Fundamentals of Vibration

History of Vibration

S i
Strings
(M i )
(Music)
y Egyptians
y Pythagoras: Monochord

y Vitruvius acoustic properties of theater

Seismograph
y Zhang
Zh
H
Heng

History of Vibration

L
Laws
off Vibrating
Vib i String
S i
y Galileo simple pendulum, resonance

y Hooke relation between pitch and frequency

y Sauveur modes shapes and nodes, harmonics

Motions Vibrating Body

Equation of Motionsy Newton - Newtons Second Law
y Taylor Taylors Theorem

History of Vibration

P i i l off Superposition
Principle
S
ii
y Bernoulli

Thin Beam Theory

y Euler-Bernoulli

Analytical Solution of Vibrating String

y Lagrange

Torsional Oscillations
y Coulomb

History of Vibration

Th
Theory
off Vibrating
Vib i Plates
Pl
y E.F.F. Chladni
y Sophie Germain

Vibration of Flexible Membrane

y Poisson
y Clebsh
Cl b h

Thick Beam Theory

y Timoshenko

History of Vibration

Thi k Plates
Thick
Pl t
y Mindlin

Nonlinear
y Poincare pertubation
y Lyapunov stability

Random
y Lin and Rice
y Crandall and Mark

Finite Element Method

Importance of the Study of

Vibration

Importance of the Study of

Vibration

Importance of the Study of

Vibration

Importance of the Study of

Vibration on the good side!

Basic Concepts
Vibration
ti
Vib
Anymotion
y
that repeats
p
itself afteran
intervaloftime
of Vibration
Theory ofVibration
Deals with thestudy ofoscillatorymotions
of bodiesandtheforces associatedwith
them

Basic Concepts
BasicConcepts
Vib t
S t
VibratorySystem
Storing potential energy (spring)
Storing kinetic energy (mass)
Energy dissipation (damper)

Basic Concepts
BasicConcepts
D
ofFreedom
fF d
Degree
The minimum number of independent
coordinates required to determine completely the
position ofallpartsofa system at any instant of
time defines the degree of freedom of the system

Generalized Coordinates
GeneralizedCoordinates
Coordinates necessary todescribe themotionofa
system

Basic Concepts
BasicConcepts
Di
t (Lumped)
(L
d) System
S t
Discrete
A system that can be describe using a finite
number of degree of freedom

Continuous (distributed)System
A system that can be describe using a infinite
number of degree of freedom

Classification
Vib ti
FFree Vibration
A systemwhich
y
afteran initial disturbance
is left to vibrateonitsown.Noexternal
force acts onthesystem
on the system
Forced Vibration
Asystemsubjectedto anexternalforce
vibratingg system
resultingina
g
y

Classification

Undamped
U
d
d
Damped
Damped
Linear
Nonlinear
Deterministic
Random

Vibration Analysis Procedure

A vibratory system is a dynamic system for
which the variables such as the excitations
(inputs) and response (outputs) are timetime
dependent. The response of a vibrating
system generally depends on the initial as
well as the external excitations.
Consider a simple model of the complex
physical model

Vibration Analysis Procedure

Procedure
d
P
Mathematical Modeling
Derivation of the governing
equations
Solution
S l ti off the
th equations
ti
Interpretation of the results

Vibration Analysis Procedure

Mathematical Modeling

Represent all important features for the

purpose of deriving the mathematical
equations governing the system behavior
Si l as possible
ibl
Simple
Linear or Nonlinear
Great deal of engineering judgment
Sequential:
q
First a crude or elementaryy model
and then a refined model including more
components and/or details

Vibration Analysis Procedure

Derivation
D i ti off Governing
G
i Equations
E
ti
Use principle of dynamics and derive the
descriptive equations of a vibration system
The equation of motion is usually in the form of a
set of ordinary differential equations for a discrete
system and partial differential equations for a
continuous system
Linear or Nonlinear
Approaches: Newtons second law, Alamberts
principle, and principle of conservation of energy

