Abstract
We focus on the free and forced vibration characteristic of cantilever beam. All bodies
having mass and elasticity are capable of vibration. The structures designed to support the
heavy load carrying beams are subjected to vibration, so many failure are occurred due to
excess vibrations in machines are any other field like beams etc.
The repetitive motion is called as vibration. The material is in elastic nature, external
excitation and wind are those main reasons of occurring vibration and it is both useful and
harmful for engineering system. So that we measuring the vibration to reduce it or control it.
The objective of the study is to find natural frequency of free vibration and harmonic
frequency of forced vibration of cantilever beam with changing the material, length, cross
section area and load. All theoretical values are compared with ANSYS values, also finding
the % of error between them.
Chapter 1: Introduction
1.1. Beams:
A beam is a structural member of machine used for carrying loads. It is typically used
for resisting vertical loads shear force and bending moment.
1. Based on geometry
a) Straight beam
b) Curved beam
c) Tapered beam
2. Based on the shape of cross section
a) I-beam
b) T-beam
c) C-beam
3. Based on the types of support
a) Simply supported beam
b) Cantilever beam
c) Over hanging beam
d) Continuous beam
e) Fixed beam
Definition: A cantilever beam is fixed at one end and free at other end.
The cantilever beam is most common type of beam. It is widely used for different
field like construct truss, slab, cranes, machine tools and bridges etc. in cantilever beam one
end is fixed rigidly and other end is free. Cantilever beam carries point load or uniform
distributed load at any point on beam. It is carried the load to the support, where it is the force
against by a moment and shear stresses
Consider a cantilever beam one end is fixed another end is free. Having length of
beam ‘L’, width ‘W’ and thickness of beam is ‘T’.
Let,
For a cantilever beam subjected to free vibration and system considered as continuous
system. In which the beam mass is considered as distributed along with the stiffness of the
shaft. The equation can be write as,
Euler’s Bernoulli beam theory is also known as engineers beam theory. His
modified a equation for cantilever beam subjected to free vibration.
1.2. Vibration:
Any motion which repeats itself after a fixed interval of time is called as vibration OR
oscillation. The swinging of a pendulum and a motion of bulked strings are typical examples
of vibration. The theory of vibration deals with the study of oscillatory motion of bodies and
the forces associated with them.
1.2.1 Terminologies:
Periodic motion: A motion which repeats itself after equal intervals of time.
Time period: It is time taken to complete one cycle.
Frequency: Number of cycles completed in unit time.
Simple harmonic motion: A periodic motion of a particle whose acceleration is
always directed towards the mean position and is proportional to its distance from the
mean position.
Amplitude: The maximum displacement of a vibrating body from its mean position.
Natural Frequency: The frequency of the free vibration of the system. It is constant
for a given system.
Resonance: The vibration of the system, when the frequency of the external force is
equal to the natural frequency of the system, the amplitude of the vibration at
resonance becomes excessive.
Damping: Resistance to the motion of the vibrating body.
Degree of Freedom: The number of independent coordinates required to specify
complete configuration of the system at any instant.
1.2.2 Classification of Vibration:
1. Free Vibration
2. Forced Vibration
3. Linear and Non-linear vibration
4. Damped and Un-damped vibration
5. Deterministic and random vibration
6. Longitudinal, Transverse and Torsional vibration
7. Transient vibration
Free vibration: After giving the initial excitation to the system, the external excitation is
removed, then the system vibrates on its own, this type of vibration is known as free
vibration. The simple pendulum is one of the examples of the free vibration of a system,
because of its own elastic property and no external exciting force acts in this case
An exact invention of the beam was first studied in terms of general elasticity
equations by Pochhammer (1876) and chree (1889). They deduced the equations that
described a vibration of a solid cylinder. However, it is impractical to solve the full problem
because it results in more information than actually needed in applications. Therefore,
approximates solutions for transverse displacements are adequate. The beam theories under
consideration all generate the transverse displacement equations as a solution.
It was documented by the early investigators that the bending effect is the single most
important factor in a transversely vibrating beam. The Euler Bernoulli model takes into
account the strain energy due to the bending effect and the kinetic energy due to the lateral
displacement. The Euler Bernoulli beam theory, sometimes called the classical beam theory,
Euler beam theory, Bernoulli beam theory or Bernoulli and Euler beam theory, is the most
commonly used because it is simple and provides realistic engineering approximations for
many problems. However Euler Bernoulli model slightly overestimate the natural frequency.
