iv
To our families:
Sharda Arya Jerilyne O'Neill Dorita Pincus
Sumeer Arya Ronald O'Neill . Cynthia Pincus
Reena Arya David Pincus
Karen Pincus
I viii
i
JI,
Design of Structures
I•
i
~
!
1 and Foundations for
Vibrating Machines
Suresh C. Arya
Principal Engineering
Specialist, CE Lummus, Houston,
•
Texas
Michael W. O'Neill
Associate Professor
Civil Engineering, University of
Houston
George Pincus
Professor
Civil Engineering, University of
Houston
• I Book Division
Houston, London, Paris, Tokyo
Contents
1. Introduction-Fundamentals ....................-.....•.................................. . 1
Structural System of Foundations, 1; Theofet.ical Approach, 1; Fundamentals of Theory of
Vibrations, 2; Single-Degree-of-Freedom System, 2; Calculation of Parameters for
Mathematical Model, 2; Equivalent Mass, l'ne· 2~ Equivalent Spring. Constant, kg, 4;
Equivalent Forcing Function, F(t), 4; Formulation of Mathematical Model, 4; Transient or
Free Vibrations, 6; Steady-'State Solution of Forced Vibrations, 8; Dynamic System Sub-
jected to Rotating-Mass-Type Excitation, 11; Terminology, 12; Accelerating Bodies (Ac-
celeration, Velocity, Displacement), 12; Amplitude (Displacement, Vibration), 13; Analysis
•
(Computer, Dynamic, Matrix Method, Modal, Static), 13; Balancing (Static, Dynamic), 14;
Beat, 14; Conditions (Boundary, Constraint, Initial), 14; Damping (Coefficient or Consta-nt,
Critical, Dash pot, Factor or Ratio, Viscous), 15; Coordinates (Cartesian, Generalized,' Nor:-
mal or Principal), 15; Differential Equations (Linear, Simultaneous), 16; Dynamic (Eigen-
values, Eigenvectors, Force, Load, Load Factor, System), 16; Excitation (Impulse, Inertial,
Harmonic, Sinusoidal, Periodic, Transient), 17; Foundation Structure (Block-Type;-
Elevated Frame or Table Top, Mat Slab, Overtuned and Undertuned), 18; Frequency
(Angular or Circular, Damped Natural or Harmonic, Excitation-Forcing or Operating,
Fundamental, Natural, Rayleigh's), 18; ~agnification or Amplification Factor, 20; Mass
(Consistent or Continuous, Equivalent Lumped or Lumped), 20; Motion (Equation of Mo-
tion, Periodic, Aperiodic, Simple Harmonic·or Sinusoidal, Subharmonic, Superharmonic),
20; Modes (Coupled, Uncoupled, First, Lowest, Fundamental, Normal, Principal-
Eigenvector), 21; Modes of Vibrations, 24; Node (Points, Vibrating Systems), 24; Oscilla-
tion, 24; Peak-to-Peak (Double Amplitude of Vibration),. 24; Period, 24; Phase (Angle), 24;
Resonance (Condition, Frequency), 25; Response (Dynamic, Steady State-F'orced Part,
Transient), 26; Shaft (Critical Speed, Flexible, Rigid, Stiff), 27; Spring Stiffness (Constant,
Equivalent, Linear-Elastic, Nonlinear, Soil), 27; System (Continuous, Dynamic, Free,
Idealized or Equivalent, Linear, Nonlinear, Lumped-Mass Spring-Dashpbt, Single-
Degree-of-Freedom, Multip.le-Degree-of-Freedom), 28; Transmissibility Factor, 31; Ref-
erences, 31 ~
Modeling Techniques, 32; The Lumping of Mass, 32; Elastic Spring Constant, 32; Damp-
ing Ratio, 32; Forcing Function, 33; Models, 33; Development of Equations of Motion, 33;
Model 1-Vibrattng Machines Supported by Block:-Type Foundation, 34; Model 2-
•
Vibrating Machines Supported by Mat-Type Foundation, 34; Model 3-Machines Sup-
ported on .an Inertia Block and Vibrat1on Isolated from the Foundation, 35; Model 4-
v
Vibrating Machines Supported by Cantilever, 35; Model 5-Vibrating Machines Sup-
ported by Fixed Beam, 35; Mode16-Typical Elevated Pedestal Foundation (Table Top),
36; Model A-Single-Lumped Mass (Uncoupled Superstructure and Foundation), 36;
Model B-MLilti-Lumped Mass (Uncoupled Superstructure and Foundation), 36;
Rayleigh's Frequency, 36; Modal Multidegree Lumped Mass Analysis, 37; Model C-Two-
Lumped Mass with Coupled Soil-Structure Interaction, 37; Model D-Multi-Lumped Mass
with Coupled Soil-Structure Interaction, 38; References, 38.
Machine Properties and Requirements, 46; Soil Parameters, 47; Environmental Condi-
tions, 49; Trial Sizing of a Block Foundation, 49; Trial Sizing of Elevated Foundations
(Table Tops), 50; Checklist for Design, 51; Design Conditions and Procedures (Static Con-
ditions, Limiting Dynamic Conditions, Possible Modes of Vibration, Fatigue Failures, En-
vironmental Demands), 52; References, 56.
Notation for Chapter 4, 57; Evaluation of Soil Parameters, 59; Shear Modulus, 62; Calcula-
tion of Shear Modulus for Structure-Soil Interaction Analysis, 68; Selection of Shear
Strain Magnitude for Computing Approximate Shear Modulus Beneath Footings, 69;
Damping Ratio, 70; Selection of Poisson's Ratio and Soil Density, 71; Effect of Footing
Embedment, 72; Effect of Stiff Underlying Stratum, 72; Effect of Stratum of Loose
Granular Soil, 74; References, 76.
5. Foundations ............•................................................................ 77
Notation for Chapter 5, 77; Modification of Foundation Response, 78;Vertical Spring and
Damping Constants for Flexible Mats, 79; Deep Foundations, 80; Vertical Motion, 81; Pile
Groups, 82; Horizontal Motion, 86; Uncoupled Rocking Motion, 86; Testing Methods and
Empirical Correlations Based on Tests, 88; Comparison of Theory and Measured
Behavior, 89; References, 90.
vi
• 1. Computer Analysis and Applications: Elevated Foundation ....................... 113
•
Preface
The design of structures and foundations supporting dynamic loads has gradually
evolved from an approximate rule-of-thumb procedure to a scientifically sound engineer-
ing procedure. Current state of the art allows engineers to reliably design structures which
support increasingly heavier and larger machines. Recent advances in a number of
engineering disciplines, when merged with a traditional well-established body of
theoretical knowledge, have resulted in definite procedures for the analysis and design of
dynamically loaded structures. However, most concepts and procedures used in the
design of structures carrying dynamic machines and ultimately supported by the soil have
heretofore been dispersed in texts dealing with a single aspect or a limited portion of the
problem. This text brings together all those concepts and procedures for design of
dynamically loaded structures. Disciplines that are involved in modern design procedures
include:'·theory of vibrations, geotechnical engineering including soil dynamics and half-
space theory, computer coding and applications, and structural analysis and design. It is
assumed that the reader is an engineer or designer who is familiar with these areas.
However, a basic introduction in each area is also included in the text to enhance the
background of some readers.
The book includes an introductory chapter which reviews basic fundamentals. Chapter
•
2 describes alternatives of modeling dynamically loaded systems while Chapter 3 con-
siders and lists the information necessary for design. Chapters 4 and 5 describe the geo-
technical aspects of the problem and Chapter 5 specifically considers flexible mats and
I
deep foundations. Finally, Chapters 6 and 7 include actual examples of different types of
structures supporting dynamic machines.
This book is written by practicing engineers and engineering teachers. Practitioners
and students will find the information contained here useful in their work. Also, the book
will provide additional opportunities to merge the real world of design with senior- and
graduate-level engineering classroom instruction. Finally, this book will serve as a model
for integration of knowledge which cuts across several traditional, but previously loosely
connected areas.
Suresh C. Arya
Michael W. O'Neill
George Pincus
March, 1979
•
•
Design of Structures
and Foundations for
Vibrating Machines
•
• 1 Introduction-
Fundamentals
The analysis and design of foundations and structures geotechnical consultant and the machine manufacturer.
subjected to vibratory loads is considered a very complex However, during the design phase, it may become neces-
problem because of the interaction of structural engi- sary to adjust the dimensions or shape of the foundation,
neering, geotechnical engineering, and the theory of partly to meet the design criteria or to avoid interference ·
vibration. These foundations may be designed as a with other fixed objects such as pipelines and building
simple block, either of plain concrete or of reinforced foundations. The broad categories of foundations are
concrete, not different in resemblance from a footing (a) shallow foundation (resting on soil) and (b) deep
designed for static loads. The practicing engineer .who foundation (supported by piles or piers). A further
is generally not theoretically motivated ordinarily classification involves the structural configuration of the
uns theoretical investigation.s partly because these in- foundation:
• estigations on a massive concrete block do not result 1. Block-type foundation, consisting of a thick slab
in any additional reinforcement other than ordinary of concrete directly supporting the machine and
minimum percentage of reinforcement required by the other fixed auxiliary equipment.
governing codes. Even when engineering talent is avail- 2. Elevated pedestal foundation (table top), consist-
able for a theoretically exact analysis, other factors such ing of a base-slab and vertical columns supporting
as economy, lack of high-speed computers, or design a grid of beams at the top on which rests skid-
tradition result in an approximate nondynamic design. mounted machinery. These types of foundations
Thus, it has ·become imperative to devise practical de- are illustrated in Figure 1-1.
sign procedures which include the various aspects of
design ·and analysis of these foundations in a way that Theoretical Approach
the least effort is involved in the theoretical investiga-
tion. The design engineer should recognize that the Vibrations developed by operating machinery produce
theoretical dynamic investigation is an integral part of several effects which must be considered in the design
the design effort. of their foundations in addition to the usual design
In this book, an effort has been made to use and static loads. In some cases, if the size of the machine
simplify the latest theoretical knowledge available in involved is small, it may be appropriate to design the
this field (ref. 1). An easy-to-follow step-by-step routine foundation for equivalent static loads instead of strictly
is developed for actual design problems. applying the vibration design criteria. However, once
In addition, at every step of investigation, a brief the design engineer has recognized the need for a
description is presented explaining the physical meaning vibration analysis, it is necessary that the designer possess
of the parameters used and role they play in the design a clear understanding of the fundamentals of the theory
process. of vibration (refs. 3, 5, 6 and 7), modeling techniques
(refs. 2 and 8), soil dynamics (ref. 1), and in some
Structural System of Foundations cases, the application of computer programs (refS. 2
and 3 of Chapter 7) .
• The structural form of machine foundations is gen- In the step following the selection of the foundation
erally determined by the information provided by the gross geometry, the design engineer is faced with the
1
2 Design of Structures and Foundations for Vibrating Machines
(Table Top)
vibration analysis. The usual procedure is to establish generating a harmonic centrifugal force. A step-by-step
a mathematical model of the real structure which is procedure will be described for· modeling the actual
a necessary prerequisite in order to apply the theory structure.
of vibrations. The mathematical representation of a
structural system is usually defined in terms of a lumped Calculation of Parameters
mass, an elastic spring, and dashpot for each degree for Mathematical Model
of freedom. The terms which are used in the develop-
ment of the theory of vibrations are described in the
Equivalent Mass, me
Terminology section provided at the end of this chapter.
Fundamentals of Theory of Vibrations The beam has distributed mass along its length, and
its ends are fixed against rotation. In calculating the
The subject of vibration deals· with the oscillatory mass for the mathematical model, it is necessary to lump
behavior of physical systems. All physical systems built the mass only at points where the dynamic force is act-
of material possessing mass and elasticity are capable of ing, and also at those points where the dynamic response
vibration at their own natural frequency ,which is known is required. In this example, the dynamic force is acting
as a dynamic characteristic. Engineering structures sub- at the middle and the response is also required at the
jected to vibratory forces experience vibration in differ- middle. The technique for obtaining the lumped mass is
ing degrees, and their design generally requires deter- to equate the kinetic energies of the real and the equiva-
mination of their oscillatory behavior. The present lentsystems (refs. 2 and 8). First, a deflected shape of
"design office" state-of-the-art considers only their linear the real system is assumed, Figure 1-2b which corre-
behavior because of the convenience afforded by apply- sponds to the predominant mode. In this example, the
,ing the pr1n.ciple of superposition, and also because beam can have predominant translational modes in the
the mathematical techniques available for their treat- x-y plane, the x-z plane, and a rotational mode about
ment are well developed. In contrast, nonlinear· be- the x-axis. Thus, the model has three single-degree-of-
havior of systems is less well known, and the mathema- freedom systems independent of each other. Considering
tical treatment is difficult to apply. However, all struc- only the :deflected shape in the x-y plane, and assuming
tures tend to become nonlinear at high amplitude of the shape is the same as that which would be caused by
oscillation, and a nonlinear analysis is required under a concentrated load P applied statically in the middle,
those conditions.
Yu = (Pi /48 EI,) (3l - 4x) (I-1)
Single-Degree-of-Freedom System (I-2)
Yumax = Pf' /192 El,
An engineering structure (a fixed beam) is illustrated Assuming the beam's behavior stays within the elastic
in Figure 1-2a. The beam is supporting a machine range and the maximum velocit)' at any point along the
Introduction-Fundamentals 3
• f
I·
//2
·I·
11:d
~-
Wm
//2
{. wb
·I.
;I
) (a) Fixed Beam
\ { Elv Ely
i x
z GJ
(b) W x2
Concentrated load = _m_ _ (3/ - 4x)
48Elz
wb x2
Unit. dist. load = - - (I - x)2
24Elx
(spring ~
JL ~ (dashpot)
T ~k
~-
4:
[
:2:::
~k
C_y
•
<.
constant) ~ r-- --:
__ J ky
w y
--
Wik =ilst k. Ost
-W j w
w
y
r-- --,.
t ,_j _____ jI my
Figure 1-2. SDOF representation of a fixed beam supporting machinery in the middle.
where C = constant relating velocity to deflection. .f0 112 (9l2x4 + 16x6 - 24lx 5 )dx = 13/1120 l7
Equation ( 1-4) after integration reduces to
Thus, KE,,= (13/70) V2max mi,
where mt= mb t, the total mass of the beam. The kinetic
•
Vu = (4x2/t3) (3l - 4x) Vmax (1-3) energy of the equivalent system is given by
2
The total kinetic energy of the beam is given by KE,= ! m, V,
4 ' Design of Structures and Foundations for Vibrating Machines
Since the kinetic energies must be equal in both sys- single-degree-of-freedom system, the work done by the
tems, and since V max must equal V., actual system is equated to that done on the equivalent
system. The load factor, k 1, with which the distributed
KEb =KE. dynamic force should be modified to determine the
equivalent, concentrated dynamic force is given in
(13/70) me v!ax = ! m. v.
2
Table 1-1. For the model shown in Figure 1-2a, the
or dynamic force acts at the middle of the beam, thus, a
force modification factor is not required.
0.371 m 1 = m, (1-5)
Formulation of Mathematical Model
Therefore, 37.1 % of the total distribution mass should
be included as the corresponding mass of the mathemati- A procedure for obtaining the values of various
cal model. However, the mass of the machine is located _parameters in a mathematical model which equal those
at the middle; hence, that entire mass should be con- in an actual system is given in the preceding section. An
sidered part o'f the equivalent mass. equivalent mathematical model is shown in Figure 1-2c.
The mass and the spring constants are the equivalent
m, = 0.371 mi mm + (l-6) parameters corresponding to an actual· system. An equiv-
Similarly, equivalent mass can be calculated in the alent damping coefficient is not required in this partic-
x-z plane ,which will also have the same magnitude sirrce ular model since it is associated with the velocity of the
the deflection curve of the beam remains the same. system only, and its effect is implicitly included when the
Table 1-1 lists equivalent mass factors for beams and equivalent values of mass and spring constant parame-
sla?s with different types of loads and support cond(ions. ters are calculated. The chosen model has three inde-
pendent degrees of displacement and/or rotation, and
Equivalent Spring Constant, k8 therefore, there are three individual equivalent models
having a single degree of freedom each. The technique
The spring constant of an equivalent system is obtained of mathematical formulation for each of the three models
by equating the resistances to deformation of the proto- is the same, and. therefore, only one single-degree-of-
type and the mathematical model, in this case, the uni- freedom model will be examined in detail.
formly distributed loaded beam vs. the modeled middle A model, shown in Figure l-2d with a weight W, is
loaded beam. The resistance offered by the beam per attached to a weightless spring k, and the spring stretches
unit load is given by the reciprocal of the deflection by an amount Ost.= W / k. The system is initially in a
produced by the same unit static load applied at that state of static equilibrium with the dead weight W bal-
point .. Therefore, in the example under consideration, anced by the restoring pull of the spring ko, 1• Subse-
the resistance offered due to a unit concentrated load at quently, the weight W is set into oscillation by the appli-
midspan (ref. 9) is cation of some disturbance.
Starting at time equal to zero, the system vibrates freely
3 with an amplitude of +y displacement (Figure 1-2e).
Rb = l/(l /192 EI,) The forces acting on the body are applied against the
= 192 El,/l3, (1-7) direction of motion and indude: the resistance offered
by the spring k (y +Ost), the resistance Cy offered by
which when equated to the resistance of the equivalent the viscous damping C, and inertia force m y, given by
system gives Newton's second law of motion. The latter force is equal
3 to the mass of the system multiplied. by its negative
k. = 192 EI,/l (1-8)
acceleration (the state of motion of a mass at any instant
In Table 1-1, values of spring constants for equivalent may be considered as in a state of static equilibrium
systems are presented for different types of loads artd upon introduction of the inertia force) . The force acting
support conditions. in the direction of motion is the weight- W. Summing up
the forces, the resulting equation of motion is
Equivalent Forcing Function, F(t)
mj" + Cy + k (y + 0,1) = W,
The dynamic force may be distributed over a certain which reduces to
length of the element, and in order to obtain its equiva-
lent, concentrated load value for application in the mji + Cy + ky = 0 (1-9)
Introduction-Fundamentals 5
Table 1-1
Dynamic Design Factors for Beams and One·Way Slabs
·-------,.-----.----..,.----or-------.
Type of Type of
Equivalent Parameters of a
Single-Degree-of-Freedom System Equivalent.
Structural Dynamic uynamic Mass factor km Spring Mathematical
Member Loading Load Constant Model
Factor k, Cone; Ld. Unif. Ld. .ke
f(t)/unit length
J/fo+J;J;J;Hf]. 0.64 0.50 49.2 El
;(El L3
A. Uniform load
L
F(t)
i
1. Simply A · A 48.0 El
supported 1.,..v2,,.1.,.. L12,,. 1 1.0 1.0 0.49
LS
beam 8. One concen-
trated load
F(t) F(t)
24 J2
0.87 0.76 0.52
49.1 El Fe(t)= k1 x (total
L/31
.;;,I• • ,•L/31
. ,,..L/34.1
> L3 dynamic load
C. Two equal on the span)
concentrated loads
Me = km X (total
f(t)lunit length mass on the span)
~44J4XJ'.
jf ~ 0.53 0.41 203.5 El ke = k1 X k
E El L3
I~ J
A. Uniform load where k = spring
constant of a real
j+- L •1 F(t)
system.
{+ j J *J " ~ 107.3 El
0.58 0.45
I• L -.J LS
A. Uniform load
±
F(t)
3. Simply support-
ed and fixed
end
f( L/2 L/2 .,..f 1.0 1.0 0.43 107.0 El
LS
8. One concen-
trated load
F(t) F(t).
TJ, J,2
Jlu3 u3
141( .......
1
~;3 ~
~
0.81 0.67 0.45
106 ..9 El
L3
C. Two equal
concentrated loads
F
"'
l
.............................._______________
6 Design of Structures and Foundations for Vibrating Machines
ThiS equation is an ordinary second-order linear dif- Equations (1-14) and (1-15) show that the nature of
ferential equation with constant coefficients, also called oscillation depends upon the value of C. Four possible
a homogenous equation. For the cas.e when a forcing values of C will be considered here (ref. 6) to illustrate
function F(t) is also acting, the resulting equation is the physical significance of Equation ( 1-15) .
classified as nonhomogenous (ref. 10) and is iwritten as
Case 1: C = 0 (no damping). This case reduces the
mji + Cj + ky = F(t) (I-10) problem to an undamped system, and the roots obtained
from Equation (1-14) are s1 ,2 = + iw,.. Equation (1-15)
The solution of Equation ( 1-9) yields the dynamic can be written as
characteristic of the system such as the natural frequency,
the damped natural frequency, the critical dampi1f5 (I-16)
coefficient, or the transient motion of the system. Each
Equation (1-16) can be written in three alternate forms
of these terms has a special significance depending upon
by the use- of trigonometric identities and complex
the particular problem at hand.
numbers:
Time
(b)
....
II ·,,~8 1 sinwn t Q)
1_______
E
\
. ' i= Figure 1-3. Undamped free vibrations ini-
tial conditions, y (0) = y0 , y (0) ==v Source:
0
A.H. Church, Mechanical Vibrations, sec-
•
·-1- ond edition, New York: John Wiley, 1963.
(c)
Si = Wn ( - D +iV I - D 2) Case 3: C
2
=
4 km (critical damping). The damping
(1-24) ·corresponding to this case (C = 2y' km, C = C or
S2 = Wn ( - D - i V 1 - D 2) 0
C/Ca = D = 1.0) is referred to as critical damping. For
this value of C 2 = 4 km, Equation (1-13) has two equal
when the damping ratio D=C/C0 =C/2Vkm=
roots, s1 , 2 = - C /2m. In this case, the general solution
C /2wnm is introduced. Further substitution of Equa-
of the second-order differential equation is
tion ( 1-24) into Equation ( 1-15) and conversion to a
trigonometric form with the aid of Euler's formula
Y = Ae-(c/2m)t + Bte-(c/2m)i (I-27)
e±iB =cos()+ isin B, gives
Substituting the value of C/2m = 2ykm/2m = wn
y = e-Dwnt (B1 sinwnvl -D 2 t and applying the initial boundary condition, y ( t =-= 0)
(1-25) =y0,andy (t=O) =v 0 inEquation (1-27) gives
• + B2 cbs V I Wn - D 2 t)
(1-28)
8 Design of Structures and Foundations for Vibrating Machines
/
/
/
Figure 1-4. Damped free-vibration response of SDOF system. Source: William T. Thompson, Vibration
Theory and Applications, © 1965, pp. 39-40. Reprinted by permission of Prentice-Hall, Inc., Englewood
Cliffs, N.J.
Introduction-Fundamentals 9
force or displacement, or it may have some other periodic Equation (1-10) with a harmonic force is
rm. These other periodic disturbances can be resolved
o a number of harmonic components in the form of mji + Cy + ky = F 0 sin wt , (1-31)
urier series as illustrated in Table 1-2. A third type of
where w is the frequency of the harmonic excitation. The
time-dependent excitation is in the form of a series of
particular integral solution for this equation is
repeated shocks and impulses, pulse waves, or step func-
tions or force or displacement applied to the mass or to
its support. Yv = A1 sin wt + A2 cos wt (1-32)
The most common source of excitation in structures with Yv = wA1 cos wt - wA 2 sin wt (l-33a)
supporting machines is the internal excitation caused by
an unbalanced condition in the machines or the external
..
and Yv = -w2A. 2A
i sin wt - w 2 cos wt (l-33b)
excitation produced by a nearby dynamic system. These
excitations are generally in the form of harmonics under Substitution of Equations (1-32), (1-33a), and
steady-state conditions and will be further considered (1-33b) in Equation (1-31) and collections of the coeffi-
here. cients multiply1hg the sine and cosine terms yield
Table 1-2
Harmonic Components of Periodic Disturbances (Ref. 7)
r-~-t~1 00
{l)Ohn-n ( f(wt)
4h
= -:;;- I kI SIN kwt
-h LJ LJ k• 1,3,5, ...
(2) 0 ·p D [ f(wt)
Ii
= -2 + -7' 2h
...
I .,!_SIN kwt
k
•
k:l,3,!S, ...
...
h~ ...-/1 , ,. 2h (-l)k+I
(3)
0
117' (/7
f(wt) = 1T I
k•l,2,3,· ..
k
SIN kwt
-h
I
k=l,3,5,"·
...
I
k2 cos kwt
+~ I
k .. 1,2,3, ...
(-l)k+I
k SIN kwt
h 4h
f(wt)= - - -
2 7'2
f, ~ 2 cos kwt
k= l,3,15,· ..
co
(-1 )(k-ll/2
f(wt) =Sh
- 7T2 I SIN' kwt
hlc\SINwt~
(7) _ _..__.L..~-....._____..,.....
o _... f(wt) = .!!. + J:!.2 SIN wt
1 7T
...
2h
'\' - - - COS kwt
7T L
k• 2,4,6,···
k2- I
(8)0·~
co
•
2h 4h I
f(wt) = 7T - 1T I
k= 2,4,6,···
-;y--;- COS kwt
k - I
10 Design of Structures and Foundations for Vibrating Machines
[(k - mw2 )A1 - CwA2] sin wt h = [Fo/v(k - mw2) 2 + (Cw) 2] sin (wt - ¢1)
+ [CwA 1 + (k - 2
mw ) A2] cos wt ;:::: Fo sin wt (1-34) = Y sin (wt - ¢1), (1-37
and equating the sine and cosine terms on the two sides
of the equation yields
where Y = Fo/V(k - mw
2 2
) + (Cw) 2
1 2
and = tan- [Cw/(k - mw
2
[(k - mw ) Ai - CwA2] sin wt = Fo sin wt l 0
_35 )
¢1 )]
Table 1·3
Particular Integrals (Ref. 7)
F(t)
~'"! ~
Yp
Fl .§
Fo
I t
k
2 fi,1 F~ .!i(1-.£.J
k k
I
4 Fo 13
'L/ I
/
2fg(.!.3 _ £ 2_
k 3 k
2mt + 2c t+~- 2c 3 )
k· . k2 k2
2
k3
5 ~e- st F~ Fo
ms2-cs+ k
e-sl
6 ~est Fv
Fo st
ms 2+cs+k e
I
8 F0 COS wt F~f\\_ t
focw sin wt+ Fo ( k-mw2l .cos wt
( k-mw2)2+(cw)2
Introduction-Fundamentals 11
(r)2 M = M,,
+ [2Dr] 2
= M
(1-43)
0
0co
'+-"
c:
2.0
1..0 2. 0 3.0
f-
4.0 5.0
0
(b) Frequency ratio (r)
~
where M, is the dynamic magnification factor for the (.)
:;:::
rotating-mass-type excitation case. Figure 1-7 shows the ·c:Cl 1.0
('ti
plot of Mr in relation to the frequency ratio r for the :i?
various values of damping ratio D.
Substitutingµ,= m;Jm in Equation ( 1-43) yields
0 1.0 . 2.0 3.0
M, = Y/µe = (r) M
2
(1-44) Frequency ratio (r)
Figure 1-7. Magnification factor (M,) vs. frequency
The term µ,e is <:alled the free amplitude. ratio (r): (a) and phase angle (¢ 1) versus frequency
For a given system, the values of µ,, e, D, and ron are ratio (r): (b) for a single-degree-of-freedom system
constant, so that Figure 1-7 is, in effect, a plot of the subjected to a rotating-type excitation, F = miew2
amplitude of the mass against the rotating speed of _the sin wt. Source: William T. Thompson, Vibration
unbalanced force for various amounts of damping. For Theory and Applications, © 1965, p. 60. Reprinted
a small value of r, or at low rotating speed, the total by permission of Prentice-Hall, Inc., Englewood
mass m moves very little; at a speed approaching the Cliffs, NJ.
natural frequency of the system, r = 1, the amplitude
builds up to large values for small amount of damping. duction to the theory of vibration is not presented here;
Further on, at higher rotating speeds, r -+ <X>, the curves however, Chapter 1 lists a number of references on the
approach the value Mr equal to unity since the inertial subject. The following list of terminologies summarizes
force of the total mass is then· approximately 180° out the most commonly used terms (refs. 4 and 5) in the
of phase with the unbalanced force. field of vibrations. An example of each defined term is
Comparingthe curves of Figures 1-5 and 1-7, it may also included to provide further information on its
be observed that resonant peaks occur at r :< 1 for the application.
case of a constant force excitation, and r > 1 £01; the
case of rotating-mass-type excitation. _ 1. Accelerating Bodies
The various expressions .which may be derived from
the equations of motion of these two cases are listed in Acceleration
Table 1-4. Definition: New;ton's Law of Motion-a vector quan-
The combination of transient or free vibration (com- tity when applied to the mass, produces a force in the
plementary function) and steady-state vibration ( partic- direction of application.
ular integral) gives the complete solution for Equa- Example: the rate of change of velocity with time.
tion ( 1-10). For the x-coordinate it is denoted by d 2 x/dt 2 or x. See
Terminology Figures 1-8 and 1-9.
~II
111,1.1
Introduction-Fundamentals 13
Table 1-4
Summary of Derived Expressions for a
Single-Degree-of-Freedom System
where r = w/wn
"'n (Undamped natural circular frequency)= '<'(k/m)
D (Damping ratio) = C/C 0
C0 (Critical Damping) = 2 '<'km
T, = Force transmitted/ Fo
T., = Force transmitted/mi ew 2 n
x,x,x 2. Amplitude
Displacement
Definition: the maximum change of position of a body
or some part of the system from a reference point
(generally equilibrium position) at any given time.
Example: the maximum displacement of a sinusoidal
quantity x = A sin wt, which is A in this function.
Vibration
Figure 1-8. Rotating vector representation of a har- Definition: the time-varying magnitude of peak dis-
monic function x = A sin wt. placement (of a physical body) from a reference point.
Example: a time-varying displacement of a rotor shaft
x of a machine, or a foundation structure from the static
equilibrium condition.
3. Analysis
Computer
·5E~T.
"'
VEL. X=,.,Asin(wt+...!:)
2
Definition: resolution of complex mathematical prob-
t
lems into simple elements with digital (discrete number
operation) or analog (continuous chart operation) com-
puters.
ACCL. X=,.,•A sin(,.,t+Jr) Example: solution of indeterminate structures or
Figure 1-9. Harmonic motion representation of dis- determination of vibration in a dynamic system using
_placement velocity and acceleration. computer programs.
14 Design of Structures and Foundations for Vibrating Machines
Dynamic (Vibration)
BALANCING
Definition: a study of motion of a physical system at a MASS
particular time.
Example: the calculation of the amplitude of vibra-
tions in a machine or in a foundation sti::uct_ure.
