+ + =
=
+ =
A
A
A
!
!
Dr. Millerjothi, BITS Pilani, Dubai Campus
and
E.5) ( 5963 . 74
2 cos 15 10
2 sin 15
tan
1
=
!
"
#
$
%
&
+
=
'
(
Dr. Millerjothi, BITS Pilani, Dubai Campus
Method 2: By using complex number representation:: the two
harmonic motions can be denoted in terms of complex
numbers:




The sum of x
1
(t) and x
2
(t) can be expressed as
[ ] [ ]
[ ] [ ] E.7) ( 15 Re Re ) (
10 Re Re ) (
) 2 ( ) 2 (
2 2
1 1
+ +
! =
! =
t i t i
t i t i
e e A t x
e e A t x
" "
" "
[ ] E.8) ( Re ) (
) ( ! " +
=
t i
Ae t x
Lxample 2
Dr. Millerjothi, BITS Pilani, Dubai Campus
where A and " can be determined using the following
equations






and A = 14.1477 and " = 74.5963
2 , 1 ; ) (
2 2
= + = j b a A
j j j
2 , 1 ; tan
1
=
!
!
"
#
$
$
%
&
=
'
j
a
b
j
j
j
(
Dr. Millerjothi, BITS Pilani, Dubai Campus
Vibration Terminology
!Definitions of Terminology:
"Amplitude (A) is the maximum displacement of a vibrating
body from its equilibrium position
"Period of oscillation (T) is time taken to complete one
cycle of motion

"Frequency of oscillation (f) is the no. of cycles per unit
time
!
" 2
= T
!
"
2
1
= =
T
f
Dr. Millerjothi, BITS Pilani, Dubai Campus
"Natural frequency is the frequency which a system
oscillates without external forces
"Phase angle ($) is the angular difference between two
synchronous harmonic motions
( ) ! "
"
+ =
=
t A x
t A x
sin
sin
2 2
1 1
Dr. Millerjothi, BITS Pilani, Dubai Campus
"Beats are formed when two harmonic motions,
with frequencies close to one another, are added
Dr. Millerjothi, BITS Pilani, Dubai Campus
"The peak value generally indicates the maximum stress
that the vibrating part is undergoing.
"The average value indicates a steady or static value. It is
found from


For example, the average value of complete A sin t is zero, but
of a half cycle
Dr. Millerjothi, BITS Pilani, Dubai Campus
"The mean square value of a time function x(t) is
found from average of the squared values,
integrated over some time interval T
Dr. Millerjothi, BITS Pilani, Dubai Campus
"ueclbel ls orlglnally deflned as a raLlo of elecLrlc
powers. lL ls now ofLen used as a noLaLlon of varlous
quanLl Ll es such as dl spl acemenL, vel ocl Ly,
acceleraLlon, pressure, and power
!
!
"
#
$
$
%
&
=
!
!
"
#
$
$
%
&
=
0
0
log 20 dB
log 10 dB
X
X
P
P
where )
*
ls some reference value of power and +
*
ls
speclfled reference volLage.
Dr. Millerjothi, BITS Pilani, Dubai Campus
Problem 3
Dr. Millerjothi, BITS Pilani, Dubai Campus
Solution
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus

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