The finite element method devised from the need of solving complex elasticity and
structural analysis equations in engineering. Its improvement could be traced back to the
work by Alexander Hrennikoff (1941) and Richard Courant (1942). While the approach used
by these pioneers is different, they all stick to one essential characteristic: mesh discretization
of a continuous domain into a set of discrete subdomains, usual called elements. Starting in
1947, Olgierd Sienkiewicz from imperial college collected those methods together into what
is called finite element method, building the revolutionary mathematical formalism of the
method.
Vibration analysis of beam analyses the vibration characteristics of beam. All real
physical structures, when subjected to loads or displacements, behave dynamically. The
additional inertia forces from Newton second law, there are equal to the mass times the
acceleration. If the loads or displacements are applied very slowly then the inertia forces can
be neglected and a static load analysis can be justified. Hence, dynamic analysis is a simple
extension of static analysis. Many developments have been carried out in order to try to
quantify the effects produced by dynamic loading. Examples of structures where it is
particularly important to consider dynamic loading effects are the construction of machines,
long bridges under the wind loading etc
The natural frequencies of free theory in vibration analysis of beams by using a third
order shear deformation theory in this study, free vibrations of beams with a boundary
conditions is analysised within the framework of the third order shear deformation theory. To
apply the Lagrange’s equations, trial functions denoting the deflections and rotations of the
cross section of the beam are expressed in polynomial form. Using Lagrange’s equations, the
problem is reduced to the solution of a system of algebraic equations.
CHAPTER 3: ANSYS
CHAPTER 4: OBJECTIVES
The purpose of this experiment is to determine the natural frequency and harmonic
frequency of cantilever beam.
5.1. TYPE OF CASE: Keeping all dimensions constant and varying length
of bar.
Beam Dimensions
Width:-50mm
Depth:-40mm
Length:-500mm
Material used:-Mild steel
E=210GPa
Density=7860kg/
Poisson ratio=0.3
Theoretical calculation
Moment of Inertia = ==
Natural Frequency at Different Nodes.
At Node 01:
= 3.52*
= 840.42rad/sec
= 133.75Hz.
At Node 02:
=22*
= 5252.63Rad/sec.
= 835.98 Hz.
At Node 03:
=61.7*
= 14731.26 Rad/sec
= 2344.55 Hz.
FEA ANALYSIS:
Beam Dimensions
Width:-50mm
Depth:-40mm
Length:-700mm
Material used:-Mild steel
E=210GPa
Density=7860kg/
Poisson ratio=0.3
Theoretical calculation
Moment of Inertia = ==
= 3.52*
= 428.78 rad/sec
=68.24Hz.
At Node 02:
=22*
= 2679.90 Rad/sec.
= 426.52 Hz.
At Node 03:
=61.7*
= 7515.94 Rad/sec
= 1196.20 Hz.
FEA ANALYSIS:-
5.1.3. CASE 03
Beam Dimensions
Width:-50mm
Depth:-40mm
Length:-1000mm
Material used:-Mild steel
E=210GPa
Density=7860kg/
Poisson ratio=0.3
Theoretical calculation
Moment of Inertia = ==
Natural Frequency at Different Nodes.
At Node 01:
= 3.52*
= 210.07rad/sec
= 33.42 Hz.
At Node 02:
=22*0.
= 1313.08 Rad/sec.
= 208.98 Hz.
At Node 03:
=61.7*
= 3682.56 Rad/sec
= 586.09 Hz.
FEA ANALYSIS:-
5.2. CASE TYPE 02:-keeping all dimensions constant and varying cross section of bar.
Beam Dimensions
Width:-50mm
Depth:-40mm
Length:-1000mm
Material used:-Mild steel
E=210GPa
Density=7860kg/
Poisson ratio=0.3
Theoretical calculation
Moment of Inertia = ==
Natural Frequency at Different Nodes.
At Node 01:
= 3.52*
= 210.10rad/sec
= 33.43 Hz.
At Node 02:
= 22*
= 1313.15 Rad/sec.
= 208.99 Hz.
At Node 03:
= 61.7*
= 3682.81Rad/sec
= 586.13 Hz.