Matrix Method
Definition: the study of motion of masses in multi- UNBALANCED
degree-of-freedom systems. MASS
Example: the solutions of simultan~us equations Figure 1-10. Static balancing. This system under ro-
using the techniques of matrix algebra. tation produces equal centrifugal forces, but pro-
duces unbalanced moments In shaft and pressure
Modal on the bearings.
Definition: the dynamic analysis of a multidegree-of-
freedom system, where the responses in the normal modes ADJUSTOR
(each treated as independent one-degree systems) are MASS
determined separately, and then superimposed to pro-
vide the total response.
Example: vibration analysis of a "Table top", when a
computer program is employed.
Sta~ic
Definition: the investigation of a physical system in
equilibrium under the action of a system of stationary Figure 1-11. Dynamic palancing. For this system
forces. during rotation, not only are centrifugal forces
Example: dead-load analysis of a structural system. balanced but the forces and moments in the shaft (in·
one revolution) are also balanced.
4. Balancing
x
Static
Definition: adjustment of mass distribution of a rotat-
ing body such that statically the system is at neutral
equilibrium.
Example: see Figure 1-10.
Dynamic
Definition: the adjustment of mass distribution in a
rotating body such that the vibrations are controlled.
Example: see Figure· 1-11.
5. Beat
Definition: the maximum resulting amplitude of two
Figure 1-12. Resulting motion of two simple har-
simple harmonic wave forms of slightly different fre- monic wave forms containing a beat.
quencies which are superimposed.
Example: see Figure 1-12 in which beat frequency y
(/b) =Abs. [w 1 - w2]/27r. Frequency of combined oscil-
lation (/) = (w1 + w2) /47r. Beat period (Tb) = l/fb.
Period of resulting oscillation (T) = l/f; Xmax =Ai+ Az;
Xmin =Abs. (Ai - Az). , _____
--------
........ ....... .,,,,,,,,,...,.. ,.,,.
...____ L -----1..i
6. Conditions
Figure 1-13. Simple beam loaded with uniform load
Boundary w.
Definition: the known physical relationships at specific
points of a structural body, usually at the supports.
Example: see Figure 1-13 in which (Boundary Condi- Constraint
tions) Deflection: y ( x = 0, L) = 0; Slope: EI dy / dx Definition: the imposition of limitations on the be-
(x = L/2) = 0; Moment: EI d 2 y/dx 2 (x = 0, L) = 0; havior of a physical body.
Shear: EI d 3 y/dx 3 (x = L/2) = 0. Example: see Figure 1-14.
Introduction-Fundamentals 15
Initial
Coefficient or Constant
Definition: a factor used in a dynamic system to
account for dissipation of energy.
Example: see Figure 1-15, where equation of motion
Figure 1-14. Cantilever of uniformly distributed
mass. The cantilever is constrained to deform in a
=
is mx + Cx + kx 0. In this equation, the constant C
acco'Unts for viscous damping in the system.
circular profile.
Critical
Definition: a mathematical equality derived in vis-
cously damped system, such that the free displacement
comes to rest without oscillation.
Example: see Figure 1-16 in which critical damping
(Ca)= 2 ykm.
Figure 1-15. Single lumped-mass dashpot system.
Dashpot
x Definition: a schematic representation of a v!scous
damper.
• v + Xo )wnt]-wt
X= [xo+(~
1------------.--t
e n Example: see Figure 1-17.
Factor or Ratio
Definition: the ratio of actual resistance in damped
harmonic motion to that necessary to produce critical
damping.
Figure 1-16. Critical damped oscillation of a single
lumped-mass system.
= =
Example: D C/Cc C/2 \f km.
Viscous
dash pot Definition: a type of damping assumed in a dynamics
c model such that the dissipation of energy during oscilla-
tion is linearly proportional to the velocity of the mass.
Example: damping force = Cx.
l/ '' /
Generalized
Definition: a specification of a configuration by a set
' , / y of independent geometric quantities, ,which may be
_______\L2x
•
lengths, angles, or their combinations.
y-/ Example: a set of n independent geometric coordi-
x nates which specify the configuration of an n-degree-of-
_Figure 1-18. Coordinates of element "O" in space. freedom system.
__........................._.______________
16 Design of Structures and Foundations for Vibrating Machines
Normal or Principal
Definition: a particular set of generalized coordinates
which describes equations of motion such that there is
neither static nor dynamic coupling among them.
Example: a procedure followed in modal analysis in
which the general motions of the ma~ses of a multi-
degree-of~freedom system can be expressed as a super-
position of its principal modes of vibration. Figure 1-19. Single degree spring-lumped-mass-
dashpot system.
9. Differential Equations (Equations of Motion)
Linear
Definition: an equation relating to two or more vari-
ables in terms of derivatives or differentials such that no
terms involving the unknown function or its derivatives
appear as products or are raised to a power different
from unity. The order of a differential equation is equal
to the order of the highest derivative in the equation.
When the independent variable is a time function, then
it is called an Equati~n of Motion.
Example: see Figure 1-19 for which the Equation of
Motion is m"z"+Ci+kz=F(t) or m(d 2z/dt 2 ) +
C(dz/dt) + kz = F(t). This is a nonhomogenous ordi-
nary second-order linear differential equation with con- Figure 1-20. Two-degree-of-freedom system (multi-
stant coefficients. In this equation, z and t are variables, degree).
where z is the dependent variable. In case z is dependent
on more than one independent variable, then the equa-
tion will change from an ordinary to a partial differen- Example: see Figure 1-20 in which the Equations of
tial equation_. If m, C, and k are not constant and are =
Motion are m1Z1 + C1 (i1 - i 2) + ki(z; - z2) F 1 (t)
independent of z or its derivatives, but are dependent of and m2z2 + C2i2 - C1 (i1 - i 2) + k2z2 - ki (z1 - z2)
the variable t, then the equation is called a differential = F2(t). This two-degree-of-freedom system contains two
equation ,with variable coefficients. If the right-hand dependent variables, z1, Z2, and an independent vari-
term of the equation F(t) is zero, then the equation is able, t. The general solution of these two simultaneous
called homogenous. The solution of a homogenous equa- differential equations will consist of a complementary
tion is called its complementary function and is given by function and a particular integral.
Zc (t) = 1
Ae-D"'n sin (w11,t + 1/1) 10. Dynamic
where A and if; are ·constants to be specified by the initial
Eigenvalues (characteristic values
conditions. This solution gives the transient motion of
or natural frequencies)
the system. The solution which satisfies the nonhomoge-
Definition: the roots of the characteristic equation
nous equation is called the particular integral. For
F(t) = F0 sin wt it is given by: which results from the expansion of the determinant
of the simultaneous differential equations. (See also
z~ (t) = Fo sin (wt - <P)/V(k-m;;2)2+ (Cw) 2 definition of normal modes.)
Example: when the simultaneous equations are equa-
This solution gives the steady-state response or steady- tions of motion of the free undamped multidegree-of-
state vibration. The complete solution of the equation is freedom system, then their roots are -called eigenvalues
the sum of the complementary function zc ( t) and the which are equal to the squares of the natural frequencies
particular integral Zp ( t) . of the modes.
Load Factor
Definition: the ratio of the dynamic deflection at any
time to the deflection which would have resulted from
the s1:atic application of the dynamic load.
t F= 2mjew2sinwt
Example: the dynamic load factor caused by the con- Figure 1-22. Rotating mass oscillator generated ex-
citation: F(t) = 2mi ew2 sin wt.
stant centrifugal force of rotating mass on undamped
one-degree system is given by DLF = 1/ [ 1 - ( w /ton) 2 ].
System
A Definition: an elastic system which possesses mass and
Wwhose parts are capable of relative motion. t
Example: an engineering structure, machine, or its
components, and most physical bodies consisting of
matter.
FORCING FUNCTION = Fosinwt
Figure 1-23. Harmonic force. The figure shows a
11. Excitation centrifugal force of amplitude F0 generated by a
rotating machine.
Impulse
F
Definition: the product of force and time while force
is acting on the mass.
Example: see Figure 1-21.
Inertial
Definition: excitation generated by the mass in motion. Figure 1-24. Forcing function generated by the cam
Example: see Figure 1-22. of a machine.
Harmonic,. Sinusoidal
Definition: a pulsating force of the form: F 0 sin wt
or Fo cos tot. Example: see Figure 1-24 for which the following
Example: see Figure 1-23. equation holds:
co
Periodic 2h 4h ~ I
Definition: a time-function excitation. which repeats
F( t) -; 4 k2 _ l cos kwt
• tself identically at regular intervals of time. · k = 2,4,6 ...
Transient
Definition: a temporary arbitrary excitation which
disappears with time.
Example: see Figure 1-25.
13. Frequency
•
ZONE ·ZONE
Definition: the number of times a dynamic force
50
40 o= 0.01
achieves an identical amplitude in a time period of one
?E= 30 second, and is given in cycles per second (Hertz) .
-s: 20
o= 0.02 Example: see Figure 1-33.
0
.µ
u 10
Fundamental
n::l 8
4- 6 Definition: the lowest value of all natural frequencies
c: 5
0 4 of an oscillating system.
.,... 3
.µ Example: the frequency associated with the first mode
n::l 2 of vibration.
u
.,...
'.;:: i.oi.----=
c: 0.8 Natural
cno.s Definition: the dynamic property of an elastic body or
~0.5
.,.!;_ 0.4 system by which it oscillates repeatedly back and forth
0.3
from a fixed reference point when the external force
0.2
application is removed.
Example: see Figure 1-34 for which the following
O. IO 0.2 0.4 0.6 0.8 LO 1.2 1.4 l.E°> 1.8 2.0
equation of motion holds: mx + kx 0; Natural fre- =
Frequency ratio w/wn quency in Hertz (f,.) = ( 1/2-rr) V k/m
Figure 1-29. Magnification factor (M) versus fre-
quency ratio for various amounts of damping ratio Rayleigh's
(D). Definition: natural frequency of a system computed
by an arbitrary selection of a deflected shape which satis-
fies the system boundary condition so that it gives the
w (RAD/SEC)
values of maximum kinetic energy to make the lowest
.....---
•
natural frequency a minimum. In a multidegree system,
y
the displacement 81 , 82 of the masses, caused by the
masses acting as static loads,
P.E. = ! W101 +! W202 + ...
K.E. .!
2
W1 ,,2 2
u1W
+ .! W2
2
,,2
u2W
2 + ...
g g
P.E. = K.E.
F F 4F 1
Figure 1-30. Angular or co
F0 (wt)= 20 - -:;;:20 ~ k2 Cos kwt
circular frequency w.
k = 1, 3, 5 ..
x w
J~1 ~---1~~----:11
.... ...
Figure 1-35. Weightless
Figure 1-34. Un- cantilever supporting
.igure 1-32. Damped-free oscillation. damped free sin- load W at its end.
gle-degree-of-free-
d om system.
-...................................................
20 Design of Structures and Foundations for Vibrating Machines
w=1w2 1w:~2 -
2 io1 +~+ ... 3
g g 0:
0
;-
()
_ g 1:Wiot ...
<i
z
:z
- ~Wto~ 0
ii
z"
I
ii:
Example: see Figure 1-35 for which the following ~
:I
holds: 0 2
FREQUENCY RATIO ( ~)
1 ----
Rayleigh's Frequency Un) = ~
L.7r
vgWo/Wo 2 Figure 1-36. Magnification factor (M) versus fre-
quency ratio (w/wn) for various amounts of damping
1 -- ratio (D).
= -vg/a
271"
y
3
WL
where o- 3EI
g = acceleration of gravity -.....--~~~..-----~~---~ .....· _.,x
14. Magnification or Amplification Factor Figure 1-37. A fixed ended beam with distributed
mass over the span.
Definition: in a dynamic system, it is the ratio of a
steady-state displacement response caused by a dynamic
force to the displacement caused by an equivalent static
force of a magnitude equal to the amplitude of the
dynamic force. 0.41mL
Example: see Figure 1-36. The figure gives the re-
sponse curves for a damped system subjected to a forcing Figure 1-38. Idealized
function, F( t) = F 0 sin wt. Stead y-s ta te Displacement SDOF system for a fixed
Response Amplitude, beam of Figure 1-37 (see -mz
also Table 1-1).
Figure 1-39. Free-body
diagram of SDOF system
Static Displacement Xo = Fo/ k of Figure 1-19.
Therefore, Magnification Factor,
16. Motion
Equation of Motion
Definition: a differential equation describing the rela-
15. Mass tionship among acceleration, velocity, and displacement
of a mass in a dynamic system.
Consistent or Continuous Example: see Figure 1-39 for which the dynamic equi-
Definition: a mass function which is distributed at librium condition = equation of motion, mz + Ci.+
each point of its domain and has infinite possible num- kz =O.
ber of independent degrees of freedom.
Example: see Figure 1-37. Periodic, Aperiodic
Definition: motion of mass which repeats itself at
Equivalent Lumped or Lumped equal intervals of time and can be resolved into har-
Definition: a concentrated rigid mass in an idealized monics. These harmonics may be of different amplitudes
system which is obtained by equating the total kinetic and frequencies. Conversely, :when the mass slowly moves
energy of the actual system to that of the equivalent back to the equilibrium position, rather than vibrating
system. about it, the motion is said to be aperiodic.
Example: see Figure 1-38 .. Example: see Figure 1-40 and 1-41.
. Introduction-Fundamentals 21
Subharmonic
-I . "2--·t+ I sm Definition: a sinusoidal quantity having frequencies
- ( fllf-) SA-
X =
11'. { smwt-
. -
9 sm~ -
25
. 5- wt......l
1 that are fractional (1/2, 1/3, l/n) or a submultiple of
gure 1-40. Periodic motion of a cam in a machine. the exciting frequency of a periodic function to which
it is related.
Example: see Figure 1-43.
Superharmonic
Definition: a sinusoidal quantity having frequencies
that are multiple ( 2, 3, n) of the exciting frequency of
a periodic function to which it is related.
igure 1-41. Aperiodic motion of damped-free Example: see Figure 1-44.
;ooF system.
17. Modes
Coupled
Definition: modes of vibration of a multidegree sys-
tem where the motions are not independent ·but influ-
ence each other because of energy transfer from one
mode to the other.
Example: see Figure 1-45 with two degrees of free-
=i•1-42. Harmonic motion A sin wt and its vector dom, x and 0, for vertical and pitching oscillations,
epresentation. respectively.
(A) Asinwt (HARMONIC) Case I: Coupling due to mass (Center of Gravity of
mass eccentric but equal strength supporting springs),
(B)Bsin2t {SUBHARMONIC} also called dynamic coupling:,_ Equations of motion:
....
-
~
''
(a)
..!i-:::~~~~~->-~~~~~"'""":--~...P.
)(
x.(wt) ={A)+ {B), (PER IOOIC) In these equations, coupling is due to a mass .which ddes
Figure 1-43. Subharmonic, harmonic, and periodic not have its center of gravity at the midpoint of the
motions. =
system. If L 1 L 2 , then Equations (a) and (b) are inde-
pendent.
X(wt) =Asinwt + Bsin2wt
( (PERIODIC MOTION)
~- Asinwt (HARMONIC)
I \
I
I
1 I
x
Bsin2wt (SUPERHARMONIC)
Uncoupled
Definition: the modes of vibration of a multidegree
system where each mode describes the complete motion
of a pal'ticular type by a single independent coordinate.
Example: see Figure 1-47 .with two degrees -of
freedom, y and B, for vertical and pitching oscillation.
Equation of motion:
(1-49)
x1=A1s~n({t)t+if;) } k
A
_!
(2)
= 2 + kc - m2 Wz
2
Vibrating Systems
Definition: a stationary point in a particular mode \
I
shape which has a constant zero amplitude from equilib-
rium position.
Example: see Figure 1-54.
20. Oscillation
r
Definition: an algebraic difference between opposite
extremes of vibration displacement measured in a rotat-
ing mass.
Example: see Figure 1-56.
22. Period
23. Phase
Angle
Figure 1-53. Node points in a space frame model
Definition A: in ·a dynamic system it is a measure of (usually located where masses are lumped and
the time difference between a periodic excitation and response is determined).
Introduction-Fundamentals 25
• 0.0
~~1.0
0.0
FIRST MODE 1.0
same frequency .
Example: see Figures 1-58 and 1-59.
~~
Definition
by .p = tan-1 [Cw/ (k - mw 2 ) J
00033 0.67 LO = tan-1 [2D (w/wn) / ( 1 - (w/wn) 2 ) ]
THIRD MODE Example: see Figure 1-61.
Condition
Definition: a phenomenon of uncontrolled increase in
vibration amplitude exhibited by a physical system when
it is subjected to an external vibration force of a fre-
quency ( w) that approaches the natural free oscillation
frequency (<Un),i.e.,(w/wn) = 1.0. In a damped system,
a resonance condition occurs when the displacement be-
comes maximized as w goes from 0 to wn·
• REFERENCE POINT
CYCLE
x
t-
z
llJ
~
~ 011--~-\-~---;,__~-\--~+-~--+~--;1----
~ t PHASE ANGLE
<j>, AS TIME LAG
WI
_J .
(time log, t= cplw)
Frequency Fo
(EXCITATION)
Definition: when the frequency of a dynamic system
(related to the undamped natural frequency) equals the
X=A mw2A
frequency of the applied force, a resonance condition (DISPLACEMENT) (INERTIA)
occurs. In this condition, the response is maximized.
Example (formulae for resonance frequency) : MOTION VECTORS FORCE VECTORS
1. For rna.ximum a..7nplitude magnification.
A. Damped resonance frequency (constant force oscil- Figure 1-60. Response vector lags excitation vector
by phase angle ¢.
lator, F = F0 sin wt). See Figure 1-64 for rw:hich the
followin.e; holds :
Resonance frequency (fmr)
(y:;)
V
100
CONDITION
I
I
2
25. Response
<ti~
11
Dynamic ::!!:
. Transient
Definition: a form of free vibration, which quickly
vanishes due· to the presence of damping.
m
Tx
Example: see Figure 1-67. F0 sln wt
Figure 1-66. Damped SDOF system subjected to dy-
26. Shaft namic force, F(t) = F0 sin wt.
Critical Speed
Definition: the angular speed at which a rotating
~ 1 £Xp
\
=; M sln(wt-cf>l
.--
shaft exhibits dynamic instability with rapid increase in ~ \ /
lateral amplitude. This develops when the angular speed lLI I
is in resonance ;with the natural frequencies of lateral ~ l
vibration of the shaft.
Example: see Figure 1-68.
Flexible
~
~,1(
CS
. . ...-\
·.
\..1 X =Xe+ Xp
·... ,, ".·
I
Definition: a rotating shaft of a machine which has a Xc-AeDwnt· sin(wdt + "1l
first lateral natural frequency which is lower than the
rotating speed. Figure 1-67. General solution of the equation of
• Example: according to an industry standard for gas motion of Figure 1-66. From Introduction to Struc-
turbines, the first lateral frequency of a shaft shall be at tural Dynamics by John M. Biggs, Copyright 1964,
least 15% below any operating speed; the second lateral McGraw-Hill Book Co.
Disk
speed must be 20% above the maximum continuous
speed.
Constant
Definition: a constant of proportionality between the
force and the relative deformation it produces in the
* fF
~
k= F
(v-u)
direction of application in a massless structural element.
An elastic spring observes Hooke's Law, that is, the Figure 1-69. Linear spring
•
spring force is linearly proportional to the spring de~ constant.
Figure 1-70. Torsional
formation: spring constant.
Example: see Figures 1-69 and 1-70.
________________._...........................
rl
28 Design of Structures and Foundations for Vibrating Machines
Equivalent
in the system are called free vibrations and the system is
Definition: an assumed theoretical representation of called a free system.
an actual physical system such that force-displacement Example: see Figure 1-80.
relationship in the former is equivalent to the latter.
Example: see Figures 1-71 and 1-72. For Figure 1-71 Idealized or Equivalent
assume the follorwing:
Definition: an idealized system is a convenient repre-
1. Frame weight is negligible. sentation of an actual structure such that a mathematical
2. Girder is sufficiently rigid to prevent rotation at top investigation can be performed. The parameters of an
of columns. idealized system are usually selected so that the deflec-
Equivalent spring stiffness: tion of the concentrated mass is the same as that for
some significant point on the prototype structure. The
12(2E/), 12 X 2 X 30 X 106 X 56.4 idealized system with the equivalent parameters is called
H-- =3
(20) 3 x
144 an equivalent system.
= 35,250 lbs./ft Example: see Figures 1-81 and 1-82. From Table 1-1,
Case 2, equivalent parameter values are
ke= (ki) 384El/L3=0.53 X 384El/L3
Linear (Elastic) = 203.5 EI/L3
Definition: an elastic spring observes Hooke's Law, me=0.41mL
that is, the spring force is linearly proportional to the Fe= 0.53 Fo L
spring deformation.
Example: see Figure 1-73. Linear
Definition: system where the principle of superpo~i
Nonlinear tion is applicable and where cause and effect are linearly
Definition: in a nonlinear spring, the load in the , related.
spring is not linearly proportional to the displacement. Example: the influence o.f various forces acting on a
Example: see Figure 1-74, for which the following mass is algebraically additive, as in the case of static
holds: k(t) =t::.p(t)/t::.8(t). analysis.
Soil Nonlinear
Definition: in a soil dynamics system, a schematic Definition: in dynamics, the vibration whose ampli-
representation of a linear load-deformation relationship tude is large such as when sin 8 cannot be represented
of the soil using a linear force displacement spring. by only the first term in its expansion but must include
Example: see Figures 1-75 and 1-76. several terms (sine= e - 8 3 /3 + 8 5 /5- . . . ) ; or
when the spring-restoring force on the vibrating mass is
28. System not proportional to its displacement.
Example: see Figures 1-83 and 1-84.
Continuous
Definition: a body which has continuously distributed Lumped-Mass Spring-Dashpot
mass density (p) and elasticity (E) in its domain. In a Definition: an idealized system in which the parame-
vibration analysis, this body has an infinite number of ters of a real elastic system have been lumped and where
degrees of freedom. the translational displacements are defined.
Example: see Figure 1-77. Example: see Figure 1-85.
Free
Multiple-Degree-of-Freedom (MDOF)
Definition: if a dynamic system is set into motion by
Definition: a rigid body in space has six degrees of
some disturbance at initial time equal to zero and there-
freedom, namely, three coordinates to define rectilinear
after no force is applied, the resulting oscillations caused
positions and three to define the angular positions. If
Introduction-Fundamentals 29
•
F(t)
Footing
i
:=±=~x
b E = 30 X 1os psi
F(t)
b Elastic
~
N I = 56.4 in4 .. footing
z half-space
II < x
::x:: Figure 1-75. A circular
footing subjected to dy- ,_z
L = 30' - O" namic force F = F0 sinwt p = k8 Z
and resting on semi-in-
Figure 1-71. Uniformly loaded portal frame. c finite soil medium (elas- Figure 1-76. Math-
tic half-space). ematical model of
the footing with an
z equivalent soil
spring stiffness,
ke.
•
x
-
LLJ
(.)
Figure 1-77. A body of continuous mass in three-
dimensional space.
a:
0
-
LL.
a.. Head
Upper torso
8 DEFORMATION
Thorax-
Figure 1-73. Characteristic of a linear (elastic) spring abdomen
l
constant "k." system
(simplified)
elasticity
--a.
of spinal
column
Legs
t·
Hips
Force applied
to sitting
subject
~p(t)
p ( t+ ~ t) 1--...-7'---~
t Force applied to
p( t) I----'.___ t standing subject
I \
I \ Spring
\ k Damper, C
I \
I
I _\/Initial
e ~ disturbance
,.~
I I J
I ..J
>,\
\ .... 'y
Static
equilib-
rium
r---f I Excitation
force F(t)
·z:~uTmt: ~
F(t) = F0 sin wt
.. ~
I<
Figure 1-81. An actual physical structure of a fixed
/ ·I x
Figure 1-86. Single recti-
linear motion in x-direc-
beam of a uniform mass and subjected to a uniform tion in a cantilever.
dynamic force. F(t) = F0 sinwt.
Fe(t)
• 0
Figure 1-87. Single rota-
Figure 1-82. Equivalent (idealized) SDOF system. tional motion in a O direc-
tion in a torsional pen-
· P Plastic dulum.
~nge
1~ . L4 z
Figure 1-83. Elasto-plastic behavior in a fixed steel
beam.
Plastic D..X
Elastic y
Elastic rebound
Deformation
Ye1
Figure 1-84. Bi-linear spring representation of the Figure 1-88. A mass element with a six..:degree-of-
elasto-plastic system of Figure 1-83. freedom system.
Introduction-Fundamentals 31
• ~
·.K there are n masses in a system with no constraints, then
2 2 the total degrees of freedom for that system will be
6 X n.
m T Example: see Figure 1-88.
0 1 2 References
Frequency Ratio (r)
1. Richart, R. E., Jr., Hall, J. R., Jr., and Woods, R. D.,
Figure 1-89. Transrnissibility factor vs. frequency
Vibrations of Soils and Foundations, Englewood
•
ratio for various damping factors.
Cliffs, NJ: Prentice-Hall, 1970 .
2. Biggs, John M., Introduction to Structural Dynamics,
New York: McGraw-Hill, 1964.
3. Tse, Francis S., Morse, Ivan E., and Hinkle, Rol-
land T., Mechanical Vibrations, Boston: Allyn and
Bacon, 1963.
4. Lapedes, Daniel N., Dictionary of Scientific and
Technical Terms, New York: McGraiw-Hill, 1974.
F = m;ew2 sin wt 5. Harris, Cyril M., and Crede, Charles E., Shock and
4,__~~.--~...,..,...,,_,..,,.----,~-------\ Vibration Handbook, second edition; New York:
McGraw-Hill, 1976.
6. Thompson, William T., Vibration Theory and Ap.-
---r I
plications, Englewood Cliffs, NJ: Prentice-Hall,
1965.
7. Church, Austin H., Mechanical Vibrations, second
edition, New York: John Wiley, 1963. ·
8. Norris, Charles H., et al., Structural Design for Dy-
0
0 1 2
Frequency Ratio (r)
.igure 1-90. Transmissibility factor vs. frequency
ratio for various damping factors.
2 Development of
Analytical Models for
Dynamic Systems
A detailed dynamic analysis of a structural system as ing of any structual system is dictated by the require-
it physically appears in real life is rarely attempted. The ments imposed on the solution. The desired solution may
usual practice is to choose an idealized model consisting be for one fundamental frequency or for a spectrum of
of springs and lumped masses which will closely perform frequencies of all possible modes. In some cases it may
in the same way as the actual structure. It is only neces- be necessary to find the vibration response at various
sary that a proper selection of the system parameters be points of interest. There are a few practical considera-
made such that equivalence of the idealized spring, tions which are commonly used in all model representa-
damping element, and lumped mass in the model results tions. These include the following:
in equi;valent displacements at analogous points of signifi-
1. The Lumping of Mass. The logical location of
cance 'in the prototype structure. In addition, the
equivalent lumped mass in a model should be at: (a) the
idealized model should behave, time-wise, in exaotly the
point where dynamic force or load is acting; (b) a point
same manner as the actual prototype structure.
where vibration response is desired; ( c) a point where
maximum static deflection will occur, e.g., at the free
Modeling Techniques end of a cantilever or at the midspan of a beam; ( d) the
intersection point of a. beam and a column; (e) the node
The techniques adopted in the modeling of structures point of finite elements in a continuous system; ( f) the
subjected to dynamic loads are still in the developing center of gravity of all masses, when a single-degree-of-
stage. The approach used in the modeling of simple freedom system is employed.
systems, such as a beam supporting a vibrating load or a
2. Elastic Spring Constant. The spring constant rep-
rigid block-type foundation supporting a machine, is
resents a linear relationship between the applied load
straightfor,ward. However, when the structures involved
and the displacement of the mass. A value for the spring
are of an indeterminate type which rest on soils and are
constant is derived by determining the structural stiff-
subjected to complex dynamic forces, the modeling
ness of the elastic medium existing between oscillating
approach differs depending on the analyst (ref. 2). These
masses or between a mass and another infinite stiff sup-
differences do not necessarily mean disagreement in the
port. Specifically, the elastic properties of: (a) a pris-
basic ·fundamentals, but rather relate mostly to the accu-
mat.ic member can be represented by three linear springs
racy and efficiency achieved in the solution. During the
and three rotational springs; (b) a thin plate cari be
1960s, the investigation of structural systems used in
represented by two linear springs and two rotational
space exploration and more recently in structures used
springs which are equivalent to stretching and bending
in nuclear power plants and offshore structures has
occurring in the plane of the plate; ( c) a massive con-
resulted in an established state-of-the-art in the field of
crete block aipproaches infin1te stiffness; ( d) soil reactions
structural dynamics (refs. 3 and 5) . The rigorous use of
to the foundation loads can be represented by elastic
digital computers and finite-element analysis techniques
springs capable of acting !n tension and compression.
have been the principal agents in the development of the
state-of-the-art (ref. 6). Therefore, it is imperative that 3. Damping Ratio. The dashpot of the lumped sys-
designers who wish to solve structural problems should tem (Figure 1-2) represents the damping in a dynamic
have adequate exposure to these analytical tools. Model- system. Damping may occur due to several factors present
32
Development of Analytical Models for Dynamic Systems 33
. the system, for example, the. frictional resistance and the vertical excitation for the "Machine supported on
page occurring at the interface of surfaces at the inertia-block and vibration isolated from the foundation"
• contact joints or the sliding phenomenon in the molec- shown in Figure 2-3 (a). The dynamic equilibrium equa-
ular structure of the elastic spring. tions are derived as follows:
The damping assumed in the structural system is of Assuming that at any instant of time, the masses m 1
the viscous type and includes the following additional and m2 have moved up through displacements Z 1 and
assumptions: (a) the internal damping present in con- Z 2 , respectively, from their reference position, then, for
crete and steel structures is nominal, i.e., the damping mass m 1 :
ratio varies from 2.0 to 5.0 percent for concrete struc-
1. Resistance of spring kzi = kz 1 (Z 1 - Z2) (acting
tures and 1:0 to 7 .0 percent for steel structures and nor-
downward)
mally is neglected; (b) the damping agent associated
2. Inertia force of mass m 1 = m 1(d 2Z 1/dt 2) = m1Z1
with the soil is in the form of internal damping and
(acting downward-opposite to the direction of dis-
geometric damping. The internal damping value is of • placement). ,
small magnitude in all modes of oscillation except in the
3. Excitation force = Fz ( t) (acting upward)
rocking mode. Geometric damping has considerable
Since summation of downward forces = upward
effect on the dynamic response of the system and is
generally included in the model representation. Chap-
forces, .·. m 1 Z1 +kn (Zi - Z2) = F,,(t) (2-1)
Similarly for mass m 2 :
ter 4 further describes the nature and evaluation of soil
1. Resistance of spring kzi = k,, 1 (Z1 - Z2) (acting
damping.
upward)
4. Forcing Function. The forcing function is normally 2. Resistance of spring k,,2 =kz2 Z 2 (acting down-
treated as an equivalent concentrated force applied at ward)
points where masses are lumped. Torques are applied at 3. Resistance of damping C,, 2 = Cz 2 Z2 (acting oppo-
mass points either in concentrated form or are converted site to 'the direction of movement Z2, thus acting
into an equivalent force-couple. The effect of earthquake downrward)
forces may be obtained by the application of a time- 4. Resistance of inertia fol'Ce of mass m2 = m2Z2
Jllllllllliistory acceleration at the mass points. A time-history (acting opposite to the direction of movement Z 2 ,
9placernent applied at the supports may also be used thus acting downward)
for earthquake loads as a type of forcing function (refs. Equating the downward resistance to the upiward
3, 4 and 5 of this chapter and reL 4, 5 and 6 of chap- resistance,
ter 3).