Vibration Analysis Procedure

S l ti off the
th governing
i equations
ti
Solution
Standard methods of solving
g DFQs
Ordinary
Partial

Laplace transform methods

Numerical methods

Vibration Analysis Procedure

R
lt
Interpretation
I t
t ti off the
th Results
Displacements
Velocities
Accelerations

Elements
Springs
Mass/Inertial
Damping

Vibration Analysis Procedure

E
l
Example
The following figure shows a motorcycle with
a rider. Develop a sequence of three
mathematical models of the system for
investigating vibration in the vertical direction.
Consider the elasticity of the tires, elasticity
and damping of the strut, masses of the
wheels, and elasticity , damping, and mass of
the rider

Vibration Analysis Procedure

Vibration Analysis Procedure

Vibration Analysis Procedure

Vibration Analysis Procedure

E
l
Example
A reciprocating
p
g engine
g
is mounted on a
foundation as shown in the following figure. The
unbalanced forces and moments developed in
the engine are transmitted to the frame and the
foundation. An elastic pad is placed between the
engine
i
and
d the
th foundation
f
d ti
bl k to
block
t reduce
d
th
the
transmission
of
vibration.
Develop
two
mathematical models of the system using gradual
refinement of the modeling process.

Vibration Analysis Procedure

Vibration Analysis Procedure

Spring Elements
A linear spring is a type of mechanical link with
negligible mass and damping
The spring force is proportional to the amount of
deformation

kx

The work done in deforming a spring is stored

as strain or potential energy in the spring

1
2

kx

Spring Elements
Actual spring are nonlinear

kx

Spring Elements
Elastic elements like beams also behave like
spring

Wl 3
3EI

st

k x

W
st

3EI
l3

Spring Elements
Combination of Springs
Spring in Parallel

k1
W

keqq

st

keq

k2

st

st

k1 k 2 L kn

Spring Elements
Combination of Springs
Spring in Series
st

k1

keq
1

k2

k2

W
k1

keq

st

keq

eq

keq

eq
2

k1
keq
k1

st

keqq
k2

eq

k2

st
st

1
keq

1
k1

1
k2

1
L
kn

Spring Elements
Example
The figure shown the suspension system of a
freight truck with a parallel-spring arrangement.
Find the equivalent
q
spring
p g constant of the
suspension if each of the three helical springs is
made of steel with a shear modulus G = 80 x 109
N/m2 and has five effective turns, mean coil
diameter D = 20 cm, and wire d = 2 cm

keq

3k

120,000 N / m

Spring Elements
Example
Determine the torsional spring constant of the
steel propeller shaft

Spring Elements

kteq

kt12 kt 23
kt12 kt23

6.5997 106 N

m / rad

Mass or Inertia Elements

Assumed
A
d to
t be
b a rigid
i id
body

Gain or lose kinetic

energy whenever the
velocity
l it changes
h
The work done on the
mass is
i stored
t d in
i the
th
form of kinetic
energy

Mass or Inertia Elements

C bi i off masses
Combination
y Translational Masses Connected by
y a Rigid
g

Bar
x&2

x&3

ll2
x&1
l1

ll3
l1

x&1

Mass or Inertia Elements

y Translational Masses Connected by a Rigid

Bar

x&eq

x&1

y Equating the KE of the three-mass system to that of the

equivalent mass system

1
2

m1x&12

meq

1
2

m1

1
2

m2 x&22
l2
l1

1
2

m3 x&23

m2

l3
l1

meq x&2eq
2

m3

Mass or Inertia Elements

C bi i off masses
Combination
y Translational Masses and Rotational Masses

Coupled Together
Equivalent translational mass

1
2

mx& 2
1
2

Teq
x&eq
1
2

meq x& 2

eq

x&
1
2

J o &2

meq x&eq
&

mx& 2

1
2

x& / R
2
&
x
1
2 Jo
R

Jo
R