FEA ANALYSIS:-
Beam Dimensions
Width:-80mm
Depth:-60mm
Length:-1000mm
Material used:-Mild steel
E=210GPa
Density=7860kg/
Poisson ratio=0.3
Theoretical calculation
Moment of Inertia = ==
= 3.52*
= 315.13 rad/sec
= 50.12 Hz.
At Node 02:
= 22*
= 1969.61 Rad/sec.
= 313.47 Hz.
At Node 03:
= 61.7*
= 5523.87 Rad/sec
= 879.15 Hz.
FEA ANALYSIS:-
Beam Dimensions
Width:-100mm
Depth:-80mm
Length:-1000mm
Material used:-Mild steel
E=210GPa
Density=7860kg/
Poisson ratio=0.3
Theoretical calculation
Moment of Inertia = ==
Natural Frequency at Different Nodes.
At Node 01:
= 3.52*
= 420.20 rad/sec
=66.87 Hz.
At Node 02:
= 22*
= 2626.14 Rad/sec.
= 417.96 Hz.
At Node 03:
= 61.7*
= 7365.12 Rad/sec
= 1172.19 Hz.
FEA ANALYSIS:
5.3. CASE 03:-keeping all dimensions constant and Changing the material of bar.
5.3.1. CASE 01:
Beam Dimensions
Width:-50mm
Depth:-40mm
Length:-1000mm
Material used:-mild steel
E=210GPa
Density=7860 kg/
Poisson ratio=0.3
Theoretical calculation
Moment of Inertia = ==
Natural Frequency at Different Nodes.
At Node 01:
= 3.52*
= 210.10 rad/sec
= 33.43 Hz.
At Node 02:
= 22*
= 1313.19 Rad/sec.
= 208.99 Hz.
At Node 03:
= 61.7*
= 3682.811 Rad/sec
= 586.137 Hz.
FEA ANALYSIS :-
Beam Dimensions
Width:-50mm
Depth:-40mm
Length:-1000mm
Material used:-ALUMINIUM
E=70GPa
Density=2640kg/
Poisson ratio=0.3
Theoretical calculation
Moment of Inertia = ==
Natural Frequency at Different Nodes.
At Node 01:
= 3.52*
= 209.38 rad/sec
=33.31 Hz.
At Node 02:
= 22*
= 1308.17 Rad/sec.
= 208.20 Hz.
At Node 03:
= 61.7*
= 3668.83 Rad/sec
= 583.91 Hz.
FEA ANALYSIS :-
Beam Dimensions
Width:-50mm
Depth:-40mm
Length:-1000mm
Material used:-cast iron
E=110GPa
Density=7400 kg/
Poisson ratio=0.26
Theoretical calculation
Moment of Inertia = ==
Natural Frequency at Different Nodes.
At Node 01:
= 3.52*
= 156.71 rad/sec
= 24.94 Hz.
At Node 02:
= 22*
= 979.48 Rad/sec.
= 155.88 Hz.
At Node 03:
= 61.7*
= 2747.0 Rad/sec
= 437.19 Hz.
FEA ANALYSIS:-
6.1. TYPE OF CASE 01:-keeping all dimensions constant and varying length of bar.
Beam Dimensions
Width:-50mm, Load=1000N
Depth:-40mm
Length:-500mm
Material used:-Mild steel
E=210GPa
Density=7860 kg/
Poisson ratio=0.303
Beam Dimensions
Width:-50mm, Load=1000N
Depth:-40mm
Length:-700mm
Material used:-Mild steel
E=210GPa
Density=7860 kg/
Poisson ratio=0.3
FEA Analysis:-
Beam Dimensions
Width:-50mm, Load=1000N
Depth:-40mm
Length:-1000mm
Material used:-Mild steel
E=210GPa
Density=7860 kg/
Poisson ratio=0.3
FEA Analysis:-
2x
2x
2x
6.2. TYPE OF CASE 02:-keeping all dimensions constant and varying Cross section of
bar.