Models
or .. .
Civil engineering structures of various kinds use dif- m2Z2 + Cz2 Z2 + kzi (Z2 - Z1) + k,,2 Z2 = 0 (2-2)
ferent modeling techniques depending on the type of
solution desired (ref. 1). Modeling types ar~ given in Equations (2-1) and (2-2) are the same set of Equa-
Figures 2-1 through 2-11 (page 39)for typical structures tions (a) shown in Figure 2-3 of model. It should be
having different constraint conditions. Also shown is the noted that Z ·and i stand for the first and second deriva-
mathematical model used to represent each physical sys- tives of the displacement Z with respect to time t, i.e.,
tem and a short description of the model, as well as list- =
Z = dz/dt and Z d 2z/dt 2 •
ing the applicable equations of motion. Each model is
further described below. (b) Lagrange's Equation. Lagrange's equation, in
its' fundamental form for a conservative system m
Development of Equations of Motion generalized coordinates qi is given by
The equations of motion wh.ich describe the behavior ~( oK.~. ) - o(K.E.) + o(P.E.) _ a(D.E.) = o(We)
of the mathematical model are developed using one of dt oqi oq.; oqi oqi oqi
the following two methods (ref. 3) . (2-3)
(a). Dynamic equilibrium equation. In this method, where K.E. = kinetic energy of the sysitem,
the condition of equilibrium of a mass at any instant of P.E. =potential energy of the system,
time under the influence of for. ces and r~action~ _is ~on~ D.E. = dissipation energy of the system,
·. • sidered. In order to account for dynamic eqmlibnum, We = work done by the real external forces on
the mass inertia force is included. Consider, for example, the system .
.._ ____._.....................................
34 Design of Structures and Foundations for Vibrating Machines
The use of Lagrange's equation will directly yield as These equations are readily verified by consideration of
many equations of motion as the number of degrees of dynamic equilibrium given by Equations (2-1) and
freedom of the system, given that ba:sic energy expres- (2-2). The above method is generally an inefficient way
sions of the system are known. of obtaining the equation of motion. Furthermore, it
This method is applied to the model ~iscussed earlier should ;be recognized that the Lagrange equation is
where the dynamic equilibrium equation method was merely a device for :writing the equa:tion of motion and is
used in section (a) . In this example, there are two co- not an independent method of solution.
ordinates, that is, qi = Z1, qz = Z2.
The energy expressions in terms of Z are as follows: Model 1-Vibrating Machine Supported by
Kinetic Energy= KE. = ¥z m 1 (Z1 ) 2 + ¥z m 2 (Z2 ) 2 Block-type Foundation (Figure 2-1)
Potential Energy = P.E.
2
=
¥z kz2 (Z2) 2 + ¥z kz1
This type of foundittion is a very common form of
(Z1-Z2)
Dissipation Energy= D.E. = (- Cz2 Z2)(Z2) physical system and is usually considered by design engi-
Work by external force= We= Fz (Z1) neers in petrochemical and industrial plants. Three
The dissipation energy due to damping force must be forms of dynamic mode shapes are possible and should
taken as negative, since a positive damping force is be investigated (ref. 2). Vertical and horizontal modes
always in a direction opposite to the positive displace- are described by linear differential equations, and the
ment. The derivatives with respect to Z 1 are solution for the natural frequencies and vibration
response are easy to obtain. In the rocking mode, the
coupling effect of the horizontal mode may be ignored
a (K_.E.) = a <K_.E.) = m1Z1, q_ ( 0 (K_.E.)) = m1Z1 for very shallow foundations. In that case, h 0 is zero,
aq1 az1 dt az1 therefore, no coupling effect is present and thus Equa-
tion ( c) of Figure 2-1 reduces to Equation (b). Simi-
a (K.E.) =
0 larly, Equation (d) of Figure 2-1 is also "reduced"
aq1
(uncoupled) and describes the motion in coordin<Vte tf!
a (P.E.) = a (P.E.) = k (Z1 - z)2 and is as follows:
aq1 az1 "
.. .
g__(D.E.) = g__(D.E.) = 0 ly, if; + Cy, if;+ ky, if; = Fv(t) H = Ty, cos wt (2-6)
Bqi 8Z1
a (W,) = a (W.) = Fz (t) This equation along with Equations (a) and (b) of
aq1 az1 Figure 2-1 can be solved according to the procedures
Substitution of the above in Equation (2-3) leads to given in Chapter 1. An example is solved in Chapter 6
which describes the required steps in the cakulation
m1 Z1 + k" (Z1 - Z2) = Fz(t) (2-4) procedure. When the vibration response o.f the coupled
modes is desired for Equations (c) and (d) of Figure
The derivatives with respect to Z 2 are 2-1, then the solution can be found by substituting
8q2 8Z2
in Equations ( c) and ( d) and then separating the
a (P.E.) a (P.E.) k z (Z ) equations containing either sines or cosines. This pro-
8q2 az 2 = ... 2 - k,l i - Z2 cedure will result in four simultaneous equations with
four unknowns. A complete solution of this type of
a (D.E.)
---=
a (D.E.) Cz, Z2 equation is given in Appendix A.
aqz az2
a (w.) = a (w.) =
0
Model 2-Vibrating Machine Supported by
aq2 az2 Mat-type Foundation (Figure 2-2)
Substitution of the above in Equation ( 2-3) leads to the
equation of motion: This type of foundation system may be used for the
situation where several small units are placed side by
side or where a firm soil with a high water table is en-
Development of Analytica! Models for Qynamic Systems 35
countered at plant grade level. Due to the flexibility of program. However, solution for a similar type of equa-
e foundation mat, a high magnitude of damping will tion of motion has been performed in Appendix A.
• encountered in the rocking and horizontal modes.
Therefore, only the frequency and vibration response Model 4-Vibrating Machine Supported by a
calculations in the vertical mode are required. Cantilever (Figure 2-4)
A single lumped mass model may be used when one
set of machines is supported by a relatively rigid mat It is sometimes required that a vibrating machine
foundation. However, the model is divided into discrete. be supported on a cantilever. In such instances, a vibra-
lumped masses when several sets of machines are lo- tion analysis is considered necessary. Two modes (verti-
cated on a flexible mat foundation. In this case, con- cal and _rocking) are possible (ref. 3) . The calculation
straint conditions are applied to the boundaries in the of the rocking mode may be ignored if the distance h
direotions of translation for the sake of stability~ The is found to be small, and the cantilever arm is rigidly
spring constants for each element depend on the mat secured. The calculation of the vertical mode is generaily
rigidity as described in Chapter 5. performed because this provides the fundamental fre-
quency and the largest vibration response. The mass
parameter me is considered lumped at point 0 and con-
Model 3-Machine Supported on an Inertia Block and
sists of the mass of the machine plus an equivalent mass
Vibration Isolated from the Foundation (Figure 2-3)
for a portion of t'he cantilever calculated according to
the procedure explained in Chapter 1. The spring stiff-
In special cases and due to environmental conditions, ness parameter kz is the flexural stiffness of the canti-
it may be necessary to limit the vibration amplitude at lever at point O. Damping in the system varies from
the foundation base to much lower values than those 0.005 to 0.05 of critical, depending on the material.
usu•ally allorwed. This requirement may not be practical The investigation for the rocking mode is performed
to achieve even by proper selection of mass or base area on a similar basis as for the vertical mode. The mass
of the foundation. In such cases, use of an inertia block moment of inertia parameter /.p is calculated for the
and spring absorbers is recommended. equivalent mass me about the point. 0. The rotational
In normal behavior, three forms of excitation are spring constant k"' is calculated by applying a moment
• possible. Excitation in the vertical direction is inde- at point 0 about the x-axis (the x-axis is perpendicular
pendent of the other forms of oscillation. Excitation in to the figure) .
the horizontal direction is generally coupled with the The maximum vibration response calculated for each
rocking mode; however, for a machine which is located mode may occur at ·different times. Therefore, in ob-
at relatively loM' height ( h is < 1h b) then investigation taining the total response, the maximum of the sum may
of the horizontal and rocking excitation independent occur at some specific time within the interval 9f inter-
modes is sufficient. est. However, obtaining this maximum value may be
The parameters k. 1 and k•1 are properties of the difficult. Therefore, a simple summation of the individ-
spring absorbers. Parameter m 1 is the combined mass ual maxima is generally performed, which results in
of the machine and the ·inertia block together. The a conservative estimate of total displacement. The
parameters k. 2, k.2, h 2 and C·2, C.2, C"'2 are spring con- solution of the equations of motion has previously been
stants and da~ping coefficients, respectively, of the soil described in Chapter 1.
in the three modes considered and should be determined
using the elastic half-space theory as described in Model 5-Vibrating Machine Supported by a
Chapter 4. Parameters mz and 12 are the mass and mass Fixed Beam (Figure 2-5)
moment of inertia, respectively, of the foundation.
The solution of the differential Equations (a) and Mathematical modeling technique for this physical
(b) of Figure 2-3 can readily be found for the natural system is similar to the cantilever system above except
frequencies, mode shapes, transmissihility factors, and that the parameter determination differs.
the vibration response. Often, the fundamental fre- The mass parameter me is the combined mass of
quency and the transmissibility factor are the principal machine and a certain length of beam and is lumped
results o.f the analysis. The set of differential equations at <the intersecting axes of the machine and the beam.
( c) of Figure 2-3 is in simultaneous form, and a manual The spring constant kz is a function of the flexural stiff-
solution is tedious to perform. This system of simul- ness of the be:am. Both parameters me and kz can be eval-
taneous equations is rarely solved by hand unless a uated by using the expression given for Case II in Table
.• . thorough investigation of the system is required, and 1-1. The parameters /,,, and h can be determined by
then the solution is obtained with the help of a computer following the procedure described under Model 4 above.
36 Design of Structures and Foundations for Vibrating Machines
All modes of oscillation which may occur due to the However, if the substructure base slab configuration is
action of the forcing function gene.rally need investiga· necessary, then information on dynamic soil properties
tion. In this case, the vertical mode and the rocking will be required, and the slab should be rigid enough
mode (about the x-axis) fall in this category. The such that it can be represented by a single lumped mass.
vertical mode investigation is necessary because it gives The model parameters for spring stiffness k.,, k,,, k11:
the lower value of natural frequency and the higher and damping constant C,,,, C 2 , Cl/I in the three modes of
level of vibration response. On the other hand, the rock- excitation can be determined from the soil properties
ing mode investigation provides higher value of natural by the elastic half-space theory as described in Chapter
frequency and a lower level of vibration response. 4. The mass parameter ma: is the total mass of machine
Therefore, if the machine operating frequency is found and of the entire foundation structure. The parameter
to be very close to the rocking mode natural frequency, /-;- is the mass moment of inertia of the machine and
then the model parameters may need modification in the entire foundation at the center line and at the base
order to avoid possible resonance conditions. Thus, both of footing. The equations of motion involved in both
modes may need to be considered in some machine the subsystems are linear second-order differential equa-
supports. tions which can be solved for the natural frequency
and vibration response by the procedures described in
Model 6-Typical Elevated Pedestal Foundation Chapter l.
(Table Top) (Figure 2-6)
Model B: Multi-Lumped Mass (Uncoupled
Superstructure and Foundation) (Figure 2-8)
In this physical model, there is same variation in the
use of the modeling technique (ref. 1) . In this example,
This model may be used when the following types of
four models are considered, and the merits of ceach and
results are desired according to the listed conditions:
the effort involved in their solution is discussed. In the
modeling procedure the following factors may be used
-SUJperstructure is well defined, and the .fundamental
in determining the type of model to be used.
frequency is to be lower than the machine operating
frequency (structure to be undertuned).
Model A: Single-Lumped Mass (Uncoupled -Foundation structure is supported either on highly
Superstructure and Foundation) (Figure 2-7) firm soil or rock formation or a rigid deep founda-
tion.
-A pre1iminary investigation is required. -Accurate determination of vibration response is not
-Reliable information on the parameters is lacking. a requirement.
-The structural framing system is not well defined -Foundation structure height is low (less than 20
and preliminary dynamic characteristics are desired. ft) and foundation is not supporting more than' two
-The beams have much higher stiffness than the machines.
columns.
-Information on vibration response is not required. The dynamic characteristic of the superstructure ma}
Because of the lack of interaction between super- be calculated in either of two ways:
structure and substructure, this model gives the dynamic
solution of individual subsystems and generally results 1. Rayleigh's Frequency (see definition in Chapte
in a calculated higher fundamental frequency. There- 1). In this method, the weights of structure and of th•
fore, the engineer must use conservative criteria to avoid machines are applied as st:atic f{)rces at a discrete num
the resonance condition by first making certain whether ber of points acting in •the direction of the deflecte1
the system is to be low or high tuned. This condition is shape of the structure (assumed as the fundamenta
generally achieved by varying the mass or stiffness of the mode) . The following formula is used:
system components. The calculation oif parameters for the
superstructure representation would require a familiarity
with structural frame analysis for the calculation of the
(2-~
spring stiffness constants kh and kv. The mass parameters
mu is the mas8 of machine plus the mass of top framing
and upper half-length of columns. The substructure where Fi. are the equivalent lumped forces of distribute
investigation during the initial investigation phase of the weight of structure and machine acting at point i; 1
total foundation is not conducted because its influence are displacements of the structure at points i produce
on the solution of the superstructure portion is small. by the forces Fi; g is the gravity constants; w,. is circul<
Development of Analytical Models for Dynamic Systems 37
atliral frequency in the mode corresponding to the The investigation of the substructure is performed
<ir~ction of the acting forces. according to the procedures stated for Model A. The
,,,:·The accuracy of the natural frequency calculation vibration response results obtained for both the sub-
'.~btained by this method depends entirely on how close systems are combined by some rational procedure such
;A~ reality are the assumptions made in assuming the de- that maximum values are achieved at a particular mo-
.fi~~ted shape of the structure. However, note that for ment in time .
.'~h~· approximate results obtained by this method, the
;~lowest frequency always gives the best approximation. Model C: Two-Lumped Mass with Coupled Soil-Struc-
~,)-
and time-consuming and normally is accomplished with of the structure; (b) the flexural displacement of·
the use of computer programs; however, a manual the top of the structure in either' direction is uni-
solution is presented in Appendix 'A. The techniques form across the length when the top mass of the
used in vibration response analysis follow a modal anal- structure and of the machines are made to act as
ysis of the lumped mass multidegree ,system which is horizontal loads; ( c) all columns deflect equally
briefly described above in discussing Model B. The re- under static loads; ( d) the center of resistance of
sponse analysis of part .b is relatively simple and can the supporting soil coincides with the centroid of
be obtained manually in a manner similar to part a. all statically imposed loads.
However, if a computer program is used for the solution
of part a, then parameters of part b can also be easily -Information on founding depth of the structure and
combined in order to provide.the total results (ref. 2). on soil, such as shear modulus ( G), Poisson's ratio
In that case, the rocking spring k,, of part a should be ( v), and bearing capacity of the soil is readily avail-
represented by three equivalent vertical springs of equal able.
stiffness (see Figure 2-10) with the following conditions:
The results that can be obtained from the analysis of
k"' = 2 k,/ this model include:
kz = 3 k.
or -The natural frequencies (eigenvalues); the number
of frequencies will depend on the number of active
e = y3 k"'/2 k2 joints with lumped masses and the degrees of free-
dom of each joint considered in the analysis.
In this case k,, =rocking spring constant,kz is the verti- -The mode shapes (eigenvectors) for each of the natu-
cal spring constant of mi, and e is the distance between ral frequencies.
bwo equivalent springs of stiffness ke. The distribution -The vibration response (in terms of displacements,
of damping coefficient c,,
related to Cz is rather com- velocities and accelerations) for each mass having
plex; however, a similar form of logic may be followed six degrees of freedom.
as has been done for the spring constant. The damping -The moments and forces at each mass joint and the
coefficients associated with the equivalent vertical spring reactions at the supports.
ke would not be all equal if the same value of e is used.
Therefore, an equal value of the damping coefficient Ce A dynamic solution of this model using the computer
has been used for the exterior springs, and a different program STRUDL is presented in Chapter 7 (page
value of damping coefficient Cm has been used for the 114).
middle spring. The member which connects the three
equivalent springs should possess an infinite flexural stiff- References
ness but should also maintain the equivalent values of
mi and h.
1. Arya, Suresh C., Drewyer, Roland P., and Pincus,
G., Simulation of Structures Supporting Vibrating
Model D: Multi-Lumped Mass with Coupled Soil- Machinery, Summer Computer Simulation Confer-
Structure Interaction (Figure 2~11) ence, Washington, D.C., 1976.
2. Richart, R. E., Jr., Hall, J. R., Jr., and Woods,
This model provides the design engineer with a com- R. D., Vibrations of Soils and Foundations, Engle-
plete insight of not only the dynamic behavior of the wood Cliffs, NJ: Prentice-Hall, 1970.
superstructure but also identifies the critical modes in 3. Biggs, John M., Introduction to Structural Dy-
the soil-structure system. In ·cases where access to a namics, New York: McGraw-Hill, 1964.
computer program oapable of solving dynamics problem 4. Harris, Cyril M., and Crede, Charles E., Shock and
is available, then it is very convenient to resort to this Vibration Handbook, second edition, New York:
modeling technique. In this investigation, several kinds McGraw-Hill, 1976.
of results can be obtained provided that the follorwing 5. Norris, Charles H., et al., Structural Design for
parameters are available: Dynamic Loads, New York: McGraw:..Hill, 1959.
-Member sizes of the structure and geometry are avail- 6. Logcher, Robert D., et al., ICES STRUDL-11, En-
able and have been proportioned such that: (a) the gineering User's Manual, Vol. 2, second .edition,
rigidity center of gravity of the structure in plan School of Engineering, Massachusetts Institute of
coincides with the oenter of gravity of the masses Technology, Cambridge, MA 02139, June 1971.
Development of Analytical Models for Dynamic Systems 39
Vibrating Machine
Supported by
Block-Type Foundation
(Model 1)
Vertical mode normally behaves independent of other modes. The mass (m)
of machine and foundation is assumed to be concentrated on the vertical
axis. Spring constant of soil (k,), damping in soil (C,), inertia of mass (m,)
and the forcing function (F,) of the machine have their line of action coincid-
ing with the vertical axis. Equation of motion:
(a)
Vertical Mode
(b)
Horizontal Mode
Vibrating. Machine
Supported by Mat-Type
Foundation
(Model 2)
~ zi
Discrete Number of Lumped M~sses
Vertical Mode
• INERTIA
BLOCK
b
FOUNDATION
Machine Supported on Inertia-Block
and Vibration Isolated from the Foundation
(Model 3)
• Vertical Excitation
The characteristics· of this model are similar to the above model except
that all the parameters are related to the horizontal axis. Equations
of motion:
(b)
Horizontal Excitation
z z
«o ~o
Vibrating Machine
Vibrating Machine
Supported by a Fixed Beam
Supported by a Cantilever (Model 5)
(Model 4)
Both physical systems can be represented by a similar form of mathematical model. However, because of different
physical dimensions and boundary conditions, dynamic model parameters will change. Two form of modes in the direc-
tion of dynamic forces require investigation:
Rocking Mode
(Rotation about x-Axis)
Vertical Mode
1. Vertical Mode-Mass (me) is the mass of machine 2. Rocking Mode-Mass Uv-) is the moment of iner-
+ equivalent mass of support and is lumped at ti,a of mass of the machine + that portion of support
point 0. Spring stiffness (kz) is the deflection stiff- about point 0. Torsional spring stiffness (kv-) is the
ness at point 0 for a flexural member. Damping in rotational stiffness at point 0 for a flexural member.
such a system is small and is neglected. Equation Damping is small and thus is not considered. Equa-
of motion: tion of motion:
lv-f. + k/f = F0 h cos wt
= Mv-coswt
Note: Mathematica/ form and description are common to both these systems.
Figures 2-4 and 2-5. Model 4 is a vibrating machine supported by a cantilever. Model 5 is a vibrating machine
supported by a fixed beam.
Soil
Supported
"-..../
• -x,
\ ELASTIC I
BASES
FIXED
'
........__/
HALF-SPACE
Model A
This model is composed of two parts: Figure a representing the top floor plus the supporting columns, and
Figure b representing the total structure and equipment plus the bearing soil. These two subsystems are
assumed to possess independent dynamic characteristics, and there is a lack of interaction behavior between
the two. The basic assumption in this model is to consider the column bases as perfectly fixed. The structure
is so modeled that only its three predominant motions (lateral, vertical, and rotational) are predictable at
the C.G. of ma9ses. Equations of motion:
Figure 2-7. Model A. Single-lumped mass model of table top (uncoupled superstructure and foundation) .
•
b. RXINDATION - REPRESENTATION
Model B
This model representation is similar to Model A, but some refinement is added by lumping the masses in the
superstructure at points where dynamic response is important (see Figure a). The basic assumptions in this
model are still the same, but each individual element acts independently of all others. This is generally permis-
sible when the natural periods of the elements differ by at least a factor of two in any one direction of motion.
In Figure b, the representation is similar to Model A. This model is assumed to include the complete dynamic
characteristics of individual members of the superstructure. Equations of motion:
• igure 2-8. Model B. Multi~.lumped mass model of table top (uncoupled superstructure).
44 Design of Structures and Foundations for Vibrating Machines
I~
H -
+
ELASTIC ;·
\ HALF-SPACE
'-........ / a. b.
Model C
This model is an improvement over Model A due to the incorporation of interactive capability between struc-
ture and soil which was neglected in Model A. The model is shown in two parts, Figure a for the coupled hori-
zontal and rocking mode and Figure b for vertical mode. The model can be analyzed as shown without much
loss of analytical accuracy; however, a coupled mode of both of these modes can also be studied without
additional difficulty. The method of parameter calculation also does not change. The drawback in this model
becomes apparent when the natural frequency of individual elements is required or it is necessary to calculate
the vibration response at some other points in the structure. Equations of motion:
H z,
Figure 2-10. Model C-Alternate form. Coupled lateral, rocking, and vertical oscillation representations of
table top for computer program application.
Development of Analytical Models for Dynamic Systems 45
•
H-+
COMPLETE STRUCTURE
+ FOUNDATION
TOTAL REPRESENTATION
Model D
This model is an improvement in relation to the previous model, not only with respect to degree of reliability
of results, but also with regard to availability of sufficient information at all points of interest. The approach is
based on lumping the masses at the points of maximum displacement occurring for any direction of motion.
The foundation slab is modeled using finite-element procedures and is supported by soil-springs at the node
points. The interaction of the soil's stiffness with the foundation structure is obtained through the use of the
• elastic half-space theory. The calculation of stiffness for the structure is quite complex an_d is generally done
through the use of computer programs. An average damping constant may be used when performing the
response calculation for all modes.
Figure 2-11. Model D. Multi-lumped mass model of table top with coupled soil-structure interaction .
•
3 Development of
Information,
Trial Sizing, .and
Design Checklist
The design of a dynamically loaded structure requfres machine properties and parameters include the fol-
that certain site and loading parameters be known even lowing:
before preliminary sizing of the structure can be com-
pleted. These design conditions and requirements may -Outline drawing of machine assembly
be generally classified into three groups: machine prop- -Functions of machine
erties and requirements, soil parameters, and environ- -Weight of machine and its rotor components
-Location of center of gravity both vertically and
mental requirements. Therefore, the required design
information includes not only geometrical constraints of horizontally
-Speed ranges of machine and components or fre-
the actual machine to be supported but also includes
detailed knowledge of the structural supports. These quency of unbalanced primary and secondary forces
supports are in turn related to the particular site con- -Magnitude and direction of unbalanced forces both
ditions and can be of three types: soil supports, piles, vertically and horizontally and their points of ap-
or piers. Structures supporting dynamic machines are plication
generally soil supported, or may be supported by piles -Limits imposed on the foundation with respect to
if the soil is of low-bearing capacity. Characteristics of differential deflection between points on the plan
these foundation support types are further described in area of foundation
Chapters 4 and 5. Some foundations lying close to bed- -Foundation requirements
rock or resting on thick deposits of overconsolidated The physical size of the structure depends on the
clay have been supported on piers, but this is a relatively required base dimensions for the machine. Often, ap-
unusual situation. purtenances such as platforms and piping supports re-
quire increases in base dimensions. The outline for the
machine base generally specifies minimum dimensions
Machine Properties and Requirements
and locates specific areas that must be left clear for
machine attachments. For example, in turbines, certain
Machines causing dynamic loads on structures are regions under and over the machine must be left clear
of many types but may be classified in either of two for condensors and piping.
large groups: centrifugal or reciprocating machines. In Machine function includes information on the overall
either case, a periodic time-dependent loading function purpose and critical nature of the machine. Should the
is transmitted through the structure into the foundation. machine be of an extremely critical importance to over-
In order to design the structure, a number of machine all operations, then a more conservative design approach
geometrical and performance factors are required. These is recommended. FOr example, shut down of a small
factors may be supplied by the machine manufacturer pump may not affect plant production. However, if a
or may be available in sales catalogues or engineering large centrifugal compressor is to be shut down, a multi-
handbooks. Often, the information is not available, and million dollar operation may be affected. The designer
the designer must ,either perform some preliminary cal- must set the level of conservativeness balanced against
culations or make some assumptions. The required possible unnecessary expense.
46
Development of Information, Trial Sizing, and Design Checklist 47
The weights of the machine and its components are Soil Parameters
ovided by the manufacturer and serve to give a pre-
• 1inary indication of soil support feasibility. The weight Knowledge of the soil formation and its representa-
of ~otors and speed in centrifugal machines determine tive properties is required for static and dynamic analy-
the magnitude of possible machine unbalanced forces. sis. In the case of a sand or clay formation, the informa-
The center of gravity location in the horizontal and tion is to be obtained from field borings and laboratory
vertical planes is often provided. When not available, tests. These are usually performed by the geotechnical
calculations or assumptions may be needed. Basically, consultants. Chapter 4 describes procedures for proper
the machine is set on the foundation in such a way evaluation of these parameters and discusses other soil-
as to avoid eccentricities between the resultant of all related problems. The following parameters are generally
loads and the support .center of resistance, that is, the required:
centroid of the pile group if pile supported or the center -density of soil, y
of resistance of the supporting soil if roil supported. -Poisson's ratio, v
The spe.ed range and frequencies of primary and -shear modulus of soil, G, at several levels of strain
secondary forces are required in the dynamic analysis (or magnitudes of bearing pressure)
in order to check for possible resonance. The designer is
generally only interested in th!'! operating frequencies,
although in many machines, there will be particular
speeds briefly attained during start-up or shut down Table 3-1
where the assembly will be in resonance with the ma- Design Eccentricities for Centrifugal Machines
chine frequency. A temporary resonance condition may For operating speeds up to 3,000 rpm, we have the following:
be tolerated in such cases especially when significant
damping is available.
Eccentricity, in.
The magnitude( and direction of unbalanced forces Operating Speed* (Double Amplitude)
are often not available from the machine manufacturer.
750 .014-.032
Some claim that their centrifugal machines are perfectly 1,500 .008
anced, a condition that may be. approached initially 3,000 .002
• the manufacturing plant. However, after a few years
*Major, A., Vibration Analysis and Design of Foundations for
of use and due to normal wear, some eccentricity will Machines and Turbines, Akademiai Kiado, Budapest, Collet's
exist regardless of initial machine and installation work- Holdings Limited, London, 1962.
manship. Eccentricity criteria useful in designing struc-
The following are the modified API standardst for centrifugal
tures supporting centrifugal machines are given in compressors:
Table 3-1 and Figure 3-1. For reciprocating machines,
the unbalanced forces, which are generally of consider- e (mil) = a .Y 12,000/rpm < 1.0 (mil),
able magnitude, are provided by the machine manu-
where a = 0.5 at installation time,
facturer. = 1.0 after several years of operation,
Limits on differential deflection allowed between rpm = operating machine speed,. rev/min,
1 mil = 0.001 in.
points of the foundation are set to avoid possible damage
tAmerican Petroleum Institute Standard for Centrifugal Com-
to piping and other appurtenances that connect to the pressors # 617, Section 2.18.4, as modified by the parameter a.
machine. In some high pressure ( 50,000 psi) piping,
differential deflection limits are approximately less than For gear units, we have the following:**
0.0001 in. This is generally the case for machines with
very rigid (thick) attached piping. Double amplitude
Foundation requirements refer to minimum depth of including runout, mils
Maximum continuous
foundation, as dictated by expansive soils, frost action, speed, rpm
Shop test Shop test
fluctuating water table, piping clearance, or paving unloaded loaded
elevation. The top layer of weathered soil is often not
Up to 8,000 2.0 1.5.
recommended for supporting foundations since firm, 8,000 to 12,000 1.5 1.0
undisturbed soil is required. Also, the bearing strength Over 12,000 Less than 1. 5 Less than 1.0
required for the soil may dictate placing the bottom of
the foundation at a deeper level for soil-supported struc- **American Institute Petroleum Standard, "High Speed, Special
Purpose Gear Units for Refinery Service," API Standard 613,
Ares. The recommendations of the geotechnical c~nsul August 1968.
~nt must be integrated into the design process (ref. 3) . (Table 3-1 continued on page 48·)
48 Design of Structures and Foundations for Vibrating Machines
' ' ..
(.)
3,00Q-4,000 0.0010 al
1,500-2,999 0.0015 0..
Cf)
, '\ r:;....... API STD 612.._-
.._
1,000-1,499
999 and below
0.0020
0.0025
Ci
.......
...
"' - (SHAFT) ...._
--
..''·' ' ..
~ -.... I
al .......... ~
on the soil or rock, !ind .concrete footing supported by rocating, the mass of the foundation should be
-Or piers. The preference of one system over the
I
three to five times the mass of the machine.
should be decided by taking into consideration: b. The top of the block is usually kept 1 ft above
ve economy, settlement, bearing capacity of the soil, the finished floor or pavement elevation to pre-
vibration isolation, and the level of the underground vent damage from surface water runoff.
..I
water table. Pile- or pier-supported footings are the c. The vertical thickness of the block should not be I
exception and are used only iwhere poor soil conditions less thari 2 ft, or as dictated by the length of
are found. anchor bolts used. The vertical thickness may
also be governed by the other dimensions of the
Environmental Conditions block in order that the foundation.be considered
rigid. The thickness is seldom less than one fifth
There can be several situations during which a machine
the least dimens.ion or one tenth the largest
instaiiation is in the vicinity of vibration sources such as
dimension.
quarry blasting, vehicular traffic, construction pile driv-
d. The foundation should be wide to increase
ing, or the location is in a continental zone where seismic
damping in the rocking mode. The width should
occurrence is possible. The design engineer must then
be at least 1 to 1.5 times the vertical distance
establish the severity of the situation and, if required, ''I
from the base to the machine centerline.
should seek the help of a vibration measurement con-
e. Once the thickness and width have been selected, !
sultant. The information requested should include the
character of the vibration and the attenuation at the
the length is determined according to (a) above, I
installation site. The effects of seismic forces can be
provided that sufficient plan area is available to
support the machine plus 1-ft clearance from
l
!
•
should have a mass of two to three times the that no single ,element carries over one half o.f its
mass of the supported machine for centrifugal allowable design load.
machines: However, when the machine is recip- d. The piles are arranged so that the centroid -0f
50 Design of Structures and Foundations for Vibrating Machines
•
the pile group coincides with the center of
gravity of the combined structure and machine when subjected to vertical load. Thus, the column
loads. areas should be proportiorral to the load caried by
e. Piles are battered away from the pile cap to the column, and Pi/Ai should be fairly constant
carry any transverse and longitudinal unbalanced for all columns where Pi and Ai ate the axial load
forces. Vertical piles provide small resistance to and cross-sectional area of any column. The
horizontal loads, and the batter piles are usually columns should be capable of carrying six times
designed to carry all such horizontal forces as the vertical load. Column spacing should prefer-
axial loads. ably be less than 12 ft. The intermediate columns
f. When piers are used, bells may be desirable to should be located preferably under the couplings
increase their overall capacity; or the gear box.
g. If resonance conditions are predicted to occur, 4. The beam depth should be a minimum of one
modifications are necessary as described in 2 ( h) fifth of the clear span, and the beam width is
above. normally equal to the width of the column con-
h. Piles and piers must be properly anchored to the sistent with anchor bolt requirements for spacing,
slab for adequate rigidity and for meeting the embedded depth, and edge distance. The beams
design conditions assumed during the analysis should not deflect over 0.02 in. when subjected
phase. to static loads.
5. The flexural stiffness of the beams should be at
Trial Sizing of Elevated Foundations (Table Tops) least twice the flexural stiffness of the columns.
6. The total mass of the structure including the mat
Preliminary sizing and geometrical member arrange- should be no less than three times the mass of the
ment constitute the initial design phase for elevated supported machine for centrifugal machines and
foundations. Although this preliminary phase is often five times the mass of the machine for reciprocat-
based on the experience of the designer, suggested guide- ing-type machines.
lines can be useful in arriving at a satisfactory final
•
7. The mass of the top half of the structure should
design. It should be emphasized that the general guide- not be less than the mass of the supported ma-
lines for trial sizing are only useful in the initial phase chine.
and are no substitute for a thorough dynamic analysis
8. The maximum static-bearing pressure for soil-
and check as described in Chapter 7. These general
supported foundations should not exceed one half
guidelines include the following: of the allowable soil pressure. For pile-supported
1. The designer should carefully analyze equipment foundations, the heaviest loaded pile should not
size and clearance requirements to assure that carry over one half of its allowable load.
sufficient space is allocated to equipment, anchor 9. The center of resistance of the soil should be
bolts, piping, and clearance for installation, within 1 ft of all superimposed loads for soil-
maintenance and operation, that is, physical space supported foundations. For pile-supported founda-
limits and requirements should be clearly identified tions, the centroid of the piles should be within
and considered. 1 ft of the superimposed loads.
2. The bottom of the foundation mat should be 10. The center of column resistance should coincide
placed no higher than the minimum founding with the center of gravity of the equipment plus
depth recommended by the soil consultant. This the top half of the structure loads in the longi-
generally includes considering the location of ade- tudinal as well as the transverse directions, tha:t is,
quate be<!.ring strata, water table, depth of frost the column moments of inertia should be "bal-
penetration, paving elevation, and speciial local anced" about the centroid of the equipment as
soil conditions. Ha.wever, in very poor soils, the shown in Figure 3-2.
geotechnical consultant may recommend the use 11. All the columns should deflect equally in· the ver-
of piles. The mat thickness t should not be less tical,. lateral, and longitudinal directions when
than subjected to equivalent static machine loads acting
in those directions. These equivalent loads are
t = 0.07 L 4 3
1 often assumed to be 0.5, 0.3, and 0.1 of the total
•
load for the vertical, transverse, and longitudinal
where' L is the average of two adjacent spans between directions, respectively, with the vertical. dead load
columns. acting in all conditions. Chapter 7 gives a further
Development of Information, Trial Sizing, and Design Checklist 51
• +
...__-+-__.
\ Ix3
z 'r Z3
i
~
I CENTROID OF EQUIPMENT LOADS PLUS
-----~~~~~~~~~~ UPPER HALF OF STRUCTURE
<t.. COLUMN RESISTANCE
n --+--+
L
i= I
Izi
------!,...__..... ' I X5
'Iz5
re 3-2. Center of column resistance .
• iption of these approximate equivalent static (see Chapters 6 and 7). The predicted behavio:r of the
loadings. The maximum horizontal deflections for proposed structure is checked or compared against cer-
these equivalent static loadings should be less than tain design requirements. These design requirements
0.02 in. in all cases. include: ( 1) the usual static strength checks against soil,
~.
The columns and beams should be checked for structural failures, and excessive deformations; ( 2) com-
individual member resonance with the machine- parison to limiting dynamic behavior including maximum
actirig frequency. The lQWest natural frequency of amplitude of vibration, maximum velocity and accelera-
the columns is approximately given by tion, maximum magnification factor, .maximum dynamic
load factor, possible resonance conditions, and maximum
- 44800 (f' c) l / 4 transmissibility factor; ( 3) inspection of all modes of
f.. - ypL oscillation including coupled modes; ( 4) consideration
of possible fatigue failures in the, machine, structure, or
where f'c is the concrete strength in psi, p is the connections; ( 5) consideration of environmental de-
aotual column axial stress in psi and is usually in mands such as physiological and psychological effects on
the 40-300 psi range, L is the column height in • people, effect on adjoining sensitive equipment, possible
inches, and f,. is in rpm. damage to the structure, and possible resonance of indi-
~. Wh.en piles or piers are recommended by the geo- vidual structural components.
technical consultant, additional guidelines 3 (a) Figures 3-3 through 3-7 are used in checking on the
through 3 ( h) given above for block foundations dynamic behavior of the proposed structure. Suitable
may be used in arriving at a trial configuration. limits of vibration amplitude, velocity, and acceleration,
which are all functions of operating frequency, are given
in these figures. Table 3-2 lists appropriate limits of peak
Checklist for Design .
velocity for certain categories of machine operation.
In order to account for the relative importance of the
•n•e proposed structure is modeled (see Chap- machine to overall plant operation, increased factors. of
n' . 1sizes are selected, and an analysis is performed (text continued on page 54)
52 Design of Structures and Foundations for Vibrating Machines
EXPLANATION OF CASES
E DANGEROUS. SHUT IT DOWN NOW TO AVOID DANGER.
TO AVOID BREAKDOWN.
0.001
0.05
-
z 0.02
0.01
0.005
0.002
0.001
0.0005
Figure 3-4. General limits of vibration amplitude for a particular frequency (see ref. 10).
Development of Information, Trial Sizing, and Design Checklist 53
'b~
l>
Frequency, cps
• 0
0
-
0
0
0
......
~
w
~
256
0
Cl
:::i
E-
H
.....:<
0..
:::;;;:
<!'.
E-
zw
:::;;;:
0 t0...i.~4000~:::ajooo;;:~1~000~~~~ w
u
<!'.
.....:<
SPEED, RPM 0..
Cf)
Figure 3-6. Vibration standards of high-speed ma- H
Cl
chines (see ref. 11 ).
z
0
H
E-
<!'.
0:::
O::l
H
>
0
5 10
'
20 40 80 160 320
•
FREQUENCY, CPS
Figure 3-7. Turbomachinery bearing vibration limits
(see ref. 12).
54 Design· of Structures and Foundations for Vibrating Machines
•• Design Checklist
Design Conditions Procedures
Static Conditions
Static Bearing Capacity Proportion footing area for 50% of allowa·ble soil pressure.
Static Settlement Settlement must be uniform; center of gravity of footing and machine
loads should be within 5% of any linear dimension.
Bearing capacity: Static plus Dynamic The sum of static plus modified dynamic load should not create a bearing
Loads pressure greater than 75% of the allowable soil pressure given in the soil
report.
The combined center of gravity of the dynamic loads and the static loads
Settlement: Static plus Repeated Dy- should be within 5% of the linear dimension from the center of gravity
namic Loads of footing. In the case of rocking motion, .the axis of rocking should
coincide with principal axis of the footing. The magnitude of the resulting
settlement should be less than the permissible deflecting capability of the
connected piping system.
Vibration Amplitude at Operating The maximum single" amplitude of motion of the foundation system as
Frequency calculated from Table 1-4 should lie in zone A o:r B of Figure 3-3 for
•
machines operating at different frequencies, the total displacement
amplitudes to be compared at the lower acting .frequency, are taken
as the sum of all displacement amplitudes.
Velocity 27Tf (cps) X (Displacement Amplitude as calculated in the condition
above) should be compared against the limiting values in Table 3-2 and
Figure 3-3 at least for the case of "good" operation. The resultant velocity
where two machines operate at different frequencies is calculated by the
RMS (root mean square) method, V = [(w 1 A 1 ) 2 + (wzA 2 ) 2 ] 0 · 5 , where
V = resultant velocity, in/sec, w1 , w2 = operating frequencies for machines
1 and 2, respectively, rad/sec, and A 1 _, A 2 = vibration displacement, in.,
for machines 1 and 2, respectively.
Acceleration (Note: not necessary if 4-rr 2f2 X (Displacement Amplitude as calculated above) should be tested
the two conditions above are satis- for zone B of Figure 3-3.
fied)
Magnification Factor (Note: applica- The calculated values of M or Mr (Table 1-4) should be less than 1.5
ble to machines generating un- at resonance frequency.
balanced forces)
Dynamic Load Factor, DLF (Note: The value of DLF is to be obtained from refs. 1 and 7. The duration of
applicable to foundation subjected shockwave may be taken as 0.1 to 0.5 sec.
to quarry blasting or seismic shock
iwaves)
Resonance The acting .frequencies of the machine should not be within +20% of
the resonance frequency (damped or undamped) .
Transmissibility Factor (Note: usually The value of transmissibility is to be obtained from Table 1-4 and should
applied to high-frequency spring be less than 3%.
mounted machines)
nance of Individual Structural The resonance condition with the lowest natural frequency shall be
• omponents (Superstructure With- avoided by maintaining the frequency ratio either less than 0.5 or
out the Footing) greater than 1.5.
Vertical Oscillation This mode is possible if the force acts in this direction.
Horizontal Translation This mode is possible if the force acts in this direction.
Rocking Oscillation This mode is possible when the point of application of horizontal force
is above mass center of foundation.
Torsional Oscillation This mode is possible when the horizontal forces form a couple in
horizontal plane.
Coupled Mode The horizontal translation and rocking oscillation are usually coupled.
If yf 2 M + f 2 n'l1/fnxfnifl:::; 2/3/ , then the coupling effect may be ignored;
the horizontal translation and the rocking oscillation modes can be treated
alone, and the results can be combined. See nomenclature on page 98 for
definition of terms.
Fatigue Failures
Machine Components Limits stated in Figure 3-4 and/or Table 3-2 are to be followed. In case
machine components are very delicate, then the machine should be
mounted on springs with an added ·inertia block.
Connections Same as the machine components condition above and check stresses using
AISG code when connectors are bolts or welds (ref. 13) .
• pporting Structure For steel structures, use the connections condition a:bove. For a concrete
footing, if reversal of stresses takes place and the amplitude is very high
such that the peak stress reversal is over 50% of the allowable stress, the
56 Design of Structures and Foundations for Vibrating Machines
main and the shear reinforcement (if any) should be designed for the
stress reversal condition (ref. 14).
Environmental Demands
Physiological Effects on Persons If the machine is located inside a building, use the procedure given in the
transmissibility factor, condition above and use the limits indicated in
Figures 3-4 through 3-7. The concept of physical isolation of the supporting
structure is another alternative. The amplitude of vibration in any direc-
tion should fall below the zone "troublesome to persons" for the specific
acting frequency as determined from Figure 3-4.
Psychological Effects on Persons Use the procedures indicated in the condition immediately above. In case
the facility is located very close to people not connected with machine
operations, use acoustic barriers.
Sensitive Equipment Nearby Physically isolate the support system from the sensitive equipment.
Damage to Structure Use the limits indicated in Figures 3-4 and 3-5 to avoid structural damage.
- - - - - - - - - - - - - - - N o t a t i o n for Chapter 4 - - - . . , . - - - - - - - - - - - - -
AL= area within hysteresis loop Na= number of log cycles of time required for re-
Ay =age of soil deposit establishment of soil fabric
AT = crosshatched area under hysteresis loop =
n relative density term
Az = amplitude of displacement nt/l = correction factor for Bw
Bz, B;: = mass ratios OCR= overconsolidation ratio.
Be, Bt/l = inertia ratios Qo = unbalanced vertical force
c= effective stress cohesion qd = dynamic bearing stress
D = geometric damping ratio =
q0 static bearing stress
Dm = material damping ratio =
r0 effective radius of footing
Su = undrained shear strength
D, = relative density
Dt =total damping ratio t 8 = time for shear wave to pass from penetrometer
• to geophone
Dio = equivalent grain diameter for which 10% of
u = pore fluid pressure
sample is smaller
de = characteristic depth W = weight of foundation plus load vibrating m
phase
E = Young's modulus
e = void ratio
z = depth coordinate
z1, Z2 = displacement amplitudes for two successive
l
f = frequency in cycles per second
fn =undamped natural frequency
cycles
a = embedment factor for damping
l
l
g = gravitational constant
flu,, = vertical stress due to static load r
ep =permanent axial (vertical) strain
H = thickness of soft stratum 7J = embedment fact6r for stiffness
h = depth of embedment or borehole spacing
I., It/I= mass moment of inertia
,\ = aa/ac
v = Poisson's ratio
K 0 = at rest earth pressure coefficient p =mass density
K2 = shear modulus factor a c = confining pressure
k = plasticity factor
aa = vertical dynamic stress
=
kz spring constant for horizontal excitation
uh= horizontal effective stress
kz = spring constant for vertical excitation
<T.,, = octahedral normal effective stress
ke = spring coostant for torsional excitation
kt/I = spring constant for pure rocking excitation a,,= vertical total stress
LR = length of Rayleigh wave Cfv = vertical effective stress
m = relative density term Tmax = shear stress related to shear strain through Gmax
N = number of stress cycles Cf= effective stress angle_ of internal friction .
57
58 Design of Structures and Foundations for Vibrating Machines
•
Dynamically loaded foundations induce strains in the niques for predicting footing response in strongly strati-
supporting soil, w:hich, in turn, require the elements of fied soils, response of footings (caps) supported by piles,
the foundation (footing, piles, etc.) to deform in a man- and response of footings embedded beneath the surface
ner compatible with the deformation of the soil. It is of the ground. Each: of these techniques is discussed in
therefore necessary to adopt a model that will predict this chapter and Chapter 5.
the response of the soil to imposed dynamic loadings in The basic elastic halfspace model is valid only for
order to allow the structural designer to include the isolated foundations. No valid theory has been developed
effects of foundation deformation in a global structural to permit the precise calculation of the response of two
analysis. Several models are available to accomplish this or more footings situated near each other, although
prediction, but the model that is most widely accepted finite-element modeling of the soil itself can be useful
is the "elastic halfspace model." The halfspace model, in this respect. Empirically, however, the soil spring
which is used in this book for sha!!ow foundations, pre- constants for the individual footings are usually reduced
sumes that a circular footing rests upon the surface of an by placing footings near each other, and the geometric
elastic halfspace (the soil) extending to an infinite damping is always reduced. These points should be kept
depth, which is homogeneous and isotropic and whose in mind when applying the techniques described here.
stress-strain properties can be defined by two elastic con- For design purposes, the assumption of frequency in-
stants, usually shear modulus ( G) and Poisson's ratio dependence of stiffness and damping is valid for low
( v). With the elastic halfspace model it is possible to frequencies. Specifically, "low frequency" exists when the
predict the response (e.g., deformation at a point vs. driving frequency f is less than about (1/7rr 0 ) (Gg/y) 0 •5
time) of the soil and, therefore, of the footing, to har- where r0 is the radius of a circular footing or is (BL/7r) 0 •5
monic vertical forces, rocking moments, twisting mo- for translatory motion or (BL 3 /37r) 0 · 25 for rocking mo-
ments, horizontal shears, and combinations of such loads tion of a rectangular footing, G is the low-amplitude
applied to the footing, which is considered to be rigid. shear modulus of the soil (discussed later), y is the total
The model provides for dissipation of energy through unit weight of the soil, and g is the gravitation5l,l con-
radiation or "geometric" damping. Exact mathematical stant. B and L are the plan dimensions of a rectangular
expressions have been derived from halfspace models footing, where L is the dimension perpendicular to the
>o-·n s and for footings resting on the surface or em- Table 4-6 gives typical expressions for mass moments
ed eneath the surface. Embedment effects are dis- of inertia of simple volumes. Generally, mass moments
LlSS urther in the latter part of this chapter. .of inertia for most machines and foundations can be
In Table 4-1, v is the Poisson's ratio of the soil; the adequately represented by these expressions.
-factors are embedment coefficients defined in Table It is obvious that a primary objective of foundation
-2; and the ,8-factors are geometry factors defined in design is to maximize geometric damping, consistent
'igure 4-1. with economy. It is observed that the damping ratios
The damping ratios can be computed from the mass for a halfspace (Table 4-3) increase with increasing
,r inertia ratios as indicated in Table 4-3. The weights foundation size ( r 0 ) and decrease with increasing weight
V in the mass ratio expressions are the total weights (W) or mass moment of inertia (J). It can be con-
1£ the footing plus the load supported by the footing cluded, therefore, that, ideally, foundations should be
·ibrating in phase with it, including machinery. The as wide and shallow as is practicable.
noments of inertia Ii/I and le are the rocking and twist-
ng mass moments of inertia about the axis of rotation, Evaluation of Soil Parameters
vhich is an axis in the plane of the base of the founda-
ion perpendicular to the plane of rocking for rocking In order to evaluate the spring constants kz, k.,, ke,
notion and an axis perpendicular to the foundation and and kl/I and the corresponding. damping ratios required
:o the plane of twisting for torsional motion. The factors for computer analysis of dynamic structure-soil interac-
I are damping ratio coefficients to account for the in- tion problems, it is necessary to determine relevant
:reased geometric damping that occurs due to effective values for the soil parameters G (shear modulus) , v
~mbedment. Equations for evaluation of a are given in (Poisson's ratio), p (mass density) and Dm (internal or
Table 4-4. The factor ni/I is an inertia ratio correction material damping ratio). Furthermore, factors not
factor for rocking, given in Table 4-5. needed directly in the computer analysis, such as the
3 1.5
permanent settlement that will occur beneath the foun-
~ >--
~"" dation of a structure supporting vibrating machinery,
-
~·
•
"" c::::;:::::J"' __...
r----6--1 also need to be considered before the structure is con-
r-:r:-- structed. The objective of this chapter is to describe
I-
" 1.0
Oz
!!l\8 procedures by which the soil parameters can be evalu-
r.
/
f3t
~
/
__./IR ated and permanent settlements estimated. In addition,
~ f-
0.5 certain other special problems will be discussed. It will
~. be assumed throughout that the reader possesses a basic
knowledge of elementary soil mechanics and under-
0 0
0.1 0.2· 0.4 0.6 1.0 2 4 6 8 JO stands foundation engineering terminology;
L/B This chapter is intended primarily to be a source of
Figure 4-1. Coefficients [3z, f1x, and f1y; for rectangular information for those interested in analyzing or design-
footings (after ref. 19)-, ing structures to support vibrating machinery._ As a re-
sult, the emphasis is on procedures or criteria developed
Table 4-2 from research rather than on fundamental aspects of
Embedment Coefficients for Spring Constants soil behavior. For the reader who wishes to pursue a
(after ref. 18) more detailed treatment of behavior of dynamically
loaded soil, papers by Richart (ref. 11) and Seed and
Idriss (ref. 14) and texts by Richar;t, Hall and Woods
Mode of ro for Rectangular
Vibration Foundation Coefficient (ref. 12) and Wu (ref. 20) provide execellent points of
departure.
Vertical v'iiLj; 1/z = 1+0.6(1-v)(h/ro) The discipline of soil dynamics is a relatively new one,
and many problems faced by the practicing ·engineer
Horizontal VBL/.,,. 1Jx = 1 + 0.55 (2-v)(h/ro) have either not yet been treated in a rigorous manner,
1/.p = 1+1.2(1-v)(h/ro)
have been considered only for ideal conditions which
Rocking "'V' BL3/3.,,. + 0.2(2-v)(h/r 0)3 may not occur in geological materials, or (lfave been
studied in some detail but without dissemination of
Torsional ~BL(B2+ L2)/6.,,. None available criteria to the profession in general. Examples of such
problems are the assessment of permanent settlements
. : h is the depth of foundation embedment below grade; beneath near-surface vibratory loads, the response of soil
L is horizontal dimension perpendicular to axis of rock-
ing; Bis remaining horizontal dimension. (text continued on page 62)
60 Design of Structures and Foundations for Vibrating Machines
Table 4-3
· Equivalent Damping Ratio for Rigid Circular and Rectangular Footings
(after ref. 12)
Mode of
Vibration Mass (or Inertia) Ratio Damping Ratio D
(1-v) W 0.425
Vertical B,=--- D. =--a.
4 -yro 3 .../ B.
7-8v W 0.288
Horizontal B, = - - - D, =--a,
32(1-v) -yr 0 3 .../ B,
3(1-11) lq, 0.15 O<<jl
Bq,=--- Dq,=------
8 pro 5 (l+nq,B<Ji) -./n<JiBq,
Ia 0.50
Ba=- De= - - -
pro5 1+2Be
Table 4-4
Effect of Depth of Embedrnent on Damping Ratio
(after ref. 18)
h
1 + 1.9(2 - JI) -
ro
Horizontal O::r = --'-----
Rocking
Table 4-5
Values of nt/l for Various Values of f3t/l *
*After Richart, Hall, and Woods (ref. 12). Reprinted by permission of Prentice-Hall, Inc., Englewood Cliffs, NJ.
Geotechnical Considerations 61
•
Table 4-6
Mass Moments of Inertia of Common Geometric Shapes
SLENDER ROD
THIN RECTANGULAR
PLATE
RECTANGULAR PRISM
• THIN DISK
Ix=~ mo
2
CIRCULAR
CYLINDER
I y =I z =.lm(3o
12
2
+~)
Ir:-I2+ mC/4
CIRCULAR CONE
z~ x
x
z.
62 Design of Structures and Foundations for Vibrating Machines
SURFACE
(RAYLEIGH)
WAVE
CASED
WAVE LENGTH.LR BOREHOLE DRILL ROD
Figure 4-3. Surface Oscillator Test (after ref. 12). APPLICATION IS LIMITED GEOPHONE TRIGGER
TO SMALL h
BECAUSE OF
WAVES FROM
( S 25')
REFLECTED
BEDDED
I· FIRMLY ATTACHED
TO CASl~G ·I SPLIT SPOON
PENETROMETER
v,=lf-
STRATA
'
face) waves are created. Pickup devices (e.g., acceler- Gmca • pvs2 =i;lf
g 2
ometers) are moved relative to each other and to the t,
oscillator until they are found to be vibrating in phase, Figure 4-4. Crosshole Test (after ref. 16).
and the distance between the pickup devices is then
measured. If no closer spacing can be found such that
the pickup devices remain in phase, the spacing beuween often must be conducted with very heavy oscillators,
the devices is one Rayleigh wave length. Since Rayleigh which generally renders the method uneconomical rela-
and shear wave velocities are nearly equal for soils with tive to crosshole testing as described below.
Poisson's ratios greater than about 0.35 (i.e., for most The crosshole test is depicted in Figure 4-4. Test
soils), equipm~nt simply consists of a device to create a shear
wave below the surface, another device a known distance
2
Gmax = pVs
( 4-1)
away and at the same level to sense the passage of the
c:::'. pf2£R2 shear wave, and an instrument to measure the time re-
quired for the :wave to traverse the distance between the
where = shear modulus (at the very low strain level
Gmax two devices. The shear modulus is then computed from
occurring in the test), the equation given in Figure 4A. The shear wave veloc-
•
p =total mass density of the soil; soil unit ity is measured because the shear wave is not influenced
iweight/acceleration of gravity, to any great degr(!e by the. presence of a water table,
f = frequency of oscillation in cycles per unit whereas the compression wave travels at its velocity in
of time, water, regardless of soil type, below the water table.
LR = measured wave length, Crosshole tests permit an accurate assessment of the
v 8 = shear wave velocity. variation of shear modulus with depth to relatively large
The process is normally repeated with the pickup de- distances below the ground surface. Since they can be
vices in several positions relative to the oscillator and made an integral part of standard- boring operations, the
with different oscillator frequencies to obtain an average soils encountered can be inspected as a means of verify-
value for Gma.-. at a given location. ing qualitatively the validity of the results, and water
Since most sites in or near developed areas have con- table locations can be conveniently determined.
siderable low-frequency background noise, steady-state It should be pointed out here that the values of Gmax
tests with small oscillators are generally limited to high- obtained from oscillator or crosshole tests occur at values.
frequency vibrations (generally greater than 100 cps). of strain amplitude that may be somewhat less than
In such a case the Rayleigh wave length will seldom be those which will occur under a prototype foundation.
more than a few feet. Oscillator tests measure an aver- The value of shear modulus G to be used in the struc-
age shear modulus in a zone of soil from the surface to ture-soil interaction analysis will, therefore, probably be
a depth of about one Rayleigh wave length. Hence, it is slightly less than Gmax· Adjustments to Gmax can be made
apparent that such high-frequency tests are limited to by applying the correction suggested by Hardin and
very shallow depths, usually no more than 2 to 5 feet. Drnevich described in detail in the section on saturated
Furthermore, soil borings should also be made in con- clays, or a simple procedure suggested by Whitman
junction with the oscillator test in order to assess (ref. 18) can be adopted. Whitman suggests that for
whether the measured shear modulus represents a single vertical motion the structure-soil system be analyzed as-
layer or more than one layer of soil. Low-frequency tests suming that G can vary from 0.7 G.max to Gmax and that
. n be conducted on quiet sites, but to be accurate, they for rocking motion the system be analyzed assuming that
,~,·~
Ii~.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .m1
64 Design of Structures and Foundations for Vibrating Machines
•
G can vary from 0.5 Gmax to Gmax· Simply stated, the and for angular sands,
system should meet the design criteria for any shear
2
modulus value within the staged ranges. 1230(2.97-e) (- )o.s
G (psi) I + e t7o
(4-3)
be run with such precision that their use is limited psi, given by Equation 4-4.
mainly to research. However, another type of test, the
resonant column test, is also an accurate means of ob- (4-4)
taining Gmax· It has found generally wide acceptance
among practicing engineers because of its relative sim- where Ci. = vertical effective stress in psi,
plicity. In the most common type of resonant column uh = horizontal effective stress in psi,
test, a solid, cylindrical column of soil is excited either = Kouv
longitudinally or torsionally at low amplitude within a
cell in which an appropriate confining pressure has been
applied. The exciting frequency is varied and the ampli- In order to obtain <To, the vertical effective stress in
tude of deformation in the soil is monitored at each the soil in question is computed by summing component
exciting frequency in order to determine the resonant stresses due to geostatic and applied loads (specifically
frequency of the soil column. Simple elasticity equations considered later), and the horizontal effective stress is
for vibrating rods are then used to compute Gmax· The then computed by multiplying the vertical effective stress
reader is referred to Richart, Hall, and Woods (ref. 12) by the earth pressure coefficient at rest, Ko, which
for a complete description of the resonant column test according to Brooker and Ireland (ref. 2), is a func-
and the appropriate elasticity equations. tion of the plasticity index of the soil and the overcon-
Field and/or laboratory shear modulus determinations solidation ratio (OCR) . The overconsolidation ratio for
•
should be performed for each specific project wherever an element of soil may be defined as the ratio of the
.possible. As a means of checking field and laboratory maximum past effective vertical stress (approximately
measurements, published correlations between Gmax and equal to the preconsolidation pressure indicated by a
G and the various factors listed earlier, developed one-dimensional consolidation test) to the present total
through resonant column and very low-amplitude cyclic vertical stress minus the free pore fluid pressure av.
triaxial and simple shear tests, should be consulted. Curves relating Ko to plasticity index and overconsolida-
These correlations can also be used as guidelines for tion ratio, developed by Brooker and Ireland, are given
calculating the. shear modulus value in the absence of in Figure 4-5.
direct measurements; however, shear modulus obtained Seed and Idriss (ref. 14) have presented a slightly
only from published correlations must be considered to different correlation:
be relatively uncertain, and the structure-soil system
should be analyzed assuming that the shear modulus (or G (psi) = 83.3 K 2 (0:0 ) 0 5
• ( 4-5)
spring constant) can vary within a large range both
above and below the calculated value. where K 2 is a factor which depends on relative density
Several significant published correlations for shear (Dr) and shear strain amplitude, as shown in Figure 4-6.
modulus are summa.rized in the following sections: In situ relative density is often determined for sands
by conducting standard peneration tests and correlating
Published Correlations: Sands and Gravels. Hardin penetration resistance (or "blow count") to relative
and Richart (ref. 8) published criteria for the shear density. Typically, an approximate correlation made by
modulus of dry or saturated sand derived from resonant Gibbs and Holtz (ref. 6) is utilized for saturated soils
column tests conducted at or below a shear strain level (Figure 4-7). Similar correlations are also given by
that would occur under most foundations for vibrating Gibbs and Holtz for air-dry and moist sands. Care should
machinery. Two expressions for G were obtained. For be exercised in applying the correlation of Figure 4-7,
round grained sands where the void ratio is equal to or particularly for "dirty" sands (sands containing more
less than 0.80, than 5% fines), since considerable data scatter is evi-
dent and since the correlation is based only on tests for
two soils. Factors not explicitly included in the Gibbs
2
2630(2.l 7-e) ' - ) 0•5 and Holtz correlations, such as angularity and gradation,
G (psi) 1 + e \t7o
(4-2)
are known to have an effect on penetration resistance.