Beam Dimensions
Width:-50mm, Load=1000N
Depth:-40mm
Length:-1000mm
Material used:-mild steel
E=210GPa
Density=7860 kg/
Poisson ratio=0.303
FEA Analysis:-
Beam Dimensions
Width:-80mm, Load=1000N
Depth:-80mm
Length:-1000mm
Material used:-mild steel
E=210GPa
Density=7860 kg/
Poisson ratio=0.303
FEA Analysis:-
Beam Dimensions
Width:-100mm, Load=1000N
Depth:-80mm
Length:-1000mm
Material used:-mild steel
E=210GPa
Density=7860 kg/
Poisson ratio=0.303
FEA Analysis:-
2x
4.8x
8x
6.3. TYPE OF CASE 03:-keeping all dimensions constant and varying The load of bar.
6.3.1. CASE 01
Beam Dimensions
Width:-50mm, Load=800N
Depth:-40mm
Length:-1000mm
FEA Analysis:-
Beam Dimensions
Width:-50mm, Load=1000N
Depth:-40mm
Length:-1000mm
JAIN COLLEGE OF ENGINEERING
BELGAUM Page 53
ANALYSIS OF FREE AND FORCED VIBRATION
Material used:-Copper
E=210GPa
Density=7860 kg/
Poisson ratio=0.303
FEA Analysis:-
Beam Dimensions
Width:-50mm, Load=1200N
Depth:-40mm
Length:-1000mm
Material used:-Cast iron
E=210GPa
Density=7860 kg/
Poisson ratio=0.303
FEA Analysis:-
2x
2x
2x
6.4. TYPE OF CASE 04:-keeping all dimensions constant and different materials of bar.
Beam Dimensions
Width:-50mm, Load=1000N
Depth:-40mm
Length:-1000mm
Material used:-Mild steel
E=210GPa
Density=7860 kg/
Poisson ratio=0.303
FEA Analysis:-
Beam Dimensions
Width:-50mm, Load=1000N
Depth:-40mm
Length:-1000mm
Material used:-aluminum
E=70GPa
Density=2640 kg/
Poisson ratio=0.3
FEA Analysis:-
Beam Dimensions
Width:-50mm, Load=1000N
Depth:-40mm
Length:-1000mm
Material used:-cast iron
E=110GPa
Density=7400 kg/
Poisson ratio=0.26
FEA Analysis:-
Figure7. 1.1
By observing above graph we can conclude that to avoid the percentage Error or for
accurate values of frequencies at particular modes the length of bar should be increased, as
the length of bar increases accuracy of getting results will be more.
Figure7. 1.2
The above figure 1.2 indicates that comparison of mode frequencies with frequencies
at different modes by observing above figure states that frequencies at mode one is always
smaller as compared to frequencies at other modes in other words frequencies will be less at
initial stage or modes and it goes on increasing along with the number of modes.
Figure7. 1.3
The above figure shows the variation of the frequency with length of bar here
frequency at mode one, two means there will be certain distance between mode one and two
hence distance at mode two will be more than that of the mode one since in above figure
mode indicates length of bar we can observe that frequency at mode is less in all three cases
and it goes on increasing with mode that is distance in other words frequency increases with
the increases in the distance and vice-versa..
Figure7. 1.4
The figure 1.4 shows the frequency behavior of the different materials with respect to
frequency at different modes it helps us to understand how much the material had
experienced the frequency excitation at various modes that can be explained with the help of
above figures taking mild steel, aluminum and cast iron in to account among these mild steel
experiences a more frequency at all the modes as compared to other two materials, cast iron
and aluminum materials experiences all most same frequencies as shown in figure 1.4 based
on the application and their properties the materials are selected for the application such as
construction environment, load to be with stand etc.
Figure7. 1.5
The above graph indicates the percentage error obtained of different materials those
are mild steel, aluminum and cast iron this error may occur mainly due to human errors and
some variation in the values and it may also occur due to consideration of only two digits,
some time densities are available in range in that case we needed to assume the density value
in between in range this may cause error while doing calculations so according to above
figure our report have maximum error in cast iron as compared to other two materials those
are copper and mild steel, if average error is 0-15% it is acceptable if it is more than this the
care should be taken, in our report case the errors are below the 15% so it is acceptable.
Figure 7.2.1
When length is varying and other dimensions are constant as length increases and
natural frequency decreases and vice versa.
Figure 7.2.2
When area is varying and other dimensions are constant as area increases and natural
frequency also increases and as area decreases and natural frequency also decreases.
Figure 7.2.3
When load is varying and all other dimensions are constant, as load increases natural
frequency will be same.
Figure 7.2.4
As comparison between brittle material is cast iron and ductile material is mild steel
with all the dimensions are same, from brittle material to ductile material natural
frequency increase
References
V.P.Sing Vibration reference book
General documents