Geotechnical Considerations 65
3.0 .---~--..----r--.,----------~
Thus, if it is economically justifiable, it is recommended
that a "calibration" be made by conducting a series of
penetration tests and recovering undisturbed samples of
sand near the test points. The relative density can then
be assessed from the measured dry density of the samples.
In such a case extreme care must be taken to determine
the maximum and minimum dry densities according to
appropriate published American Society for Testing and
Materials procedures. In effect, a correlation similar to
the one shown in Figure 4-7 is thus developed specif-
ically for the soils at the site being investigated.
~
9401---·--·--·-~~"-""_~_Eo_•_'"~E-SIL_TY_~_·_o~·~_·._03_o_mm--+---t--r---r-----1
As is demonstrated in this example, the Hardin-Richart
~
and Seed-Idriss approaches usually yield somewhat dif-
LU
(.) ferent values for G.
z
~301----1-----+---+----+-r---t---r---¥~-~
"'
ii5
Published Correlations: Saturated Clays. Hardin
~201----1--~--+---+-r---+---,."'-+----+---~
and Drnevich (ref. 7) obtained detailed correlations.
~
between the shear modulus of clays (and sands) and
:=~ 10 1---l--:r.::::...i--=--f=----t.!:--z:?-f"""---+----t ( 1) void ratio, ( 2) effective octahedral normal stress,
LU
zLU ( 3) overconsolida ti on ratio, and ( 4) strain amplitude by
"-
conducting laboratory resonant column tests on speci-
40 50 60 70 80 90 ·100
mens of natural soil that had been sampled with thin-
RELATIVE DENSITY, Dr, % walled sampling devices. The results are expressed as
.igure 4-7. Relationship of relative density. to stan-
. dard penetration resistance and effective vertical
Gmax (psi)
pressure in saturated sands (after ref. 6).
~-·'·
66 Design of Structures and Foundations for Vibrating Machines
•
where k =plasticity constant determined from Table 4-7. Table 4-7
The value of Gmax in Equation ( 4-6) corresponds to Values of k
the shear modulus at a shear strain amplitude of about
0.25 X 10- 4 %, which is generally below the amplitude
Plasticity Index k
appropriate for use in analysis of foundations .for vibrat-
ing m_fl.chinery. In order to obtain the value of G corre- 0 0
sponding to the correct strain magnitude, Equation (4-7) 20 0.18
must. be employed. 40 0.30
60 0.41
80 0.48
~ 100 0.50
(4-7)
•
15(125) - 10(62.4) = 1251 psf = 8.69 psi
of stress:
OCR = 4000psf = 3 2
1251 psf ·
Tma.x 1 + -Ko -CTv Slll
. -cf> + -C COS -)·
cf> -
K0 = 0.9 (Figure 4-5)
[(- -
2 = 0.333 av (1 + 2K
0:0 0 ) = 8.1 psi
k = 0.24 (interpolated from Table 4-7)
(4-9)
2
Gma.x = 1230 [(2.973-0.60) /1.60] (3.2t 24 (8.1)°' 5
The quantity O',, is usually evaluated as the total verti- = 16,288 psi
cal geostatic stress ( c:rv) minus the pressure in the free
pore fluid ( u), which is a valid definition for sands, nor-
Tma.x [(I.9/2) 8.7 sin 20°
2 5
+
3 cos 20°) 2
- ((0.1/2) 8.7) )°- = 5.63 psi
mally consolidated clays, and lightly overconsolidated
clays. However, in heavily overconsolidated clays O'~- may G is desired at a shear strain level of 5 X 1 o-s % :
exceed c:r,,-.,. u, which creates more difficulty in applying
the results of the calculations. The OCR term in Equa- 'Yr = (rmax/Gmax) X 100 = (5.63/16,288) X 100
tion ( 4-6) is an empirical parameter which minimizes = 0.0346%
this effect ifo: 0 (Equation (4-6)) and 0:,, (Equation ( 4-9))
are always defined as total stress mi;us free pore fluid G = 16,288/(1 +
0.005/0.0346) = 16,288/1.14
pressure. Therefore, u0 and u,, can be evaluated from = 14,288 psi
results of routine borings and laboratory tests.
The value of Ko again can be determined from Note that G is about 88% of Gmruc, which is a typical
Figure 4-5. The shear strength parameters c and ¢can reduction for shear strains in the usual range for machine
be evaluated from static, consolidated-undrained foundations.
I strength tests in iwhich pore pressures are measured or Seed and Idriss (ref. 14) have shown that the shear
from static, consolidated-drained strength tests. moduli calculated from the Hardin-Drnevich equations
I underestimated in the in situ shear moduli by factors of
:le Example. A sample of saturated clay is recovered from
a depth of 15 ft. Its total unit weight, as well as that for
4 and 14 for two soft normally consolidated marine clays
with void ratios exceeding 1.6. This effect has been
I
I
I
l
Geotechnical Considerations 67 l
observed by others as well, leading to the conclusion that where Na is the number of log cycles of time in min
•
Hardin-Drnevich equations should not be expected
correlate well with in situ moduli for marine soils
(beginning at 1000 min) required for the soil fabric to
reestablish itself as it existed in situ prior to sampling, I I
with high void ratios and for soils of other\.vise relatively
high sensitivity. For such soils it is advisable that the
shear modulus be determ,i.ned directly from in situ tests.
using 1000 min as the point of reference. The correction
can also be applied directly to G with little error. For
soils of the type being considered, the appropriate time
l
I
Alternatively, the results of laboratory resonant column required for complete fabric reestablishment depends
tests can be employed for sensitive clays, provided, the mainly upon the mineralogical properties of the soil. !
effect of sampling disturbance can be estimated in a Very little data exist relative to this point. However, if I
rational way. Anderson and Woods (ref. 1) have shown all the fabric reesta1blishment is assumed to be due to
that all soils experience a slow, time-dependent increase thixotropy, as suggested by Anderson and Woods, experi-
in shear modulus as measured in a resonant column mental relationships developed by Skempton and Northey !'
i
device after an initial disturbance. This increase .appar- (ref. 13) can be used to obtain order of magnitude
ently occurs as a result of reestablishment of a stable soil values for the time in question. For soils whose sensi-
fabric following sampling or other disturbing processes. tivity is less than about 8 (moderate sensitivity), Skemp-
The indicated shear modulus generally plots in a straight ton and Northey indicated that disturbed soils appear to
line as a function of the logarithm of time after initial regain their in situ strength (and by implication their ·
confinement in a cell. For cohesive soils, Anderson and in situ structure) in a period approximately equal to the
Woods have found that geological age of the deposit. Using the above observa-
tion as a criterion, Na can be defined by the following
(t:..G/G1000) (%) = 2 exp (1.7-0.25su + 0.37e), (4-10) equation:
this statement is that only geostatic effective stresses need 2, VERTICAL STRESS 6uv f de
be considered for overconsolidated clays which remain
overc9nsolidated after being loaded by the structure.
STRESS ON FOOTING - SEE---~
ouE To NET sTAT1c
BOUSSINESQ CHART BEARING
BELOW _ _ _ ___:s::t-\.r-U:·'','
3. SUMMATION OF I ANO 2 (O'y l
Furthermore, static machine and foundation weights can
often be neglected in practice when evaluating Equation
( 4-9)' since their effects on shear modulus reduction are
small. -
~min--Jr"
For reasonably uniform soils, it is sufficient to evalu-
~z
ate the shear modulus for purposes of calculating soil a
- qo(NET STATIC
spring constants at only one characteristic depth de be- 77T BEARING
low the ground surface, as shown in Figure 4-9. For PRESSURE)
overconsolidated after loading, the imposed stresses have Figure 4-9. Determination of ifvmin·
Geotechnical Considerations 69
that exist just prior to placement of the structure. The . e·= 0:94 · ..
"Ys= 121 pcf. ·. ·-,
shear modulus for the latter condition should be evalu- ... D, = 80% ...
ated by the method described above or by assessing the · "u • 0.4 ·.
new undrained shear strength at depth de beneath the
200 400 600
edge of the footing at the end of consolidation and using
VERTICAL STRESS IN PSF
Figure 4-8.
Example. Determine k111 and kt/I for the footing shown Figure 4-10. Footing for example calculations of soil
in Figure 4-10. spring constants.
Assuming that the unit weight of the concrete and
unit weight of displaced soil are equal, the net static Table 4-8
bearing stress at the base of the footing is Typical Values for Low·Strain-Amplitude Shear Modulus
25,000 /rr4 2 = 497 psf
Using the Boussinesq chart in Figure 4-9, the plot of Soil Type Shear Modulus (psi)
induced vertical stress at the edge of the footing is made
Soft Clay 3,000- 5,000
(Line A). The geostatic vertical effective stress is plOtted Stiff Clay 10,000-20,000
as Line B. Finally, the stresses from Lines A and. B are Very Stiff to Hard Clay ~20,000
Medium Dense Sand* 5,000-15,000
added to produce Line C. It is observed that de is at the Dense Sand* 10,000-20,000
se of the footing and that O:vmin = 490 psf = 3.40 psi. Medium Dense Gravel* 15,000-25,000
Dense Gravel* 20,000-40,000
• nee the sand is normally consolidated, K 0 = 0.4
(Figure 4-5), and . ,
*For shallow depths.
Uo= 0.333 ( Uv + 20-h)
= 0.333 [3.40 + (2) (0.4) (3.40)]
= 2.04psi be used as a substitute for a rational determination of
modulus values.
Using the Seed-Idriss correlation, and assuming a
shear strain level of 3 X 10-3 %, Selection of Shear Strain Magnitude for Computing
=
G 83.3K2(<ro) 0 •5 Approximate Shear Modulus Beneath Footings
= 83.3(52) (2.04) 0 •5
= 6187 psi Since the shear modulus is a function of shear strain
magnitude, it is necessary to obtain an estimate of the
Assuming that embedment is effective (footing is cast appropriate value of shear strain magnitude to use in
against undisturbed soil or dense backfill is provided) , calculations of sail spring constants. The authors recom-
kz= [4Gr0 /(1- v)][l + 0.6(1- v) (h/r0 )] mend the .following approximate procedure for vertical
= [4(6187)4(12)/0.6] [1+0.6(0.6) (2/4)] loading, which is based on an analogy with static
=
2.34 X 10 6 lb/in. conditions :
1. Select a shear strain amplitude in the range of the
and kt/I= (8Gr 0 3 /3(1 - v)] (1+1.2(1 - v) (h/r 0 ) + crosshatched area of Figures 4-6 and 4-8, and
0.2(2 - v) (h/r0 ) 3] compute G.
= (8(6187)48 3/3(0.6)] (1+1.2(0.6) (2/4) + 2. Conduct the structure-soil interaction analysis and
0.2(1.6) (2/4) 3 ] determine the transmissibility factor Tr from Table
=4.26 X 10 9 in.-lb/rad. 1-4 for the forcing frequency desired.
3. Multiply the unbalanced vertical force by the trans-
A Typical ranges of values of loiw-strain-amplitude shear missibility factor and divide the result by the con-
wnodulus for several soils are given in Table 4-8 for the tact area of the footing to obtain the dynamic
purpose of general information. Table 4-8 should never bearing stress qd·
,
70 Design of Structures and Foundations for Vibrating Machines
•
4. The approximate average shear strain y in a central 1.0
block of soil below the footing of dimensions
0.5 ..........
2r0 X 2r0 (horizontal) X 4ro (vertical) 'is given by 0
~ r--....
I
0
r---=-
------
VERTICAL
Eq. (4-13). a: ,_
Cl 0.2
c: ........
.... ........ _SLIDING
'Y(%) = 12 qdfG (4-13) 'Ci \
g \
.... _
Equation ( 4-13) presumes qd to induce the same strains
0
0.1
', r-, -- --~ ,_
-TORSION
l
0 2 4 5 6
order-of-magnitude strain levels that are sufficiently
Bz, Bx,88 , or s.,,
accurate for most analyses. Therefore Equation (4-13)
Moss Ratio or Inertia Ratio
may be used to verify the assumed value of G (Step 1).
If the assumed and computed shear strains differ sig- Figure 4-11. Geometric damping ratios for four
nificantly, these four steps should be repeated iteratively,. modes of loading. After Richart, Hall, and Woods,
using the value of y computed on the preceding trial to ref. 12. Reprinted by permission of Prentice-Hall,
l
-Inc., Englewood Cliffs, NJ.
obtain G for the present trial, until the strains close to
T
within an acceptable· difference.
If a particularly precise analysis is warranted, the
approach described above should be abandoned in favor
of a more comprehensive -technique, such as the finite
element method, in iwhich complete modeling of a rele-
vant volume of the soil and its constitutive relationships
•
;_s considered.
It should be pointed out here that the shear strain
magnitude beneath a footing should be taken as that
produced only by the dynamic component of the footing
load. The static shear strain should be ~eglected, since Figure 4-12. Definition of ma-
it in effect only provides a nonzero strain level about terial damping (after ref. 7).
which the dynamic strain is cycled. The small strain
shear modulus relative to that nonzero reference is
testing. After the soil has been vibrating in a steady- I
generally about the same as the small strain modulus
I
state condition, the exciter is stopped and the soil vibra-
relative to a reference level of zero strain.
tions are monitored as they decay. The displacement-
time relationship is essentially sinusoidal; but with the
Damping Ratio
amplitudes decreasing with time. If two successive
amplitudes are z1 and z2, then 1
Damping in a soil-foundation system consists of a
geometric component, which is a measure of energy (4-14)
radiated away from the immediate region of the founda-
tion, and material damping within the soil, which is a Additional procedures are described by Richart, Hall
measure of energy lost as a result of hysteresis effects. and Woods (ref. 12).
Geometric damping ratios have been sh01Wn at the be- Seed and Idriss (ref. 14) have sh01Wn that material
ginning of this chapter to be related to the mass or damping in soils is primarily a .function of strain ampli-
inertia ratio of the system through the use of elastic tude and soil type. Figure 4-13 gives typical values for
halfspace theory. Relationships between mass and inertia material damping proposed by Seed and Idriss.
ratios and the geometric damping ratio are shown for In order to obtain the total soil-foundation system
the four uncoupled modes of motion in Figure 4-11. damping ratio Dt, the geometric and material damping
Material damping is defined in Figure 4-12. It is seen ratios may be added directly. Since the material damp-
to be proportional to the ratio of AL> the area of the ing ratio is significant relative to the geometric damping
Table 4-9
Typical Values for Poisson's Ratio
(/)
l.J.J
Soil Type JI 0
0
Saturated Clay 0.45-0.50 :a:
Partially Saturated Clay 0.35-0.45
Dense Sand or Gravel 0.4 -0.5 ...J
Medium Dense Sand or Gravel 0.3 -0.4 ...J
Silt 0.3 -0.4 <t
"'
(J
.S!...
"'
en
6...... 2
l~tcl-
column test and Young's modulus (E) in a laboratory
longitudinal resonant column test. Assuming isotropy,
0 - 1 I/
I
v = (E/2G) - 1 (4~18)
0 0.5 1.0 1.5 2.0
Embedment
Soil mass density values should always be calculated Radius
from the total unit weight rather than the buoyant unit Figure 4-14. Effect of embedment on damping (after
weight because the density term in the mass and inertia ref. 15).
ratio equations always represents soil undergoing vibra-
tion. Total weights are used because both the solid and
liquid phases vibrate.
~
and 4-4 that are to be employed as multipliers to the
equivalent spring constant and geometric damping ratio ......
E :::>
values whenever the footing is embedded. A foundation
should be considered as "embedded," hoiwever, only if
-
_e
...
en..
D ~ 0.06/y'B,
-
(4-19)
W = weight of footing plus machinery vibrating in phase.
Qo = unbalanced vertical force.
G = shear modulus of soft soil.
'Ye = total unit weight of soft soil.
v = Poisson's ratio of soft soil.
Table 4-12
It is evident that material damping in the overlying
soil ,will be important. Thus, in the analysis of a single- Resonant Frequency in Vertical Mode for Stratum
or multi-degree-of-freedom structure using lumped Overlying Rigid Base: v = 0.25
spring constants and damping ratios to represent the (after Richart, Hall, and Woods, ref. 12)
soil, the total damping ratio should be used.
The response of a single-degree-of-freedom system
undergoing vertical oscillations in layered soils can be
Wh.ro 3 f o/V Ggh.ro 2
studied in an approximate way using Tables 4-11 and
4-12, which give theoretical values for displacement at H/ro = 1 2 00
w=60,000 + 80,000 = 140,000 lb. Permanent settlement due to vibration is generally not
W/y 8 r0 = 140,000/112(5) 3 = 10.0
8 a problem in clays because cyclic stresses transmitted to
H/r 0 = 10/5 = 2 the subgrade in a well-designed facility are seldom suffi-
cient to generate pore pressure of a magnitude which
When bedrock is present, from Table 4-12, would either affect consolidation or reduce the shear
!!:..
= 0.12 [ ( 10,000) ( 144) (32.2) / ( 112) (25) )0· 5 strength of the clay to · the point ·where cyclic shear
= 15.4 cps failure (fatigue) could occur. Similarly, liquefaction or
=
924rpm cyclic mobility will seldom occur in waterbearing sands.
The designer is occasionally faced with a stratigraphic
Then, Q0 = (924/1000) 2 250 = 213 lb. From Table 4-11,
situation in which the majority of the soil profile con-
A,,, resonance= 16(3/16) (Qo/Gro)
sists of either clays .or very dense sands, but which con-
=3(213)/(10,000) (5) (12)
tainS one qr more. layers of silt, sand, or gravel having
= 0.00107 in.
a relative density of less than 70-75%. If su~h layers
occur at a significant depth below the ground surface,
the only practical alternative to a shallow foundation
When bedrock is absent, from Table 4-12,
system may be a pile or pier foundation, which would
fo = O.f[ (10,000) ( 144) (32.2) / ( 112) (25)] o. 5
be expensive, and M"hich, if not properly designed and
= 12.9 cps installed, could lead to worse performance than the shal-
= 774rpm low foundation alternate. Therefore, it becomes incum-
bent on the designer to assess ·the permanent settlement
I Then Q0 = (774/1000) 2 250 = 150 rb. that would occur beneath the shallow foundation due to
I
vibration-induced compaction in the looser layers. Un-
From Table 4-11, fortunately, no rational methods are known to the
A,., resonance= 1.6(3/16) (Qo/Gro) authors to have been published regarding estimation of
= 3(150) /10(10,000) (5) (12) permanent settlements of this type. Therefore, an ap-
= 0.000075 in. proximate method which has been found to provide a
reasonable estimate of the permanent settlement due to
The resonant frequencies will increase only slightly vibration is described below.
when material damping is considered. Hence, the reso-
nant frequencies computed above would usually be ade- 1. Undisturbed samples are recovered from near the
quate for design purposes. Because of material damping, middle of the subject stratum. The in situ effective
and because even a bedrock boundary is not truly rigid, octahedral normal stress is estimated (Equation
tpe displacement amplitude for the layered system is 4-4), and the specimen is subjected to a drained,
overestimated by using Table 4-11. controlled stress cyclic triaxial test in which · the
applied cyclic or "dynamic" stress ud, is a simple
Effect of Stratum of Loose Granular Soil percentage of the confining pressure uc, which is
set equal to the in situ octahedral normal effective
It is considered to be generally poor practice to situate stress. The test is conducted at about 5 ·cps con-
footings supporting loads from vibrating machinery on tinuously for several days, and a plot of riumber of
cohesive soil~ which will consolidate under the static stress cycles (log scale) versus permanent axial
load or on granular soils having a relative density of strain _is made for the value of ud/ uc (.A) used in
less than 70-75%. In granular soils having low relative the test. Typical results are shown in Figure 4-16.
density, problems with permanent settlement due to According to D' Appolonia (ref. 4) , the relationship
compaction can occur. In cases where soils with ade- will be linear, so the test results can be extrapolated
quate relative densities are not found, the soils should to the number of cycles anticipated for any period
be stabilized mechanically by vibroflotation, <TMJ t<"{ra of service for the machine.
probing, (TMJ dynamic compaction, vibro-replacement, 2. Repeat the procedure described .above for other
removal and replacement, or similar techniques (ref. 21) samples with varying values of ud (and therefore;\.).
to increase the relative density to the appropriate value. 3. Determine the mean dynamic stress amplitude
Chemical stabilization is not generally economical but transmitted to the soil by the vibrating equipment
may be used in certain cases. When stabilization is not by using Table 1-4 for a range of shear moduli,
economical, a carefully designed deep foundation system and divide the transmitted forces so obtained by
should be used. the contact area of the base of the foundation.
Geotechnical Considerations 75
4. For the largest value of transmitted force compute NUMBER OF STRESS CYCLES
2 4 6 8
• O'd for the prototype as the vertical stress at the I
10 10 10 10
z Q"""';:::--:~.,-~~-.-~~-.--~~~~~-
center of the subject layer directly beneath the cen-
~.001. ----).=0.1
of the foundation assuming that the dynamic con-
ti;.002
tact stress amplitude computed in Step 3 is dis-
~.003 ).=0.2
tributed within the soil according to Boussinesq
theory. Limited evidence (e.g., ref. 5) indicates that ~.004
the use of Boussinesq theory, though nonrigorous !Z.005
UJ
in a dynamic sense, is sufficiently accurate consider- Z TIME ).=0.3
<{
AFTER D'APPOLONIA ( 1970)
ing the magnitude of uncertainty of the other :E
ffi FREQUENCYRl 5 cps [RELATIONSHIP IS FOR
variables. a. DRY DUNE SAND AT 60%
RELATIVE DENSITY ]
5. Compute A for the value of ud obtained in Step 4,
and determine the permanent vertic;il (axial) strain Figure 4-16. Effect of number and amplitude of
in the layer for the number of stress cycles to be stress cycles on permanent strain (after ref. 4).
applied in the field using a graph similar to that
shown in Fig. 4-16.
6. Compute the permanent settlement as the product The quantity y is the maximum shearing strain ampli-
of the vertical strain and the layer thickness. tude (in percent) in simple shear. Since a simple shear
condition is not achieved beneath a vibrating footing, it
The procedure outlined above will usually give con- is recommended that y be taken as the amplitude of the
servative results. Caution should be used in its applica- octahedral shearing strain at the location of and for the
tion, however, particularly where reflective ·interfaces stress state recommended for the procedure involving
(e.g., soil-rock interfaces) appear near the layer being the direct use of laboratory data. Therefore,
studied. If the layer being studied is thick, it should
be subdivided into two or more horizontal sublayers;
settlement should be ascertained in each stlblayer sep- 'Y (%) = (v2/3G) (ud) (100) = 47.1 (qd/G) (4-23)
ately; and the settlements should be summed.
In the absence of permanent strain soil 'test data, a The permanent settlement of the footing is again
mathematical relationship developed for dry sand under- the product of the permanent vertical strain and . the
• going a relatively few stress cycles by Cuellar et al. layer thickness.
1
(ref. 3) can be used. Cuellar's relationship should be Settlement in granular s.oil is, of course, accompanied
a,pplied with caution, although results apparently will by a decrease in void ratio, with a resulting increase in
be very conservative at the large number of stress cycles shear modulus. For example, according to the Hardin
for which settlement is usually computed and for the and Richart correlation, a decrease in void ratio from
state of stress. encountered beneath a vibrating footing. 0.70 to 0.65 yields a 10% increase in G. This, in turn,
The study r.eported by Cuellar et al. revealed that leads to a 5% increase in the natural frequency of a
permanent strain is primarily a function of initial rela- single-degree-of-freedom system undergoing vertical
tive density, magnitude of shearing strain, and number oscillations. Corresponding resonance shifts can occur in
of cycles of applied load, which may be related by the rotary modes, which can have an effect on the long-
term performance of the foundation.
ep = -(1/3m)ln [1 - my"N] (4-20) Remarks. The procedures described in this chapter
for evaluating soil properties for lumped spring constants
and damping ratios should be considered approximate.
where e11 = permanent vertical strain (negative sign in-
This fact, coupled with the fact that the frequency in-
dicates settlement),
dependent expressions for spring constants and damping
N = number of stress cycles, ratios given earlier are themselves approximate, makes
and
it prudent to conduct structure-soil interaction analyses
m = -33.33 D,
2
+ 61.66 Dr -20 ( 4-21) for several combinations of spring and damping values
within a reasonable range of uncertainty to assure that
n = -0.95 Dr
2
+ 2.33 Dr + 0.54 ( 4-22) resonant conditions are not encountered or, if resonant
conditions are encountered, fo assure that structural
~.·.···n which D, is the _relative density expressed as a ratio velocities and/ or displacements remain within allowable
t ,
not a percentage) . . limits.
t~t
3:
,.:
I _,
·.
·1111!
'II
,I 76 Design of Structures and Foundations for Vibrating Machines
I It is impossible to make a general statement about the Curves," Journal of the Soil Mechanics and Founda-
range of s.pring constants and damping ratios that should tions Division, A.S.C.E., Vol. 98, No. SM7, July
be employed. However, in most cases it will be sufficient 1972.
to vary the spring constant and damping ratio in any 8. Hardin, B. 0., and Richart, F. E., Jr., "Elastic Wave
mode about +25% with respect to the computed value Velocities in Granular Soils," Journal of the Soil
if high-quality, direct field and/or laboratory measure- Mechanics and Foundations Division, A.S.C.E., Vol.
ments of the soil shear modulus and material damping 89, Na. SMl, February 1963.
ratio are made and ±50% if correlative methods are 9. Harr, M. E., Foundations of Theoretioal Soil Me-
used. The above ranges are suggested for essentially uni- chanics, p. 87, New York: McGraw-Hill, 1966.
form sites. If stratigraphic situations are encountered for 10. Jurgenson, L., "The Application of Theories of Elas-
which no adequate theoretical model exists (such as a ticity and Plasticity to Foundation Problems," Con-
footing resting on a hard, compacted, shallovv· :fill over- tributions to Soil l11 echanics, 1925-1940, Boston
lying a softer subgrade or on a rrtultilayered soil system) Society of Civil Engineers, 1940.
spring constants may be assumed to be based on average 11. Richart, F. E., Jr., "Some Effects of Dynamic Soil
soil properties, but the uncertainty arising from such an Properties on Soil-Structure Interaction," Journal of
assumption requires that the ranges suggested above be the Geotechniwl Engineering Division, A.S.C.E.,
increased by a factor of about 1.5 to 2.0, depending on Vol. 101, No. GT12, December 1975.
the .degree of soil variability. It is evident that, when an 12. Richart, F. E., Jr., Hall, J. R., Jr., and Woods, R. D.,
uncertainty pertaining to the model occurs, soil proper- Vibrations of Soils and Foundations, Englewood
ties should he obtained by direct measurements rather Cliffs, NJ: Prentice-Hall, copyright 1970.
than by correlative methods in order to obtain the best 13. Skempton, A. W., and Northey, R. D., "The Sensi-
possible values for the inputs and, therefore, reduce the tivity of Clays," Geotechnique, Vol. 3, No. 1, March
range of spring constants and damping ratios that should 1952.
be considered in the analysis. 14. Seed, H. B., and Idriss, I. M., "Soil Moduli and
Damping Factors for Dynamic Response Analysis,"
References
Report No. 70-1, E.E.R.C., Berkeley, California,
1. Anderson, D. G., and Woods, R. D., "Time-Depen- December 1970.
dent Increase in Shear Modulus of Clay,'' Journal of 15. Stokoe, K. H., II, and Richart, F. E., Jr., "Dynamic
the Geotechnical Engineering Division, A.S.C.E., Response of Embedded Machine Foundations,"
Vol. 102, No. GT5, May 1976. Journal of the Geotechnical Engineering Division,
2. Brooker, E. W., and Ireland, H. 0., "Earth Pressures A.S.C.E., Vol. 100, No. GT4, April 1974.
at Rest Related to Stress History," Can.adian Geo- 16. Stokoe, K. H., II, and Woods, R. D., «Jn Situ Shear
technical Journal, Vol. II, No. 1, February 1965. Wave Velocity by Cross-Hole Method," journal of
3. Cuellar, V., Bazant, Z. P., Krizek, R. J., and Silver, the Soil Mechani.cs and Foundations Division,
M. L., "Densification and Hysteresis of Sand under A.S.C.E., Vol. 98, No. SM5, May 1972.
Cyclic Shear," journal of the Geotechnical Engineer- 17. Warburton, G. B., "Forced Vibration of a Body upon
ing Division, A.S.C.E., Vol. 103, No. GT5, May an Elastic Stratum,'' Joumal of Applied Mechanics,
1977. Transactions, A.S.M.E., Vol. 24, 1957.
4. D' Appolonia, E., "Dynamic Loadings," journal of 18. Whitman, R. V., "Analysis of Soil-Structure Inter-
the Soil Mechanics and Foundations Division, action-A State-of-the-Art Review," Soils Publica-
A.S.C.E., Vol. 96, No. SMl, January 1970. , tion No. 300, Massachusetts Institute of Technology,
5. D'Appolonia, D. J., Whitman, R. V., and D'Appo- April 1972.
lonia, E., "Sand Compaction with Vibratory Rollers," 19. Whitman, R. V., and Richart, F. E., Jr., "Design
]oumal of the Soil Mechanics and Foundations Divi- Procedures for Dynamically Loaded Foundations,''
sion, A.S.C.E., Vol. 95, No. SMl, January 1969. Journal of the Soil Mechanics and Foundations Divi-
6. Gibbs, H.J., and Holtz, W. G., "Research on Deter- sion, A.S.C.E., Vol. 93, No. SM 6, November 1967.
mining the Density of Sands by Spoon Penetration 20. Wu, T. H., Soil Dynamics, Boston: Allyn and Bacon,
Testing," Vol. I, Proceedings of IV International 1971.
Conference on Soil Mechanics and Foundation Engi- 21. Soil Improvement: History, Capabilities, and Out-
neering, London, 1957. look, Report by the Committee on Placement and
7. Hardin, B. 0., and Drnevich, V. P., "Shear Modulus Improvement of Soils, Geotechnical Engineering
and Damping in Soils: Design Equations and Division, A.S.C.E., February 1978.
• 5 Foundations
- - - - - - - - - - - - - - - - N o t a t i o n for Chapter 5 - - - - - - - - - - - - - - - - -
A = cross-sectional area of pile L 1 = freestanding length of a pile
A' = corrected contact area =l length of a fully embedded pile
Ae = contact a:rea for discrete element z. = relative stiffness dimension for mat
Az = amplitude of vertical displacemerlt M = mass of cap plus in-phase load on cap
c,, = undrained cohesion M,. =amplitude magnification factor
Crz = damping factor for horizontal excitation m = equivalent vibrating mass
77
78 Design of Structures and Foundations for Vibrating Machines
Foundations for dynamically loaded structures usually be partially justified on the basis that at low frequency
fall into one of three categories: footings, mats, and deep the dynamic spring constant and the static spring con-
foundations (i.e., piles and piers) . ·The choice depends stant do not differ by a· large amount and that at high
on structural loading and. geometry and upon the quality frequency, where the spring constants do differ appre-
of the near-surface soil. In general, the procedures out- ciably, their contribution to the response of the system is
lined in Chapter 4 can be used directly to analyze foot- subordinate to mass effects.
ings, which are considered to be essentially rigid and Several approximate procedures based both on mathe-
must· be designed structurally to be so. When a footing matical solutions and on empirical data from vibratory
becomes large enough to be classified as flexible (e.g., a load tests for analyzing the response of pile and pier
"mat" supporting several columns), it is necessary to foundations are also described in this chapter. The
model it as a series of discrete elements, connected by mathematical solutions are predicated on the assumption
springs and damping elements and supported by soil that both the pile and the soil can_ be represented as
springs and damping elements. Since the soil is being elastic materials. As with rigid footings in an elastic
loaded not only by a given discrete element but also by halfspace, the problem of modeling flexible piles is
surrounding elements, assignment of damping and stiff- reduced to a one-degree-of-freedom problem, allowing
ness values should be based on a somewhat different expressions to be obtained for equivalent spring and
rationale than for assignment of stiffness and damping damping constants, which can in tum be input con-
values for rigid footings. Deep foundations do not behave veniently into a structural analysis program.
as surface foundations and must be treated by special The reader is advised to use the procedures presented
methods. Prediction of the response of pile groups is in this chapter with caution and considerable judgment,
often complicated by the fact that a rigid cap is placed as none has been verified in the field in more than a fow
over the heads of the piles, providing surface stiffness simple cases. The procedures are therefore presented not
and damping to the pile group. in the context of criteria but rather in the context of
The understanding of the dynamic behavior of mat, best available information for the designer.
pile, and pier foundations is at best in its infancy. Finite-
element modeling encompassing both the soil and the Modification of Foundation Response
structure represents the most complete and rational
mathematical approach to the analysis of such founda- Because of the uncertainties in the mathematical
tions presently available. However, some aspects of soil- models used to compute foundation response and the
structure interaction, such as elastic be_havior at the uncertainties involved in determining relevant soil input~
interface between the soil and the structure and absorp- to the model, foundation behavior cannot be predicted
tive behavior of fictitious boundaries, are difficult... to with the reliability that can be expected for elements oJ
model in a finite-element scheme. Furthermore, the out- the superstructure. The recommended ranges for founda·
put from such an analysis is not in the form that will tion response analysis described at the end of Chapter L
allow the designer to easily assess the relative effects of are reflections of these uncertainties. Note that it is ofter
the variables in the problem. Therefore, soil-structure impossible to design a structure, particularly a multi
finite-element analyses should be conducted only by degree-of-freedom structure, which will not contain oni
experts. The cost of such an analysis usually precludes or more foundation elements that will not potentiall
its use on all but the most important structures or in resonate (or nearly resonate) in some mode, considerin1
cases where um:ertainties arising from simpler modes of the ranges of stiffness and damping that must b
analysis cannot be resolved by other means. A descrip- designed for. The capable designer, anticipating thi
tion of the details of dynamic finite-element modeling problem, will, therefore, plan foundation elements tha
for soils is beyond the scope of this book. can be corrected or "tuned1' if a vibration problem aris(
An approximate procedure is described in this chapter during operation (ref. 9). Foundation response can bei
for obtaining equivalent vertical soil spring constants be altered during oiperation by changing the resonar
and damping ratios for use in a discrete-element analysis frequency of the foundation. Thus, provisions for sul
of a large mat or slab in which the soil is not explicitly tracting or adding mass to the foundation may l
included in the model, but is instead represented by included in final designs. Provisions for altering stiffne
springs and dashpots, as when a rigid block foundation are also advisable. Generally, it is easiest to increas
is being analyzed. The procedure is based on an empiri- rather than decrease, stiffness once the structure h:
cal analogy with static load conditions, since little usable gone into operation. For example, grout h_oles can t
theoretical guidance is available with respect to dynamic cast into footings or mats resting on a sandy subgrac
response of the soil beneath a flexible mat. In essence, so the subgrade can be grouted if necessary and, ther
static spring constants are used, a technique which can fore, stiffened. Consideration may also be given to inst2
'
Foundations 79
. ling piles and attaching the piles to the footing if a center of that area. Since the soil spring constant depends
• considerable change in foundation stiffness is required on the area of soil being loaded and since a flexible mat
· during operation. Hence, footing reinforcement in the is not effective in distributing a load applied to a small
initial design may be established so the footing can also area to the entire bearing area of the mat, it is obvious
be employed later as a pile cap, if necessary. Increasing that spring constants· for the various discrete elements
the bearing area of a footing is an effective means of employed in solving the mat-supported structure prob- .
increasing stiffness in all modes. Where space will permit lem should not always be calculated using the overall
later increases in footing area, original footing reinforce- dimensions (or equivalent radius) of the mat. It is also
ment may be designed to accommodate additional mo- obvious that it is, in general, improper to assume that To
ments that will occur with increased area. Rebalancing obtained from the contact area of a discrete element is
.or remounting of vibrating machinery to reduce unbal- appropriate for determining k,,, since doing so would be
anced forces should always be considered before modifi- equivalent to an assumption of Winkler springs, which
cations are made to foundation elements, since the cost will result in a system model where stiffness is directly
of machine modifications is often less than the cost of dependent on the choice of element size.
tuning a foundation. It appears reasonable, therefore, to define a flexible
When rocking is the primary mode of motion, perma- z.
mat as one whose outside dimensions exceed 3 in each
nent settlements of soil near the periphery of footings direction and which is loaded by columns or machines
can occur after a machine, has been in operation for some over a relatively small portion of its area. It is recom-
time, leaving the footing supported on a "fulcrum" of mended that when a structure is supported on such a
soil near the axis of rocking for the majority of the load mat that a discrete-element model, rather than a rigid
cycle (ref. 9). This phenomenon is especially pro- block model, be used for the foundation to accommodate
nounced where the subgrade is cohesionless and the its several modes of vibration. To obtain an approximate
shear strength of the soil, therefore, is low near the edges value for k,,, for the i,ndividual elements, the effective
•of the footing due to lack of confinement. The result is a loaded area of the real (not discretized) mat in the
significant decrease in stiffness in the rocking mode. In vicinity of the element should be computed assuming
such a case, grout holes should be cast into the founda- that the area of soil loaded due to the vertical motion
. • tion to permit future closing of the space between the of the element is 3 18 by 3 l, in plan. This area will
footing and soil with low-pressure grout and reestablish- normally be greater than the area of the element. Utiliza-
ment of the original stiffness properties. tion of this area for elements near the edges of the mat
will lead to errors there; however, considering the lack
Vertical Spring and Damping Constants of information on the subject of lumped soil spring
for Flexible Mats constants for flexible mats, further sophistication is un-
warranted.
Agarwal and Hudson (ref. 1) have indicated that the Using Equation (5-1) and assuming that kr is that
vertical displacements in the vicinity of a static vertical for a loaded area 3 l~ by 3 l 8 ,
point load in the interior of ~n elastic, rectangular, pris-
matic mat supported on an elastic subgrade are not
influenced by mat dimensions, as long as the overall where G, and v 8 are properties of the soil and To is the
horizontal mat dimensions exceed three times a relative effective radius to be used in computing k,,.
stiffness dimension ls in both directions, where ls is de- The value of k,, can thus be computed from the half-
fined as follows: space equation for every element using the value of To
(5-1) given by Equation (5-2) and an appropriately estimated
shear modulus and Poisson's ratio for the soil. The value
where E = Young's modulus of mat material, of the spring constant must then be corrected to include
t = thickness of mat, only the reaction against the contact area of the element.
vm = Poisson's ratio of mat material, This is not a straightforward process, h~wever. For
kr = coefficient of subgrade reaction of the soil. example, if vibrating loads are spaced at such a distance
Equivalent criteria for dynamic loading have not been so that effective loaded areas do not overlap (e.g.,
established; however, if it is assumed that the static spacing greater than To), then
criterion holds for dynamic loading, then it follows that
the soil reaction outside of .an area 3 ls by 3 Zs in the kze = A'kz (5-3)
interior of a mat has little or no effect on the response
of a relatively smaller discrete element situated at the where (5-3a)
~
axv
~ Jol1 Numher I Page
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Occidental Chemical Corporation I
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Proiect By Date
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/::.. ~cA'-'l.i - - r/, &,S
13) r _ ....
c) v - - i z~
/. F-= o. ::: z -
x.,(;.o~~ 2?
K I. 3D x I / 2D At
j "
~
DXY
~ I Job Number I Page
I Of
03421-2
Occidental Chemical Corporation I
• Project Date
Subject j Checked By
IDo<•
•
Example Problem 3 I 27
] !(!VJ"
5K
r W1dlh s n.
NOTE:
l)
All dimensions are.in feet.
Ms:> D.t.t ._ /.J$ o~
-- Suri Subgrnde Reaction - 250 Kips/cf!
2)
Spring constant calculation: Spring of joints L 5 .. IO & l.f = 8
x L.x 250 = 2000 Kips/fl
Spring of joints 2. 3. -+.JI. 12 & 1.1 =
8 :x 2 , .: 250 = .fOOO Kips/fl
the AISC steel table. The \\Ord ST stands for standard single
sect ion.
First sci of join ls arc supports fi"cd in all directions c"ccpl f\.lZ
(\\ h1ch is global moment-/) Also. a spring ha\ ing a spring
constant or . moo kip/fl is pro' idcd in the global Y direction. The
~l:COlld set is similar to the former C:\.Cept for a different\ aluc of
the spring constant.
SELF Y -1.0
JOINT LOAD
6 7 FX 5.0
80 Design of Structures and Foundations for Vibrating Machines
in which Ae is the contact area of the discrete element kze= [(10 X 10)/(7r X 14.8 2 ) ) kz
and kze is the appropriate vertical spring constant for
= 1.38 X lQGJb/in.
the individual' element. Equations · ( 5-3) and ( 5-3a)
yield higher soil spring constants than would be obtained
Using Equation ( 5-4) :
by taking the mat as a whole and dividing that value
among the discrete elements in proportion to their areas. r0 = (100 X 100/7r) 0 · 5 =56.4ft
This is a valid representation for very flexible mats with
widely spaced loads because uneven contact stress distri- kz = (4 X 8000 X 56.4 X 12) /(1 - 0.4)
butions cause the soil to behave more stiffly in the = 36 X 10 6 lb/in.
vicinity of applied loads.
When loads are more dosely spaced, kze is usually less kze= (36 Xl0 6 ) X (10 X 10)/(100 X 100)
than the value given by Equation ( 5-3) because a more
uniform contact pressure distribution in the primary = 0.36 X 10 6 lb/in.
modes is likely. Its precise value is very difficult to deter-
mine and will, in fact, vary from mode to mode, depend-
Deep Foundations
ing on the phase differences between adjoining elements
and the spacing of the loads. As a limiting value, it can
be assumed that the soil responds as if the mat were Pile or pier foundations (which hereafter will be
rigid; hence, termed simply "pile" foundations) are often used to
supIJ,.ort vibratory loads when soil conditions at a site
(5-4)
indicate that shallow foundations will result in unaccept-
in which Am is the area of the entire mat and kz is the able permanent settlements. Present understanding of
vertical spring constant for the entire mat. In most cases, the behavior of pile found(!.tions under vibratory loading
kze will lie between the values given by Equations ( 5-3) is relatively poor, but it is known that the use of pile!¥
and ( 5-4) and judgment should be exercised in its selec- decreases geometric damping, increases the resona~t
tion. Most usage in the past has favored Equation ( 5-4) . frequency of the foundation, and influences deformatio:gi.
The soil geometric damping ratio is more difficult to near resonance. Since in some cases, particularly in the
evaluate in a flexible mat than the spring constant lateral load mode, the effect of piles can be adverse,
because of phase differences in various parts of the mat. piles should not be used without some understanding of
An upper limit for the geometric damping ratio for the their behavior.
soil will be that computed from halfspace theory assum- In this chapter approximate procedures developed by
ing that a section of mat and in-phase loads supported Novak and his associates for analyzing the response
thereupon having a radius equal to r0 computed from characteristics of single piles and pile groups in the
Equation (5-2) vibrates as a rigid body. However, inter- uncoupled vertical, horizontal, and pure rocking modes
ferenee from surrounding sections of the mat makes the are described. The solutions are based 9n the assumption
use of the upper limit value entirely unreasonable and of elastic, fully embedded vertical piles interacting with
the correct value virtually unpredictable using the half- uniform elastic soil. Furthermore, the pile tip is assumed
space approach. A value of Dt = 0.15 for discrete ele- to be fixed against motion, except in the case of vertical
ments is suggested in the absence of any other criteria if response, where the tip can be fixed or "relaxed."
the subgrade is homogeneous. The limitations of applying Novak's procedures to real
Example. A 100-ft-square mat is 3 ft thick. I ts Young's geological materials are obvious; however, they have
modulus is 3 X 10 6 psi, and its Poisson's ratio is 0.2. provided reasonable predictions for the response of small
The mat rests upon a clay subgrade having a shear pile groups in relatively simple soil profiles, and further-
modulus of 8000 psi and a Poisson's ratio of 0.4. What more, they represent the current (1979) state-of-the-art
value of kze should be used for a 10-ft-square discrete in the practical analytical treatment of pile-soil inter-
element? action. The solutions for spring and damping constants
Using Equation (5-3): developed by Novak are frequency dependent; however,
r0 = 0.8t [ (E/Gs) ( 1 - u 8) j (1 - um2) J0.333
approximate frequency independent expressions have
also been developed for both the spring constant and
= 0.8(3)[ ( (3 x 10 6 ) I (8 x 10 3 ) ) (0.6/0.96) ] 0 · 333 damping ratio. These will be de~cribed herein. Solutiorn
= 14.8 ft for the stiffness and damping of torsionally loaded indi·
vidual piles and for coupled rocking and sliding, ob·
kz = 4Gr 0 / ( 1 - v 8 ) = 4(8000) ( 14.8) ( 12) /0.6 tained by Novak and his associates, are also availablt
= 9.5 X 10 6 lb/in. (refs. 10 and 14) , but are not included here.
Foundations 81
Novak's various procedures do not permit calculation an appreciable load. If the static load is too large (e.g.,
the stresses induced in the pile material, although more than one half the static capacity of the soil), plung-
• ch stresses can be important, particularly during lateral ing or load shedding can result as the soil resonates with
loading. Ghazzaly, Hwong and O'Neill (ref. 5) describe the pile.
a numerical algorithm for making stress computations Second, the pile cap should be buried in competent
in a pile undergoing harmonic lateral loading. A de- soil (preferably dense granular soil) whenever possible
tailed description of that algorithm is beyond the scope in order to take advantage of the damping afforded by
of this text. the pile cap.
Both the spring constants and damping ratios should
be obtained experimentally from full-sized groups of test Vertical Motion
piles whenever possible, especially if batter piles are con-
tained in the foundation or if short friction piles are The expression for the effective spring constant for a
to be employed. ~Novak's procedures for pile group single end-bearing ("fixed-tip") pile undergoing vertical
analysis do not consider batter piles d\rectly in expres- motion, kz1, given by Novak (ref. 10) is
sions f~r overall group stiffness and damping; however,
Saul's procedure, referenced at the end of this chapter, (5-5)
among others, does allow consideration of batter piles in
an approximate fashl.on.) Furthermore, according to where Ev is the Young's modulus of the pile material, A
Novak and Grigg (ref. 13), the "apparent" shear motlu- is the cross-sectional area of the pile, To is the equivalent
lus to be used for analyzing laterally loaded piles should radius of the pile, and f1 8 , 1 is a factor given by Fig-
be that value backcalculated from elastic beam on foun- ure 5-la (concrete piles) or Figure 5-lb (timber piles)
dation theory (e.g., ref. 17) using the results of a static as a function of ratios of pile penetration l to radius To
load test after several cycles of load have been applied. and v 8 /vc (shear wave velocity in soil above tip/com-
The initial slope of the free-head load versus displace- pression wave velocity in pile). Note that the factors
ment curve can be used conveniently in the calculations. given in Figures 5-la and 5-lb are for fixed tip piles
The reasons for using this approach are that the soils (end bearing or combined friction and end bearing
'~.ery near the surface control the load deformation prop- piles) . For friction piles these factors will be in error by
.·.. rties of the pile. Field surveys and laboratory tests are a relatively small amount for values l/To greater than 60
often conducted to obtain only a mean site value for G, and for values for v,/vc greater than about 0.03 for
which is generally appropriate only for a depth greater timber and concrete piles. For friction piles having lowe·r
than that of the soil effective in resisting lateral motion. values of l/To and/or v 8 /ve, the procedure for "relaxed
Also, since a gap often forms behind a laterally loaded tip" piles (ref. 11) or an empirical approach, both de-
pile, the use of a shear modulus obtained from load test scribed later, should be employed. For steel piles Novak
data provides a convenient empirical correction to and Grigg (ref. 13) have given a value of f1s,1 = 0.030
Novak's elastic solution, which is not rigorous for such a where v 8 /ve = 0.033 (medium stiff soil) and l/To > 80.
case. In a series of large-scale model tests in sand, Novak The effective geometric damping constant for vertical
and Grigg (ref. 13) determined that the apparent shear motion in a single pile cz1 is given by Equation ( 5-6) :
modulus from static lateral pile tests was about one
fourth to one fifth the mean modulus to a depth of
(5-6)
about 30 pile diameters, obtained for the site from
oscillator tests.
where v 8 is the shear wave velocity of the soil through
Simple methods of interpreting field load test data are
discussed briefly at the end of this chapter. Approximate which the pile is driven (yG.g/y.) and f1s,2 is a factor
procedures for estimating damping ratios and spring given by Figures 5-la and 5-lb. The damping factors
/ 18 , 2 are also approximately valid for friction piles in the
constants based on results of several vibration tests
reported in the literature for vertically excited friction ranges described previously relative to the stiffness fac-
piles are also given. · tors / 18 , 1 , although the error in the damping factor is
'irwo important rules should be followed relative to the- somewhat greater. For a steel pile in medium stiff soil
iizing and construction of deep foundations. First, the (v 8 /vc = 0.033) and for l/To > 80, f1s,2:::: 0.045.
Jt<J.ctor of safety relative to the ultimate static axial load" For relatively short friction piles (that is, piles with a
fn a pile should exceed 3 in order to restrict soil "relaxed tip"), Novak (ref. 10) suggests computing kz1
~tresses to a magnitude that will preclude the "resonant and cz1 as follows:
.:Jiving" effect, wherein the soil around the pile
'11'esonates
~ .
with the pile and loses its ability to carry k/ = (EpA/To) /'1s,1 ( 5-5a)
'!llil!1
1111111
1
'11!'!111'I
11!
0.02 0.02
0.01
0.01
0 0
0 20 40 60 80 100 0 20 40 60 80 100
-~
.... ---- --- ---- __o..:..o~ ,,,.----
1---Al,-\,----i~-~~~-~~~~
I
/
t;., 0.08
(/)
a:
~ 0.04
w
I
:::;: w 0.04
----
0.04 f-
<( w
a: ---6."62 ::;;
<( <t _£02
a. 0.03 0:
0.02 a: 0.04 i
I
0.03
' 0.02
---- ----
0.02
0.01
--0:01
0.02
_Q.O.L
001
0
0 20 40 60 80 100
0
c PILE SLENDERNESS L1r0 0 20 40 60 80 100
d PILE SLENDERNESS i1r 0
Figure 5-1. Stiffness and damping factors for vertically excited piles (after refs. 10 and 11 ). a. Fixed-tip con-
crete piles. b. Fixed-tip timber piles. c. Relaxed-tip concrete piles. d. Relaxed-tip timber piles. Figures
5-1 a and 5-1 b reproduced by permission o.f the National Research Council of Canada from the Canadian
Geotechnical Journal, Vol. 11 (1974), p. 586.
of the stiffnesses of the individual piles. A similar state- size and penetration), and usirig the distributed stiff-
can be made relative to damping. If several ness values in the analysis,J In other words, it is not
• ict groups are used to support a vibrating super- appropriate. to use the values given by Eq~. 5-5 or 5-5a
structure, it is reasonable to O'btain an equivalent spring or the corresponding equations presented in the follow-
constant and damping ratio for each cluster. These ing section on single pile horizontal response.·
equivalent constants may then be applied to the struc- The damping ratio to be assigned each pile for each
ture at the appropriate supports for purposes of analysis mode of translatory motion in a multi-degree-of-free-
of structural response. An example of this approach is dom-foundation representation should include a consid-
a frame whose columns are supported by separate pile eration of group action, which will result in a higher
groups. damping ratio for each pile than would be obtained
Often, however, a block or rigid mat foundation will using the single pile damping ratio. Typically, each pile
be supported by a single large group of piles. In such in. the system would be assigned a damping ratio equal
a case it is often convenient to represent the structure- to the group damping ratio in a given mode divided by
foundation system by Model C, described in Figure 2-9, the square root of the number of piles in the group.
Chapter 2, where the entire group is modeled by a In the remainder of this section simple equations
single spring constant and a single damping ratio in are given for the determination of group stiffness kzg
each mode of vibration. and damping D,l for a group of vertical piles oscillating
Whenever piles are used to support a flexible niat, in the vertical mode~ Similar expressions will be pre-
when large torsional moments are applied to the super- sented in the next section for horizontal translatory
structure, or when batter piles are present, it is usually stiffness and damping for vertical pile groups. Note that
necessary to employ a multidegree-of-freedom computer in evaluating group effects -for the latter mode it is
model (Fig. 2-11) and to represent each individual pile necessary to estimate the direction of primary horizontal
in the system by assigning linear support spring con- motion. Since no general solutions are available for the
stants and dashpots to the point in the structure where assessment of group effects in groups containing batter
the pile head is located. These spring constants repre- piles, some judgement is necessary to apply these ex-
sent uncoupled vertical stiffness and horizontal stiffn'7sses pressions to batter pile foundations.
. wo perpendicular directions. When batter piles· are Novak and Grigg (ref. 13) have argued that the
nt, axial stiffness and damping parameters may be deflection factors proposed by Poulos (ref. 15) for
•
computed from the "vertical" motion equations, and groups of statically loaded piles may also be applied, to
lateral parameters may be computed from the "horizon- a pile group undergoing steady-state vibration. Hence,
tal" motion equations. Input values for stiffness and Novak and Grigg propose that
damping can then be obtained by taking components
in the coordinate directions. The horizontal spring con-
stants (described later) are strongly dependent on the (5-8)
k gz --
manner in which the piles are fixed to the structure.
For block foundations and table top structures con-
taining a thick mat (which also serves as the pile cap) ,
where N = number of piles in group
tpe ·pile heads are normally assumed to be fixed rigidly aA =
axial displacement interadion factor for a
to the structure. While frame analysis programs allow
typical reference pile in the group relative to
the inclusion of uncoupled rotational- stiffness terms at
itself and to all. oth&:r piles in the group, as-
the pile head, it usually is necessary to include rotational
suming the reference pile and all other piles
~'prings for rocking about transversfpile axes only when
carry the same load.
large rocking moments are presenf and when batter
pif€s~ are not present in the foundation. It is rarely
necessary to include a torsional stiffness constant for an The factor aA can be evaluated using Figure 5-2.
individual pile, since torsional moments applied to the
structure are resisted almost completely by couples pro- The equivalent geometric damping ratio for the
duced by lateral reactions at the pile heads. While the group is given by
!Piles are represented individually in this type of analysis,
~it' is still desirable to include the softening effect of
~N 1
iffe'oup action in the model. This can be done by cal- 1-l c z
1
~ulating the stiffness for the pile group as a whole in D/ = (5-9)
appropriate mode, distributing the stiffness equally
•;., ong tile piles 'lfpresuming that all piles have the same
.i1' •
~ ~-· .........................................
84 I.Design of Structures and Foundations for Vibrating Machines
1.0.,.-----.----,---.,-----,----,--------..-------..,
j·u. 1---~~--+---+---+---H
~ 0.6 --lll;--2ro s-=J-2ro
0
t-
~ 0.41-----l~---1----1-...::::.-=1---+.:=:::=---.::::--:..::..-...;-+--"''""'='----~
a::
w
t- ---1'=0.5
z
- 0.2 f----+- ----,,=O
I I
2 3 4 5
0.2 0.1 0.0
S/2r0 2r0 /S
Figure 5-2. aA as a function of pile length and spacing (after ref. 15).
the' development. of side friction between the cap and soii 0.0 2.7 6.7 3.6 8.2 2.5 1.8
0.25 2.7 6.7 4.0 9.1 2.5 1.8
and only when dense'granular backfill is used, since soil 0.4 2.7 6.7 4.1 10.6 2,5 1.8
beneath the base of the cap is likely to be of poor
quality and can settle away from the cap. Likewise, *Values are appropriate for a 0 = 27rfro/ ..J G.g/-y. in the range
cohesive backfill can shrink away from the sides and be- 0 <ao ::;2 wheref is the machine frequency. Sui is not con-
come ineffective. stant for"• > 0.43. Reproduced by permission of the National
Novak and Beredugo (ref. 12) have given expressions Research Council of Canada from the Canadian Geotechnical
Journal, Vol. 9 (1972), p. 495.
for calculating stiffness and geometric damping con-
stants for the embedded cap, which are added to the An interesting comparison from a theoretical study
stiffness and damping values obtained in Equations of the vertical response of a machine and its foundation
( 5-8) and ( 5-9) to arrive at total system stiffness and when the foundati~n is embedded and when it is placed
damping for a group of pile~ Those expressions are on the surface without embedment was developed hy
given here as Equations (5-10) (stiffness, k/) and Novak. The foundation consisted of a solid rectangula1
(5-11) (damping, c/)fwith only the side resistance block of concrete ( 16 ft long, 10 ft wide, 8 ft high)
component considered. Expressions for caps or footings embedded 2 ft a.pd not embedded. It was supportec
in complete contact at the base can be found in Novak on eight 35-ft long fixed-tip timber piles in a mediurr
and Beredugo (ref. 12). stiff clay. The machine supported on the block weighec
10 tons and the operating speed iwas varied. The re·
k/ = Gs h Si (5-10) sponse of the pile foundation system is shown in Figm
5-3. In that figure, A..- is the static deflection that i
(5-11) produced by the unbalanced force at a given frequenc,"
M is the mass of the footing (cap) plus machine, ru
In Equations ( 5-10) and ( 5-11) , h is the depth of me and e are the unbalanced mass and its eccentric:
embedment of the cap, r 0 is the equivalent radius of within the machine. The effects of the relatively sma.l
the cap, Gs and Y• are the shear modulus and total amount of embedment are evident.'
unit weight of the backfill, and S1 and Sz are constants Also shown in Figure 5-3 are the response curves fo:
given in Table 5-1, in which v 8 is the· Poisson's ratio the machine and rectangular block footing without piles
of the backfill soil. The shapes· of the va:rious curves show vividly importan
Foundations 85
= 459 ft/sec = 5510 in./sec Figure 5-3. Effect of type of support on vertical
response of a foundation (after ref. 10). Reproduced
Ve =
05 6
(Epg/yp) · = {((3.5 X 10 )/150] (144) (32.2) } •
05 by permission of the National Research Council of
= 10,400 ft/sec Canada from the Canadian Geotechnical Journal,
Vol. 11 (1974), p. 589.
v8 /Ve = 0.044; me= (70,000+l2Xl2X8Xl50)/386
= 629 (lb~sec )/in.
2
5
r0 = [(20 X 20)/1r]°" = 11.3 in.
l/r0 = 90 (12)/11.3 = 95.6
f1s.1 = 0.033 fis,2 = 0.053
6 2
k/ = (EpA/r0 ) f1s,1 = [3.5 X 10 (20) /11.3] (0.033)
6
= 4.0 X 10 lb/in.
• c/ = (EpA/v,) f1s,2
4
= [3.5 X 106 (20) 2/5510] (0.053)
s'
= 1.3 X 10 lb-sec/in. __l'--r--.---.-J-.L:...;.~~~---
k/ = Gs h S1 = 6000 (6 X 12) (2.7)
6
= 1.2 X 10 lb/in.
>~<;,,, l
Adjust for group effects. Assuming any pile in the group
is a reference pile with r 0 == 11.3 in., S/2r0 to an ad-
jacent corner pile is 72/22.6 == 3.19 and to the di-
agonally opposite pile is 1.414 (3.19) 4.50. Using =
Figure 5-2: .. .. .... . . . DENS!:; SAND
\'
4
aA = 1 + 2 (0.58) + 0.5 ·= 2.66 Yp = .150pcf
~1 .
(ASSUME 35T OF THE STATIC COLUMN
6 LOAD VIBRATES WITH THE CAP IN
;~•i:: k.1/l:: aA
~
4 4
= ( ,02 .~6 lQ) = 6.0 6
X.10 lb(in· VERTICAL MODE l
:c:: (combmed stiffness
~ . cl~~~ Figure 5-4. Pile group for example problem.
~.:'.
~"'-"
I
. .
~~~'-
86 Design of Structures and Foundations for Vibrating Machines
Adding in the stiffness of cap due to side resistance: Uncoupled Rocking Motion
k~ = 6.0 X 10
6
+ 1.2 X 10
6
;=
6
7.2 X 10 lb/in. Novak (ref. 10) has presented expressions for th
uncoupled stiffness and geometric damping constan1
for single piles and for pile groups undergoing pur
rocking. In summary,
(5-18
= 4(1.3 x
104)
(2.66)o.5
+ 4 . 1 x 10.4 (5-19
Note that over half of the damping is produced by the k/ = 2:N [k/ + k.,1x,2+ k.,z/ -
1
2;;,,k.,/] + k/
embedded cap. Material damping is not included. (5-2C
k/ = (Epl/r 0
3
) fn,1 (l/ro 5: 25) (5-12)
- o(zc!r.) J s,,1 ' (5-2
(l/r0 5: 25) (5-13) where 8 = h/r 0 , and St/11 and Sui are defined in Tab
where I is the moment of inertia of the pile cross- 5-1. Note that it is necessary to include k.,t/f', a crrn
section about a centroidal axis perpendicular to the stiffness term, in the solution. Note also that interacti<
direction of translation. The subscript x denotes horizon- factors (a) are not included in the solution for grm
tal motion, and f 11 , 1 and f 11, 2 are factors for fixed-head stiffness because group action in pure rocking is not
piles given in Table 5-2. prevalent as in the translational modes and because ad
quate studies have not been conducted to establish
For a group of piles,
appropriate interaction factors for the rocking mode.
(5-14) Finally,
o
Cy, =
"'N (q + c, x, + Cx Zc
l..i. 1 1 2 1 2
- 2zcCx>t
1)
+ Cy, f
(5-15) 1
(5-2
where ar, is a displacement factor for lateral motion de- where c/ and c,,,1 are damping constants for individt
fined in an analagous fashion to aA. Approximate values piles given by Equations ( 5-6) and (5-13), respective
for ar, may be obtained from Figure 5-5. and
(5-~
Finally, the stiffness and geometric damping char-
acteristics of the cap are represented as follows: The factor f9 , 2 is evaluated in Table 5-2. Further,
(5-16)
c/ or.4 vG. 'Ys/g {Sy,2 + 2
[(0 /3) + (zc/r.) 2
c~ = hr yG, 'Ys/g
0 S,,2 (5-17) - o(zc/r.) J Suzl (5-'.
where Su1 and Su2 are factors given in Table 5-1. where 'Sir 2 and Su2 are defined in Table 5-1.
Foundations 87
Table 5-2
Values of f11,1if11,2i f1,1i f1,2i f9,1i f9,2
for l/r0 > 25 (after ref. 10)*
*Values are appropriate for ao = 0.3 (See Table 5-1), but are approximately valid ( ±103) for 0.1:$ao:$0.8. Reproduced by per-
mission of the National Research Council of Canada from the Canadian Geotechnical Journal, Vol. 11 (1974), p. 584.
•• #.G.
MACHINE,
IF PRESENT
al
DIRECTION OF LOAD
(FIXED 0.4
HEAD)
0:' J~ - - ---1--'........._~...,.,.+--i
'u
0.3-~------~+----+----+------1'----l
-.....................
o.2r---
IO 20 30 40 50 60 70 80 90
DEPARTURE ANGLE {J (DEGREES)
Graphical solution for aL (after ref. 16).
88 Des!gn of Structures and Foundations for Vibrating Machines
k1 = AEp/Lr (5-26)
O'----"'"----'-----'-----'-----'"--~
0.7 0.8 0.9 1.0 I. I 1.2 1.3
kb = AEp/L, (5-27)
flfr
where k1 is the vertical stiffness constant for the free- Figure 5-7. Vertical response curves for two partially
standing portion, kb is the vertical stiffness constant for embedded friction piles (after ref. 6).
the embedded portion, and the remaining factors are
defined in Figure 5-8. It then follows that SINGLE PILE
M=MASS OF MACHINE AND PILE CAP
A= CROSS-SECTIONAL AREA
(5-28) Ep=YOUNG'S MODULUS OF PILE MATERIAL
Yp =UNIT WEIGHT OF PILE MATERIAL
Alternatively, kz can be obtained by numerical pile load- -.,.,.,."4--l !--,.,..,.,.,..--- W0P= EFFECTIVE WEIGHT OF PILE
settlement synthesis techniques (ref. 20) . In fact, use of "'~>;, [L 1 +L ]A 0
lumped mass m of the pile can be taken approximately computing vertical response of partially embedded
as piles (after ref. 2).
Foundi:itions 89
(A,)resonance = (Q./kz) (1/2Di) (5-32) and in a four-pile square group is reported in ref. 8. The
piles in the group were spaced three butt diameters on
. e Q0 is the unbalanced force at the resonant fre- center, and the cap was suspended above the soil. The
quency computed from Equation (5-30). piles were driven through layers of very stiff, overconsoli-
When vertical piles are present in small groups ( 2-6 dated saturated clay with a few sand seams. The shear
piles) with suspended caps and when the spacing exceeds . modulus of the soil layers as measured by crosshole tests
three times the effective diameter of the piles, analysis of varied from about 5000 psi to about 30,000 psi, with an
test data presented by Maxwell, Fry and Poplin (ref. 7) average of 20,000 psi. The stiffness of the piles, rwhich
indicates that the vertical response of the group can be vibrated at a relatively low frequency, was computed
predicted using the equations just presented for single using static numerical synthesis procedures based on
piles with the modifications indicated in Figure 5-9. methods described in refs. 15 and 16, as opposed to
The relationship of group damping to single pile damp- using Equations ( 5-5) and ( 5-12), because °'-0 was very
~· ing for groups containing 2-6 piles is similar to that low. Damping constants were determined from the pro-
described in the section on group effects. If ,the cap is cedures developed by Novak and his associates. The
adequately embedded, its damping ratio should ]:>e in- measured and predicted spring constants and damping
cluded in the group damping. ratios for several repeated tests are shown in Figures 5-10
Equivalent vibrating lengths and weights of piling and 5-11. Note that damping in these fully embedded
and mass properties of the pile cap can be used to step taper piles was considerably higher than that mea-
compute resonant frequencies for pile groups containing sured by Hart for partially embedded prismatic piles.
six degrees of freedom in numerical techniques described
by Saul (ref. 18) and Singh, Donovan, and Jobsis (ref.
19). Saul's method does not permit computation of N
amplitudes of motion at resonance because damping is M Wep= t Wep SINGLE PILE
not considered; however, the method developed by
N
Singh, Donovan, and Jobsis does permit inclusion of a
single overall damping factor. These methods, which kz= t kz, SINGLE PILE
I-
\il;ould be implied from using Le of 0.5 to 1.0 times L 0 • z
j:!
nene'vf'r possible, therefore, both vibratory load .tests, (/)
z
to measure fr and A,, at resonance, and very loiw ampli- 0
(.)
tude static load tests (to no more than 10% of the (!)
7
frictional capacity of the pile), .to measure k,,, should ~ IXl0
a::
Cl..
conducted on test piles or pile groups for purposes (/)
GRO~
7. Max;well, A. A., Fry, Z. B., and Poplin, J. K.,
~
a: 0.3 Vibratory Loading of Pile Foundations," STP 444,
(.!)
z A.S.T.M., 1968.
a: 4-PILE 8. McClelland Engineers, "Pile Performance under
:E HORIZONTAL
g 0.2 Dynamic Loading.. Pile Test Program, W. A. Parish
Cl Station," Report to Houston Lighting and Power
w Campany, September 1977.
a:
:::::>
(/) 4-PILE GROUP, 9. McNeill, R. L. "Machine Foundations: State-of-
er
w VERTICAL
:E 0.1 the-art," Proceedings of Specialty Session on Soil
J~,
Dynamics, Seventh International Conference on Soil
Mechanics and Foundation Engineering, Mexico
City, Abgust 1969.
0 0.1 0.2 0.3 0.4 10. Novak, M., "Dynamic Stiffness and Damping of
PREDICTED DAMPING RATIO
Piles," Canadian Geotechnical Journal, Vol. 11, No.
4, November 1974.
Figure 5-11. Comparison of measured and predjcted
11. Novak, M., "Vertical Vibration of Floating Piles,"
damping for piles in multiple tests (after ref. 8).
Journal of the Engineering Mechanics Division,
A.S.C.E., Vol. 103, No. EMl, February 1977.
The trend in the tests was that measured stiffness 12. Novak, M., and Beredugo, Y. 0., "Vertical Vibra-
exceeded computed stiffness in the vertical mode in the tion of Embedded Footings," Journal of the Soil
initial test but the difference in measured and computed Mechanics and Foundations Division, A.S.C.E., Vol.
stiffnesses decreased as further tests were conducted, 98, No. SM12, December 1972.
possibly due to relief of residual driving stresses in the 13. Novak, M., and Grigg, R. F., "Dynamic Experiments
piles. No such trend could be observed for stiffness in with Small Pile Foundations," Canadian Geotech-
the horizbntal mode or with the damping ratio in either nical Journal, Vol. 13, No.· 4, November 1976.
mode. Note also that little difference in measured damp- 14. Novak, M., and Howell, J. F., "Torsional Vibration
ing existed between single-pile vibration and group of Pile Foundations," Journal of the Geotechnical
vibration. Figures 5-10 and 5-11 serve to underscore Engineering Division, A.S:C.E., Vol. 103, No. GT4,
previous statements concerning the uncertainties in April 1977:
dynamic response analysis of foundations and the de- 15. Poulos, H. G., "Analysis of the Settlement of Pile
sirability of providing for foundation tuning capability. Groups," Geotechnique, Vol. XVIII, No. 4, Decem-
ber 1968.
References 16. Poulos, H. G., "Behavior of Laterally Loaded Piles:
II-Pile Groups" Journal of the Soil Mechanics and
1. Agarwal, S. L., and Hudson, W. R., "Experimental Foundations.Division, A.S.C. E., Vol. 97, No. SM5,
Verification of Discrete-Element Solutions for Plates May 1971.
and Pavement Slabs," Research Report 56-15, Center 17. Poulos, H. G., "Behavior of Laterally Loaded Piles:
for Highway Research, Austin, Texas, April 1970. III-Socketed Piles," Joumal of the Soil Mechnanics
2. Bea, R. G., personal 'Communication, 1974. and Foundations Division, A.S.C.E., Vol. 98, No.
3. Beredugo, Y. 0., and Novak, M., "Coupled Horizon- SM4, April 1972.
tal and Rocking Vibration of Embedded Footings," 18. Saul, W. E., "Static and Dynamic Analysis of Pile
Canadian Geotechnical Journal, Vol. 9, No. 4, Foundations," Journal of the Structural Division,
November 1972. A.S.G.E., Vol. 94, No. ST5, May 1968.
4. Dodge, C. F., and Swiger, W. F., "Vibration Testing 19. Singh, J. P., Do::iovan, N. C., - and Jobsis, A. C.,
of Friction Piles," Engineering New-Record, May 13, "Design of Machine Foundations on Piles," J ourna1
1948. of the Geotechnical Engineering Division, A.S.C.E.
5. Ghazzaly, 0. I., Hwong, S. T., and O'Neill, M. W., Vol. 103, No. GT8, August 1977.
"Approximate Analysis of a Pile under Dynamic 20. Stevens, J., "Prediction of Pile Response to Vibratof)
Lateral Loading," Journal of Computers and Struc- Loads," Proceedings, Tenth Offshore Technolog)
tures, Vol. 6, No. 4, 1976. Conference,· Vol. IV, Houston, T~, May 1978.
• 6 Design Examples:
Block Foundations
Three block foundation design examples are presented which includes a series of steps so that a thorough design
in this chapter. These examples use the theory and infor- is accomplished without the danger of missing any neces-
mation developed in previous chapters. The selected sary check. Cross references have been made to other
foundations are typical and commonly used in many parts of this- book at each design step in order to illus-
industrial plants. The examples follow a standaro format trate the utilization of previously derived formulae.
91
92 Design of Structures and Foundations for Vibrating Machines
counterwts. counterwtS.
fore, inclusion of the effects of internal and geometrical
Two cylinders on F' without
damping during oscillation becomes an important oon-
~
one crank counterwts. (!.4l)F" Nil Nil
Cylinders at 90° Owith
sideration, and this can only be accomplished by using counterwts.
the elastic half-space theory. Two cylinders on 2F' without
~
one crank counterwts. 0 None Nil
In this theory, the footing is assumed to rest on the Opposed cylinders F'with
counterwts.
surface of the elastic half-space and to have simple
Three cranks at 120° (3.46)F'D
geometrical areas of contact, usually circular, but other
~
without
0 0 counterwts. (3.46)F 6 J
shapes such as rectangular or long strip can also be ). (1.73)F'D
handled with some simplification, as decribed in Refer~ with
counterwts.
ence 4. This theory includes the dissipation of energy Four cylinders
0 0 0 0
~
throughout the half-space by "geometric damping" and Cranks at 180° (1.41)F'D
I without
allows calculation of a finite amplitude of vibration at counterwts.
the "resonant frequency," (ref. 1). The method is an
Cranks at 90°
+---Tur- 0 0 (0.707)F'D
with
counterwts.
4.0F"L
latory (the vertical, lateral and longitudinal modes) and secondary forces acting with the primary frequency.
A; modes are rotational (twisting or yawing, rocking, In this example however, a complete analysis is
W pitching or rolling modes). The vertical and twisting performed using primary and secondary forcing
vibration modes are usually independent. However, if functions separately.
rocking oscillation caused by the eccentric location of
vertical and horizontal forces on the foundation is pos- C. Soil and Foundation Parameters
sible, then the vertical and twisting motions are always
The required soil and foundation parameters are
coupled with the rocking motion. In many practical
obtained from the soil report and the facility's plot plan.
problems, vertical, lateral, and roc~ing modes exhibit
the greatest .influence on the overall motion and are Plant Grade El. = 100'-0"
generally considered independent of each other in the Top of Foundation El. = 100'-6"
analytical solution. The results can then be superimposed. Recommended Foundation Base EL = 95'-6'"
In some special problems, iwhere the center of _gravity
Soil Stratum is Medium Dense
( C.G.) of the foundation system along the vertical axis
Sihy Sand with Gravel
is substantially higher than the center of resistance
offered by the soil to horizontal forces, coupled modes Soil Density ( y) .117 pd
(rocking and lateral) must be considered. A rheological Shear Modulus ( G) = 14,000 psi
representation of the modes of oscillation is shown in Poisson's Ratio ( v) 0.35
Figure 6-2. Soil Internal
Damping Ratio (D1J1i) 0.05
Static Allowa'ble
B. Machine Parameters Bearing Capacity, Sa11 2.5 ksf
Permanent Settlement of Soil = 0.2 in. at 2.5 ksf
The following information is supplied by the machine
vendor: (refer also to Chapter 3 for development of D. Selection of a Foundation Configuration
information) .
··:.·.Vertical reciprocating compressor (four cylinders)
Trial sizing of the supporting block follows the sug-
-. auxiliary equipment:
gested guidelines 1 and 2 (a) through 2 (g) given in
Compressor 28,115 lbs. Chapter 3.
Gas Coolers 4,350 lbs. Try a shallow and wide footing such that the co~
Snubbers 7,010 lbs. bined center of gravity of m~ss of machines and of foot-
Motor 18,000 lbs. (rotor weight= 6,000 lbs.) 1 ing coincides in plan with centroid of the contact area
Total Machine of footing (Figure 6-4). It is also recommended that at
Weight 57,475 lbs. least 80% of the footing thickness should be embedded
in the soil to restrain the translation movement of the
Dynamic forces (Figures 6-3 and 6-4)
footing. Note that the .effective foundation embedded
depth h is taken as 3 ft, i.e., the full 4 ft embedded
a. Compressor speed, primary (operating) = 585 I'pm,
depth minus the top 1 ft layer.
secondary= 1,170 rpm .
Concrete Footing Trial Outline (see Figure 6-4)
Max. Vertical Primary Force Fz = 1,329 lbs. Weight of the footing (WF) = 324,843 lbs.
Max. Vertical Secondary Force Fz = 553 lbs. Total static load ( W) = machine weight + weight
-. Max. Horizontal Primary Force F,, 725 lbs. of footing= 382,318 lbs.
Max. !tocking Primary Moment T 1/1 = 11,304 lbs.-ft Weight of footing/weight of machine = 324,843/
Max. Pitching Primary Moment T .p = 34,000 lbs.-ft 57,475 = 5.65> 5 O.K.
Max. Pitching Secondary Moment T .p =12,350 lbs.-ft ~ctual soil pressure= 382,318/15.75(27.5) ::=: 883 psf
< 0.5 Saii = 1,250 psf
b. Motor speed = 585 rpm. Motor dynamic forces are
negligible. Thus trial area of footing is O.K.
Note: Superposition of primary and secondary All other guidelines for trial sizing are checked and
forces results in a non-harmonic forcing function found satisfactory.
a period equal to that of the primary motion. For A dynamic analysis check iS then perfonned on the
simplicity, one may assume a single harmonic forc- tri'al foundation. The various steps in this procedure are
irig function with the maximum amplitude equal to listed in Table 6-2. .
the sum of the amplitudes of the primary and (text continued on page 97)
94 Design of Structures and Foundations for Vibrating Machines
1 F( t)
---r- -- --;1--1
.4-- - -~-y
I I ,,,
v
'------V I
~
(A) Vertical Excitation (B) Horizontal Translation
T-.,, (t)
TRANSLATION ----.....1', L ~
I I _,;- ROCKING I~
~-~ _T_·--.--+---1c
x ~
i rl EQUIVALECN·~, ~ -':fr~,.:J
1
r- ...__I I
-lb~
L._ ;__ I '1---...
,., ---J
-- L
(E) Coupled Horizontal Translation & Rocking
Oscillation
.B.
I-CRANKSHAFT REVOLUTION
~r 11' 311'
tr . ., . .-
VERT. FORCE ,Fi!= 1"(
1329 cos wt+553 cos l!IA)t 0 T 2
1
COMB. VERT. MOMENT~ T!!i"
34000 cos c..,t+ 12350 cos 2cut
YERT.. FORCE I Fi! {P) 1329 cos cu =
2000 -----------------------~ 56667
........ ... ........
1
VERT. MOMENT*, T J (P)
34000 cos wt P
= --!--'~~-+-~~-t-~~~t--~~-t-~~--t~~r-----¥-
l
VERT. FORCE, Fi! (S) =553 cos2wt
VERT. MOMENT*T¢ (S)=
12350 cos 2 wt Wt
w = 61.26 rad./sec
* (PITCHING)- -2000__.---~---~--------~---~---~-56667
AXIS OF
TORSIONAL
•
-<D =
I
0
0 I
Q
_j
-"'
w
0
~
b
I
-I!)
----~ - - - -t- -
WT. OF FOOTING.
- -- - -
WF =324,843 lbs.
II I
~ y I
" N
.,,;;
•
96 Design of Structures and Foundations for Vibrating Machines
Table 6-2
Dynamic Analysis of the Trial Foundation
(c) Spring constant Figure 4-1 ~. = 2.15 ///~x = 0.95 ~"' = 0.58 ~<I> = 0.45
coefficient
(d) lj:qvl. spring constant Table 4-1 kz = 152.66 X 106 kx = 132.59 X 106 k,p = 25.176 x 10' kq, = 11.758 x 109
(rect. footing) lbs./ft lbs./ft lbs.-ftlrad lbs.-ftlrad
Damping Ratio
(a) Embedment factor Table 4-4 az = J.254 ax= 1.623 a,p = 1.024 aq, = 1.041
(b) Mass ratio Table 4.3 Bz = 0.328 Bx= 0.408 By, = 0.115 Bq, = 0.222
(c) Effective damping Table 4-5 ny, = J.6 n<I> = 1.581
coefficient
(d) Geometrical damping Table 4-3 Dzu = 0.931 Dxu 0.732 Dy,g = 0.302 Dq,g 0.195
ratio
(e) Internal damping soil data Dzt = 0.05 Dx; = 0.05 Dy;[= 0.05 Dq,; = 0.05
(f) Total damping (d)+(e) Dz 0.981 Dx = 0.782 D,p = 0.352 Dq, = 0.245
*Vertical forces and moments, and horz. forces and moments are out of phase by 90 degrees and, hence, are not maxim.u_m at the same time. However, this combination gives conservative results.
Design Examples: Block Foundations 97
those directions. Rocking ( tf!) oscillation is also possible Bz, Bx, BtJ!, Be, B</> =Mass (or ·inertia) ratio; vertical
since the horizontal forces act above the C.G. of the horizontal, rocking torsional and
foundation. Pitching (.p) oscillation must also be con- pitching vibration mode
bi = Depth of section i, ft
sidered in thi~ example since unbalanced moments are D =Damping ratio= C/C0
provided by the machine manufacturer. ,However, twist- Dzg, Dxg, DtJ!g, D</>u =Geometric damping ratios; vertical,
ing or yawing oscillation is not considered since the · horizontal, rocking and pitching
horizontal forces do not form a couple in the horizontal modes
plane. The horizontal translation and the rocking modes Di = Internal damping ratio
F(t) =Excitation force, lbs.
need not be coupled if: Fo = Amplitude of e}l:citation force, lbs.
F., =Maximum horizontal dynamic
force, lbs.
Fz == ~1aximum vertical dynamic force,
lbs.
Using values . from Table 6-2 for f n:i: = 1009.1, f nt/I f = Operating speed of machine, rpm
= 1,677.6 and f (primary frequency) =
585 rpm, and f c =Critical speed of the machine, rpm
substituting in the above expression, fn =Natural frequency, rpm
Im= Resonant frequency, rpm
fmtJ! =Resonant frequency in the rocking
\1(1,009.1) 2 + (1,677;6) 2 /(1,009.1x1,677.6) mode, rpm ·
= 1.156 X 10-a fm</> =Resonant frequency in the pitching
mode, rpm
Ina!= Natural frequency in the x-direc-
and 2/(3 X 585) = 1.140 X 10-a, which appears to be tion, rpm ·
a border line case (1within 1%) . Hence, uncoupled mode f nz =Natural frequency in the z-direc-
analysis is O.K. tion, rpm
fntJ! =Natural frequency m the rocking
direction, rpm
Environmental Demands Int/>= Natural frequency in the pitching
direction, rpm
1. Physiological effects on persons. If the machine is G = Shear modulus of soil, psi
located in a building, Figures 3-4, 3-5 and 3-7 are l:lsed g =Acceleration of gravity = 32.2 ft/
to test the adequacy of the installation. In the example, sec 2
Figure 3-4 indicates vibrations to be "barely noticeable
H = Dynamic horizontal force, lbs.
h =Effective foundation. einbedment
to persons" at the operating frequency of 585 cpm for a depth, ft
maximum vibration amplitude of 0.000717 in. It/I, I., 1</> = Mass moment of inertia in the tf!
2. Psychological effects on persons. Use the same pro- (rocking), () (twisting) and .p
cedures as in ( 1). When the machine is located close to (pitching) directions, lbs. sec 2-ft
people not connected with machine operations, an acous-
i =Segment (i = 1, 2, 3 ... )
k = Spring constant, kips/ft
tical barrier may be necessary. ki = Distance from center of mass to
3. Damage to structure. Use the limits given in base of footing for segment i, ft
Figure 3-4. The example check shows no danger. kz, k,,, ktJ!, ke, kt/> = Equivalent spring constants: verti-
4. Resonance of structural components ( superstruc- cal, horizontal, rocking, tat:sional
and pitching modes
ture-above the footing). Avoid resonance with the lowest
L = Width of base of machine founda-
natural frequency by keeping the rati~ of operating fre- tion block, ft
quency to natural frequency less than 0.5 or greater M = Dynamic magnification factor
than 1.5. No other structural components are involved m = Mass, lb. sec 2 /ft
in the example. mi = Mass of segment i, lbs. sec 2 /ft
Conclusion. The foundation is predicted to perform ntJ!, n</> =Rocking and pitching mass ratio
factors for geometric damping
in an acceptable manner. The static and the dynamic PH= Force transmitted in the horizontal
analysis confirm the adequacy of the proposed founda- direction, lbs.
tion configuration and, therefore, the design as propooed Pv = Force transmitted in the vertical
is acceptable. direction, lbs.
PTtJ! = Transmitted rocking moment, ft-lbs.
PT</>= Transmitted pitching moment,
-----Nomenclature-Example 1 - - - - - ft-lbs.
Pbdyn =Bearing pressure due to transmitted
ai = Width of section i, ft dynamic force, psf
B = Length of rectangular foundation r =Ratio of operating frequency to
block, ft natural frequency= I/In
Design Examples: Block Foundations 99
•
ro = Equivalent radius for rectangular Critical Speed Uc) = 1st - 3,400 rpm
footing, ft 2nd - 9,000 rpm
=
Rh., Horizontal distance from center to Eccentricity of Unbalanced
edge of footing in the x-direction,
ft Masse = 0.0015 in. (provided
=
Rhy Horizontal distance from center to by manufacturer
edge of footing in the y-direction, for the static condition)
ft
=
Rv Vertical distance from base to hori-
zontal machine load, ft The dynamic eccentnc1ty at operating speed may
Saiz = Allowable soil pressure, k~f then be calculated from
Tt/I = Unbalanceq rocking moment, ft-lbs.
=
T t/> Unbalanced pitching moment, ft-
e=e/[1- (f/fc) 2 ] =0.000472in.
lbs.
T = Transmissibility factor Often, the manufacturer may claim a zero eccentricity
Tr (P) = Transmissibility factor for primary
operating frequency for the rotor components. A design value can never-
Tr (S) = Transmissibility factor for second- theless be selected from Table 3-1 as in Example 3
ary operating frequency :which follows.
W = Total weight of machine plus foun-
dation, lbs. Centrifugal Force F 0
W F = Weight of foundation, lbs. = (Wn/g) e w 2 1,359 lbs.
X = Displacement response in .the hori-
zontal x-direction, in. _ Turbine:
X t = Total displacement response in the
horizontal x-direction, in. Weight (Wr) = 16,000 lbs.
Z = Displacement response in the verti- Rotor Weight (Wn) 545 lbs.
cal z-.direction, in.
Operatin~ Speed (f)
=Zt Total displacement response in the 6,949·rpm
727.7 rad/sec
vertical z~direction, in.
az, a.,, aif, at/> = Damping ratio embedment factor; Critical Speed (f c) 1st - 2,000 rpm
vertical, horizontal, rocking and = 2nd - 9,020 rpm
pitching modes Eccentricity of Unbalanced
f3 = Phase angle, rad
Mass, e = 0.0015 in.
f3z, (3,,, f3if, f3t1> = Spring coefficients; vertical, hori-
zontal rocking and pitching modes (which is again given by
y = Soil density, pcf the manufacturer)
=
7Jz, 7Jx, 7Jif, 7Jt/> Spring constant embedment factors;
Dynamic eccentricity at operating speed,
vertical, horizontal, rocking and
pitching modes e = 0.0015/[1- (6,949/2,000) 2 ] = 0.0001354in.
v = Poisson's ratio of soil
p = Mass density of soil =y / g lbs. sec 2 / Centrifugal force F 0 = 101 lbs.
ft. 4 Total centrifugal force F 0 = 1,359 + 101 = 1,460 lbs.
w = Frequency of excitation force, rad/
sec Base plate: weight (WB) = 5,000 lbs.
w11 =Natural circular frequency, rad/sec Total machine weight (WM)= We+ Wr +WB
56,270 lbs.
Example 2: Design of a Foundation Block for a
Centrifugal Machine (ref. 2)
B. Soil and Foundation Parameters
The soil parameters are obtained from the soil report
Machine Parameters
prepared for the plant facility. The factors which are
''" The machine parameters necessary for the design of
considered in the preparations of the soil report are
. the foundation are defined in Chapter 3. The following
listed in Chapter 3. In this example the following infor-
data are required (all terms are defined where they first
occur): mation is obtained from the soil· report:
Plant Grade El. 100'-0"
Top of Foundation El. 101'-0"
Compressor:
Recommended Foundation base, El. 98'-0"'
;~:'Weight (W0 ) = 35,270 lbs. Soil is Medium Finn Clay
·Rotor Weight (Wn) 2,100 lbs. Soil Density ( y) 125 pcf
Operating Speed (f) 6,949rpm Shear Modulus ( G) = 6,500 psi
( (J)) 727.7 rad/sec Poisson's Ratio ( v) = 0.45
' ,: ·'~~.-
100 Design of Structures and Foundations for Vibrating Machines
Soil Internal Damping Ratio (Dlf! 1 ) = 0.05 dimension. The center of gravity of machine loads and
Static Allowable Bearing Capacity (Sall) 1.5 ksf foundation coincide and is 0.K.
Also, the settlement at the allowable 'bearing pressure 3. Bearing capacity: static plus dynamic loads. The
is negligible. magnification factor (Table 1-4) should preferably be
less than 1.5. The sum. of static and modified dynamic
C. Selection of a Foundation Configuration loads should be within 6 in. of the footing C.G. For
75% of the allowable soil pressure given for. the static
A trial configuration is selected follawing the guide- load condition= 627 + 374/(12.5 x 20) + 1420(6) I
lines listed in Chapter 3 under Trial Sizing of a Block 20 ( 12.5) 2 = 632 or 626 psf < 0.'75 ( 1,500) psf iso.:K.
Foundation. 4. Settlement: static plus repeated dynamic loads.
A shallow and wide footing is desired such that the The combined C.G. of the dynamic loads and the static
combined center of gravity of the machines and of the loads should be within 6 in. of the footing C.G. For
foundation coincides closely with the centroid of the rocking motion the axis of rocking should coincide with
area of the foundation. A foundation block configura- the principal axis of the footing. The magnitude of the
tion which satisfies this requirement is shown in Figure resulting settlement should be less th<i:n the permissible .
6-5. deflecting capacity of the connected piping system. In
Concrete Footing Trial Outline: this example, dynamic forces are small compared to
Weight of the footing ( W F) = 100,500 lbs. static loads; therefore, settlement caused by dynamic
Total static load ( W) = machine weight+ loads will be negligible.
weight of footing = 156,770 lbs. Limiting Dynamic Conditions
Actual soil pressure = 156,770/12.5 (20) = 627 psf
< 0.5 (Saiz) = 750 psf 1. Vibration amplitude at operating frequency. The
Thus, area of footing is O:K. maximum amplitude of motion for the foundation sys-
Weight of footing/weight of machine = 100,500/ tem should lie in Zone A or B of Figure 3-3 for the
56,270 = 1.78 which is close to the suggested minimum given acting frequency. Vibration amplitude· (vertical)
of 2.0 for well-balanced centrifugal machines. All other Zt = 0.000019 in. at 6,949 rpm. From Figure 3-3 this
guidelines for trial sizing are satisfied and the dynamic amplitude is within the safe allowable limits. Vibration
analysis is then performed. amplitude (horizontal) at center of bearing area Xt =
0.000018 in. at 6,949 rpm. The amplitude falls in Zone
A in Figure 3-3 and is, therefore, acceptable.
D. Dynamic Analysis
2. Velocity equals 2nf (cps) X .displacement ampli-
tude as calculated in ( 1) above. Compare with the
The axis of rotation of the shaft is located 6 ft above
limiting values ·in Table 3-2 and Figure 3-3 at least for
the bottom of the foundation. The dynamic force acting
the "good" condition. Velocity equals 727.7 (0.000019)
at the axis of shaft is of the form F = meew 2 sin {l)t (see
= 0.0138 in./sec. From Table 3-2 this velocity falls in
Figure 6-5) which will excite the structure in three
the "smooth operation" range and is, therefore, ac-
different modes, viz., verti.cal, horizontal, and rocking.
ceptable.
Since the machine will operate at a. constant speed in
3. Acceleration equals 4n 2 / 2 X (displacement ampli-
the steady-state condition, the amplitude m.ew 2 is con-
tude, as calculated in ( 1) above) . Should be tested for
stant. Thus, formulas associated with a sinusoidal force
Zone Bin Figure 3-3. Note: This check is not necessary
of constant amplitude F0 are used in the dynamic anal-
if conditions ( 1) and (2) are satisfied, which they were
ysis (F = F 0 sin {l)i). A complete dynamic check is per-
in this example.
formed in Table 6-3.
4. Magnification factor (applicable to machines gen-
erating unbalanced forces) . The calculated values of
E. Check of Design Criteria M and M, (Table 1-4) should be less than 1.5 at
resonance frequency. In the example, M in all modes is
The foundation block is checked for the design criteria less than 1.5. -
as described in Chapter 3. 5. Resonance. The acting frequencies of the machine
should have at least a difference of +20% with the
Static Conditions
resonance frequency of Equations ~of Table 1-4. (0.8
1. Static bearing capacity. Proportion of footing area fmr > f > 1.2 fmr). In this example, there is no reso-
for 50% of allowable soil pressure. From C above, 627 nance frequency in the vertical mode. In the horizontal
< 750 psf is O,K. mode, 1.2 X 1,221.4 < 6,949. In the rocking mode, 1.2
2. Static settlement must be uniform; C.G. of footing X 1,686.1 < 6,949. Therefore, a resonance condition
and machine loads should be within 5% of each linear does not occur.
Design Examples: Block Foundations 101
a1 - O
==fb2 = 1'-0"
b1 - 0
k1 = 6'-0" a-t _I .
2'-0"
k3 - a2 = 8'-6"
a3 - 12'-6''
y
z
•
Figure 6-5. Foundation layout for centrifugal machine example problem .
Table 6-3
Dynamic Analysis (Three Modes of Oscillation are Possible)
Step No. Parameter Source Vertical Excitation Horizontal Excitation Rocking Oscillation
Equivalent radius, r 0 Table 4-2 To = 8.92 ft To= 8.92 ft To= 8.02 ft.
Mass, and mass m = W!u m = 4,869 lbs. sec'/ft m = 4,869 lbs. sec2/ft I .p (Machine) = 62,910
moment of inertia I .p (Footmg) = 43,218
n --
l .p = 106,128
.
l .p = 1: [~
. 12
(ai'+bi'l + mikt'] lbs. sec2-ft
' Table 4-6
3 Mass ratio Table 4-3 Bz = 0.24 Bx= 0.35 B.p = 0.166
4 Geometric damping Table 4-3 Dz= 0.868 Dx = 0.494 D.p = 0.311 }
ratio = 0.361
Internal damping Soil data Negligible Negligible D.p; = 0.050
Spring coefficient Figure 4-1 ~z = 2.15 ?x = 0.95 ?>.p = o.46
Equivalent spring TaDle 4-1 kz = 57.85 X 106 lb~./ft kxs = 40.77 X 10' lbs,/ft k.ps = 2,446.36 X 10'
constant lbs.-ft/rad
Natural frequency, f n f nz = 1,040.9 rpm fnz = 873.9 rpm fn.p = 1,449.8 rpm
~'\)~
2" m
Resonance frequency, f mr Table 1-4 Resonance not possible f mx = 1,221.4 rpm fm.p = 1,686.1
Magnification factor, M Table 1-4 = 0.022
M = 0.016
M M = 0.045
10 Dynamic force Centrifugal force V0 = 1,460 lbs. H0 = 1,460 lbs. T0 = Hoko = 1,460 (6)
= 8, 760 lbs.-ft
11 (a) Vibration amplitude Table 1-4 z= 0.56 x 10-0.ft X·= 0.57 X 10-• ft .p = 0.1611 X 1(15 rad
11 (b) Component of At edge of ftg. At center of bearing
rocking
oscillation
= t.
Rh
= .1611
'
x
lo-< (6.25)
= t.Ru
= .1611 x 10-<I (6)
= 1;007 x
10-0 ft = 0.967 x Jo-< ft
11 (c) Resultant vibration 11 (a) + 11 (b) Zt = 1.567 X 10-0 x t = 1.53.7 x ~o-< ft
amplitude = 0.000019 in. = 0.000018 m.
12 Transmissibility factor Tr Table 1-4 Tr= -0.256 Tr= 0.127 T1 = 0.162
and force transmitted, P0 P, = 374 lbs. PH= 185 lbs. PM = 1,420 lbo.-ft
102 Design of Structures and Foundations for Vibrating Machines
6. Transmissibility factor (usually applied only to ratio either less than 0.5 or greater than. 1.5. In this
high-frequency spring-mounted machines). The value example, no structural components are involved.
of transmissibility is calculated by equations of Table Thus, the trial design is acceptable and may be used
1-4 and should normally be less than 1 for spring- to support the machine.
mounted machines having an ineI:tia block. In the ex-
ample, Tr is less than 1 indicating that dynamic forces ---,...--Nomenclature-Example 2 - - - - -
are not amplified.
A = Dynamic amplitude
Possible Vibration Modes ai = Width of section i, ft
B =Length of rectangular foundation
1 and 2. Vertical oscillation or horizontal translation
block, ft
are possible modes as the force acts in either direction.
Bz, Ba:, Bif, Ba = Mass (or inertia) ratio; vertical, hori-
3. Rocking oscillation is possible since the point of
zontal, rocking and torsional vibration
horizontal force application is above the foundation mass
modes
C.G.
bi= Depth of section .i, ft
4. Torsional osciillation. Since horizontal forces do not
D = Damping ratio
form a couple in the horizontal plane, this mode is not
possible.
Dz, Dre, DI/!, D. =Damping ratios; vertical, horizontal,
rocking and torsional modes
5. Coupled modes. The horizontal translation and
Di= Internal damping ratio
rocking oscillation are usually coupled. The coupled
e = Eccentricity of unbalanced mass to axis
modes may be considered as in example 3 which follows.
of rotation at operating speed, in.
Fatigue Failures e =Eccentricity of the machine's unbal-
anced mass, in.
1. Machine components. Follow limits fo Figure 3-4 F = Excitation force
and/ or Table 3-2. F 0 = Amplitude of excitation force, lbs.
2. Connections. Same as ( 1) but check stresses using f = Operating speed of .the machine, rpm
AISC code (ref. 13 of Chapter 3) when Connectors are f c = Critical speed of the machine, rpm
bolts or iwelds. f.. = Natural frequency, rpm
3. Supporting structures. Use (2) for structural steel. fm = Resonant frequency for constant force-
For concrete footing, if reversal. of stresses takes place amplitude excitation, rpm
and the amplitude is very high (such that the peak fmr = Resonant frequency for rotating mass-
stress reversal is over 50% of the allowable stress) ' the type excitation, rpm
mafo and the shear reinforcement (if any) should be fmrc = Resonant freq_uency in the horizontal
designed for the stress ·reversal condiition. direction, rpm
In this example the ·amplitude of the dynamic forces fml/! = Resonant frequency in the rocking di-
is not large enough to produce any significant -stress rection, rpm
increase over the stresseii caused only by the static loads. G = Shear modulus, psi
Environmental Demands g = Acceleration of gravity, ft./sec 2
H 0 ==Dynamic horizontal force, lbs.
1. Physiok>gical effects on persons. If the ·machine is 11/l = Mass moment of inertia, lbs.-sec 2 -ft
located in a building, use t~e procedure given in condi- i= Segment (1, 2, ... )
tion Envirohlental Demand$- under "Limiting Dynamic k = Spring constant
Cohdhions", and use the limits from Figure 3-4. In the k9 ::::: Distance from center of rotor axis· to
example, F'igure 3-4 indicates no discomfort to people. footing, ft
·2. Psychological effects on persons. Use same pro- ki = Distance from center of mass to base of
cedures as ( 1); If the facility is located close to people footing fqr segment i, ft
not connected with machine operations, use acou5tic k,,, kxs, kl/ls, kes = Equivalent spring constants; vertical,.
barriers. In the example, the machine is loca:ted away horizontal, rocking and torsional modes
from habitable areas. L =Width at base of machine foundation
3. Damage to structures. Use limits in Figure 3-4 or. block, ft
3-5. Example check shows no danger. Mr = Magnification factor
4. Resonance. of structural· components (superstruc- Mr max= Maximum magnification factor
ti.ires a:bove the foouing). Avoid resonance with lowest M =Dynamic magnification factor
natural structural frequency by keeping the frequency m = Total mass, 1b.-sec2 /f_t
Design Examples: Block Foundations 103
•
m 6 = Unbalanced mass due to a sudden: surge condition during the operation
mi = Mass of segment i of the centrifugal machine or when a resonance condi-
n =Number of segments tion occurs temporarily at start-up or shutdown of the
P 0 =Force transmitted through spring machine. The latter condition generally is more severe
mounts since , an inertia block spring system generally has
r = Ratio of operating frequency to natural negligible damping resistance.
frequency, f/f n . The inertia block spring suspended foundation.is not
To= Equivalent radius for rectangular foot- recommended for heavy machines with large uhbalanced
ing, ft forces. However, this type of system may be used when
Rh= Horizontal distance from center to edge the machines are located on an elevated steel-framed
of footing, ft -structure.
Rv = Vertical distance from base to center·of In this example problem, a foundation system for a
rotor axis, ft gas turbine/generator set is investigated, i.e., the ma-
San= Allowable soil bearing capacity, ksf chine consists of an electric generator powered by a gas
T 0 = Unbalanced torque, ft-lbs. turbine. Both machines run at different operating fre-
T, = Transmissi'bility factor quencies and the step-down from the higher to the
t =Time, sec lower frequency is accomplished through a gear box.
V 0 = Dynamic vertical force, lbs. Foundations for this type of machine have been dis-
W = Total weight of machine plus footing, cussed in Chapter 2, and the various steps required to
lbs. complete the dynamic analysis are given below:
W 8 = Base plate weight, lbs.
W 0 = Compressor ·weight, lbs. A. Machine Parameter
W F = Weight of footing, lbs. 1. Generator:
WM = Total machine weight = _W 0 + W r +
Ws, lbs. Weight (WM) = 28,150 lbs.
•
WR = Rotor weight, lbs. · Rotor Weight (WR) = 9,460 lbs.
W r = Turbine weight, lbs. Operating Speed (f) = 1,800 rpm
Xt =Total displacement response m the = 188.5 rad/sec
horizontal x-direction, in. Critical Speed f c 2,200rpm.
Zt = Total displacement respon~e in the ver- Eccentricity of Unbalanced Mass, e rv .001 in.
tical z-direction, in. (Table 3-1)
f3z, f3x, f31/J = Spring coefficients; vertical,, horizontal Centrifugal Force F 0 = (WR/ g) e w2 = 871 lbs.
rocking modes 2. Turbine:
y = Soil density, pcf
Weight (Wr) = 16,305 lbs.
v =Poisson's ratio
Rotor Weight (WR) 567 lbs.
p = Mass density= y / g, lbs.-sec 2 /ft4
w = Frequency of excitation force, rad/sec
Operating Speed (f) = 8,990rpm
(l) = 941.43 rad/sec
wn =Natural circular frequency, rad/sec
Critical Speed (f c) = 1st - 2,885 rpm
2nd - 11,670 rpm
Example 3: Foundation Design for Centrifugal Eccentricity of
Machines with Different Operating Frequencies
Unbalanced Mass
and Supported on ~n Inertia Block
at Operating Speed, e = 0.5 y12,000/8,990 mil
In some plant facilities, due to environmental con- (see Table 3-1)
....,..•" siderations or poor soil conditions, it becomes necessary = .00057 in .
to limit the propagation and amplitude of the machine Centrifugal force F 0 = (567 /386) X .00057
vibrations transmitted to the foundation (ref. 3). In x (941.43) 2
those circumstances, thee use of an inertia block sup- = 742 lbs.
ported on springs is recommended as a vibration isolator; 3. Gear Box:
see Figure 6~6. This type of supporting system requires Weight (Wa) = 13,045 lbs.
that the .opiping which is connected to the machines Unbalanced forces generated by gear box and cou-
jointed with flexible couplings in order to absorb plings are assumed negligible. Total Machine weight
thout distress the resulting large movements of the (W) =WM+ Wr + W 0 = 57,500 lbs.
block. This movement may be caused either A layout of the equipment is shown in Figure 6-6.
104 Design of Structures and Foundations for Vibrating Machines
i SHAFT
i
...
SHAFT
INERTIA BLOCK
1 11
25 -0
11
T92 50d" INERTIA BLOCK
IZ-6
C. G. EQUIPMENT
11
11'-2Y. 1..-C.G. INERTIA BLOCK
:tt I ;1:1:
57,500i 35,000
1" I
I
14-7 Yi +.. --.
• FOUNDATION
CONNECTION TO HAVE
NEOPRENE BEARING PAD
AND BOLT HOLES SLOTTED
IN VERTICAL DIRECTION
LATERAL RESTRAINT
W 6x20
(TWO EACH SIDE)
I
14-- I·~ 1-0
7-o I I ''--l
.
2·000
4. Center of Gravity of Unbalanced Forces:
The unbalanced forces generated by the equipment
are assumed to be acting at the center of gravity of the
1600
1200
I \
I
871 lsin 188.51 + 742 sin 941.4 I _
OR APPROX. =1613 sin 1885! _
--
--
machine loads and perpendicular to their shaft axis.
The shaft axes are shown in Figure 6-6B. The forces
~
:! 800
i'
(\
·--' '
I
I\
,·'I
,,.
I /
I ' I '
12>
of the two machines, when combined, are given by: UJ 400
}- II I I
! I i ·,
0 I \ I \ I I
i= \I !\
F(t) = 871sin188.St + 742 sin 941.4t :J
0..
0
I
I
\ I
Ii ~ I /I\ , JI\
::!!
<t
. -400 I f I Ii / I \ I I I \
The plot of individual force functions; as well as the J r :
combination of the individual force functions, is given
LU
f.)
0:
\
,,. I I
\
I\
\\ ' ~'
\I
\/ ' "
\II
-000 ,..
in Figure 6- 7.
fi:
-1200
-- - - \
1742 sin 941.4 t
TURBINE)
I I I 871 sin 188.5 t
\ i/
/
T .~
\ I
\ I
'-
Settlement of soil for a 14 ft by 28 ft footing at 1 ksf ing springs of the inertia block and its lateral supports.
bearing pressure= 0.125 in. Also, the resultant bearing pressure on the soil should
Water table fluctuates and is 3 ft bel~w grade at cer- be less than 50% of the allowa:ble soil bearing pressure
tain times of the year. in order to minimize possible foundation settlements.
A trial concrete slab size 14 ft wide by 28 ft long and
C. Selection of a Foundation Configuration 2 ft thick is then analyzed. The footing center of gravity
is made to coincide with the combined center of gravity
The guidelines listed under Trial Sizing of a Block
of the equipment and the inertia block.
Foundation in Chapter 3 are followed in selecting an
Weight of the footing ( W F) = 117 ,600 lbs.
initial configuration. Because the water table is 3 ft
Total static load ( W) = equipment weight + inertia
below grade, it is recommended that the footing be
block+ footing weight= 210,100 lbs.
located at a shallow depth in order to avoid construction
Actual soil pressure= 210,100/14(28) :::::::: 0.5
complications and a relatively large contact surface area
be used. In order to achieve uniform settlement, it is
= 534psf
Thus, area of footing is 0.K.
necessary that the center of gravity of the equipment
plus the inertia block coincide with the center of gravity
D. Dynamic Analysis
of the footing. A trial proportioning of the inertia block
and the footing is shown in Figure 6-6.
A mathematical model of this foundation was pre-
1. Inertia Block Trial Outline (Figure 6-6A) :
viously discussed as Model 3 of Chapter 2. We have the
following parameter calculations:
Center of gravity of total equipment (y-direction)
16,305 (14.0833) + 13,045 (7.2917) Selection of Springs for Inertia Block
16,305 + 13,045 + 28,150 1. Vertical Direction. Try for transmissibility factor
= 5.608 ft (Tr)= .02.
= 5 ft - 7% in. from centerline generator, From the transmissibility equation of Table 1-4, and
or 11 ft - 2 ;/.;: in. from the left edge of the inertia assuming damping to be negligible in the springs, D 0,=
block. Center of gravity of total equipment (x- then the resulting equation is
direction) 0.02 = 1/ll - r 2 1
16,305 (2.0) + 13,045 ( 1.0) or r = f /f n = 7.0
16,305 + 13,045 + 28,150 For f = 1800 rpm, fn = 257.14 rpm
= 0.7940 ft For f = 8990 rpm, fn = 1284.29 rpm
= 9~ in. from centerline generator.
A natural frequency (fn) = 257.14 will be used, since
a higher natural frequency will require a large number
The inertia block has a uniform thickness of 8 in. ( 100 of springs.
psf) and an additional thickness of 8 in. ( 100 psf) of Mass (m 1 ) of inertia block+ equipment
dimension 10 ft X 10 ft in the region under the tUl'birie. (57,500 + 35,000)
The center of gravity of •inertia block (y-direction)
10 x 10 x 100 (20.0) + 25 x 10 x 100 (12.5) = 239.64 lbs.-sec 2 /in.
Total spring constant (kzi)
25 x 10 x 100 + 10 x 10 x 100
= 14.6429 ft
= 14 ft - 7% in. (from left edge of inertia block) .
= c257.l:ox 27T ]y x 239.64
I II
1,
1 11
Design Examples: Block Foundations 107
each side. The posts are fully fixed at their bottom and
connected to the inertia block by the provision of
• ed holes in the vertical direction so that the oscil-
lation of the vertical springs is not effected. A neoprene
bearing pad layer is inserted in the connection in order
to absorb high-frequency vibrations. The spring constant
in the lateral direction is given by:
kan = 3EJ,,/l3 The terms with subscript 1 stand for inertia block
where J,, = 4 X 41.5 = 166 in. 4 plus equipment, and 2 for the footing. The calculations
=
l 21.0 in. for the footing only (14' x 28' block) is performed in
E = 30 X 106 psi Table 6-5.
: ·ka:r = 1.6132 X 10 6 lbs./in. 1. Vertical Oscillation:
Mass (mi) of the inertia block and equipment =
kz 1 176,000 lbs./ in., m1 = 239.64 lbs.-sec 2 /in.
239.64 lbs.-sec 2 /in. kz2= 6
3.07 X 10 lbs./in., m 2 = 304.35 lbs.-sec 2 /in.
------- where k,,2 (Table 6-5) and m2 are the spring constant and mass
:. f,,. = (60/271') yl,613,200/239.64 = 783.5 rpm
3. Rocking Oscillation about Point 0 (Figure 6-6C). of the foundation block, respectively.
Two rows of springs, each containing ten springs, are w1 =
2
691.85 or fn1 = 251.2 rpm
located at a distance of 60 in. on either side of an axis wl = 10,707.93 or fn2 = 988.2 rpm
passing through point 0. Due to this arrangement, the 2. Horizontal Oscillation:
inertia block is capable of rocking about that axis. The kn= 1.6132 X 10 6 lbs./in., m 1 = 239.64 lbs.-sec 2 /in.
spring constant for the rocking oscillation kw is, thus, =
ka: 2 =
2.3583 X 10 6 lbs./in., m 2 304.35 lbs.-sec 2 /in.
a function of the vertical spring constant and is given
2
w1 = 3,133.31, fni = 534.5 rpm
by: w2 2 = 16,647.57, fn2 = 1232.1 rpm
ki/I = 2kve 2
Table 6-4
Dynamic Analysis of Single-Degree-of-Freedom System
(Machine plus Inertia Block Only)
the natural periods of the two mass elements, it is per- 2. Response c~lculations: Because the equations
missible to assume that 'the individual elements act inde- motion of Model 3 for these foundations are linear,
pendently of each other, i.e., in the vertical and rocking dynamic response generated by each of the two cc
modes the inertia block and the bottom footing masses ponents 871 sin 188.5t and 742 sin 944.4t of the excita1
can be analyzed on the basis of an equivalent one-degree- force can be combined· using the principle of superp
of-freedom or uncoupled system. tion. This procedure has been used in Steps 4 to 6
However, in the horizontal mode, both mass ele- Table 6-4. However, in that ta:ble, the inertia bl
ments have nearly equal natural frequency; the inertia element was considered to he acting independent of
block has a natural frequency of 783.5 rpm, and the footing. Th'is uncoupling was found to be justified
footing has a natural frequency of 628.9 rpm. The fre- the vertical and rocking modes, hut. for the horizoi
quencies of the two-mass coupled mode are 534.5 and mode, an analysis based on coupling of m 1 and m
1,232.0 rpm for the inertia block and the footing, respec- required. The following equations give the respo
tively. From Dunkerley's formula, the lowest freqi.'iency values and cons~der the effects described above :
is 490.5 rpm, which is quite low compared to 783.5 rpm
obtained by considering the inertia block plus the ma-
chi~e as an individual element. Therefore, a coupled
model investigation is justified in the lateral direction.
Design Examples: Block Foundatfons 109
Table s-s
Dynamic Analysis of Footing Only (14' X 28' X 2'-0")
Tabl• 4-3
B, = 0.223
D. = 0.900
Bx= 0.277
D, = 0.547
B.p = 0.183
D.p = 0.214 f
= 0.264
Internal ~ soil data Negligible· Negligible D.p; = 0.050.
damping
5. Spring Figure 4-1 (3. = 2.40 (3. = 1.05- {3.p = 0.40
coefficient
6. Equivalent Table 4-1 k. = 36.84 x lQ6 k .. = 28.30 x 106 k<1>. = 1,702.12 x 106
spring lbs./ft lbs./ft lbs.-ft/rad
constant
7. Natural (60/211") .Y k/m fnz = 717.50 rpm f nx = 628.90 rpm fn<I> = 883.20 rpm
frequency fn
8. Resonance Table 1-4 Resonance not f mx = 992.40 rpm fm.P = 954.00 rpm
frequency f mr possible
_ "" k1 F sin (wt - ¢2) Comparing the amplitudes of x1 (t) .with the values of
X2 (t ) - "'-' ( 2 2) ( 2 2)
m1m2 w - w1 w - w2 x in Step 4 of Table 6-4, it- may be observed that the
In these equations, w (operating speeds) = 188.5 and response values do not change significantly, using either
941.4 rad/sec. of the two assumptions. Therefore, the assumption of
independent behavior of the inertia block in all modes of
w1 2 (square of the mass m 1 <:ircular frequency)
oscillation is a valid step. Furthermore, in Figure 6-7,
·= 3,133.31 which shows the plot of the total centrifugal force, it is
w 2 2 (square of the mass m 2 circular frequency)
found that the total forcing function follows approxi•
= 16,647.57 mately the path of the curve: sin 188.5t, and has an
m 1 (total mass of inertia block and equipment) amplitude of 1613 lbs. Using this function in the response
= 239.64 lbs.-sec2 /in. equations,
m 2 (mass of the footing) = 304.45 lbs.-sec 2 /in. x 1 (t) = 2.474 X 10- 4 sin 188.5t in.
k 1 (horizontal spring constant between m1 and m2) x 2 (t) = 5.831 X l0- 5 sin 188.5t in.
= k1C1 = 1.6132 X 106 lbs./in. The above values are much higher than the response
k2 (horizontal spring constant of soil) = k1C2 values calculated by the summation of the individual
= 2.3575 X 10 6 lbs./in. forcing functions. Therefore, the analysis of Table 6-4
F (amplitude of the dynamic forces) = 871 and gives more accurate results.
742 lbs. Another point worth discussing is the exclusion of the
cp1 and cp 2 are phase difference and= 0, 7!' damping term iwhen solving the coupled equations of
Substituting the above parameters, motion of Model 3. Since the natural frequencies of the
x1 (t) = 1.336 X 10- 4 sin188.5t modes, f.,, = 53;4.5 and 1,232.1 rpm are quite different
+ 3.521 X 10-s sin 941.4t in. from the operating frequencies, f = 1,800 and 8,990 rpm,
X2 (t) = 2.682 X 10- 5 sin 188:St the influence of damping on the response.values is neg-
+ 0.0022 X 10-5 sin 94 l.4t in. ligible for all practical purposes.
110 Design of Structures and Foundations for Vibrating Machines
3. Transmissibility factor: From the foregoing dis- (c). Acceleration: 471" 2 (30) 2 (0.0003) = 10.66
cussion, it can be stated that the factors calculated in in./sec 2 •
Table 6-4, considering the footing as a stiff support for ( d) . Magnification factor: From Table 6-4 this
the inertia block, is a valid assumption. Transmissibility value is less than 1.5 for all modes of oscil-
factors were not calculated for the footing because the lation and, thus, is acceptable.
forces transmitted· from' the inertia block were of very ( e). Resonance condition: The natural frequen-
small magnitude. However, for design purposes the values cies (Table 6-4) in all modes of oscillations
obtained for the inertia block are assumed to be trans- for the inertia block and footing are less than
mitted tc>" the ·soil without any amplification or reduction. 0.8 ( 1800). Therefore, no resonance condition
occurs at the lower operating speed. This ratio
G. Check of Design Criteria (as listed in Chapter 3)
is also true for the critical speed of the
1. Static Conditions: machine rotor. Thus, the foundation is class-
(a). Static bearing capacity. Proportion footing ified as low-tuned or under-tuned.
area for 50% of allc~wable soil pressure. From ( f). Transmissibility factor: This factor is less than
C above, 534 psf c:::: 500 psf (allowable) . 5% in the vertical and rocking modes of the
{b). Static settlement must be uniform; C.G. of inertia block and, thus, meets the normal
footing, inertia block and machine load? coin- limitation. However, in the horizontal mode .
cides, and thus settlement will be uniform. when acted on by the lower frequency
( c) . Bearing capacity: static plus dynamic loads. (f = 1800), Tr was found to be 1.234 > 0.05
h=534+ [19/14 (28)] normally used. This happened due to the use
+ [(1770/12) 6/28 (14) 2 ] of a structural member (W6 X 20) as a vibra-
= 535 psf < 0.75 (1000) psf is O.K. tion isolator. Use of structural member as a
(d). Settlement: static plus repeated dynamic lateral restraint is a required feature in this
loads; The increase in pressure due to dynamic type of system in order to maintain the sta-
loads is less than 1 p-Sf arid thus would not bility of the inertia block in case of failure of
create uneven settlement. the springs. In any case, the lateral force
2. Limiting Dynamic Conditions (refer to Table 6-4) : transmitted to the footing is small and can
(a). Vibration amplitude at operating frequency. easily be absorbed by the lateral soil in contact
Inertia block: Zt (vertical vibration ampli- with the footing.
tube) = .00028 in. at f = 1800 rmp. From
Figure 3-3, this falls within the safe allowable 3. Possible Vibration Modes:
limits. Xt (horizontal vibration at centerline of (a) and (b). Vertical oscillation or horizontal
bearings) = .00030 in. at f = 1800 rpm. From .franslation is a possible mode as the force acts
Figure 3-3, the amplitude falls in zone A and, in either direction.
therefore, is acceptable. ( c) . Rocking oscillation is possible since the point
Footing: The dynamic forces transmitted of horizontal force application is above the
through the inertia block are very small and foundation mass nG.
thus vibration amplitude is also negligible. ( d). Torsional oscillation is possible as the forces
(b). Velocity equals 27rf (cps) X displacement generated by the two machines are of different
amplitude as calculated in (a) above. Veloc- frequencies. However, it is estimated that the
ity= 271" (1800) (1/60) 0.0003 = 0.0565 in./ natural frequency of this mode would be too
sec. From Table 3-2 this velocity falls in the low compared to the acting frequency such
"good 0peration" range and is, therefore, that the response values would not be of much
acceptable. significance. In case an analysis is required,
Velocity check by RMS (root mean square) then the following steps are given:
method, when response involves more than (1). Mass moment of inertia about the ver-
one frequency: Using response values of m1 tical axis through center of gravity.
of Model 3,
Velocity=
\/(188.5 x 1.336 x 10-4 ) 2 + (941.4 x 3.52 x m-s)2 Machines: (16,305/386) [(85.5)
2
+
(14.5)2}
= 0.0254 +(28, 150/386) [(83.5)
2
+ 2
(9.5) ]
< 0.0565 in./sec. calculated above, +(13,045/386) [(2.5)
2
+ 2
(4) 1
thus is O.K. = 833,475.0 lbs.-in. sec2
Design Examples: Block Foundations 111
•
Inertia block: 2i~~o c20; 120 + 300; 300) (7). Force transmitted to the foregoing:
10,000 (90 )2 =
+~ . sec2
773,316.0 lbs.-m. (To X T,)/2e = (44,520 X 0.0013)/
2 (60)
= 0.482 lbs.
Io = 833,475.0 + 773,316.0 2 (negligible)
= 1,606,791.0 lbs.-in. sec
•
= 325.0 rpm Bz, B,,, Bl/I, Ba = Mass (or inertia) ratio: vertical mode,
(3). Forcing function: The centrifugal force horizontal, rocking, and torsional vibra-
of the generator which is in phase with tion modes
the peaks of the turbine's centrifugal bi= Depth of section i, ft
D = Damping ratio
force at f = 1,800 rpm will not form any
significant torque couple. The other Dz, D,,, Dl/J, Da =Damping ratios: vertical, horizontal,
peaks of the turbine force will form a rocking, and torsional modes
torque couple; i.e., four out of six peaks D:, =Internal damping ratio
(Figure 6-7). Conservatively, it may be e =Eccentricity of unbalanced mass to axis
assumed that the turbine centrifugal of rotation at operating speed, in. or
force will form a torsional moment and half the distance between the vertical
may be given as: springs for calculating the equivalent
value of kl/I and ka
T9 = 742 X 60 sin 941.4t E = Modulus of elasticity, psi
= 44,520 sin 94 l .4t lbs.-in. F = Excitation force, lbs.
Fo = Amplitude of excitation force, lbs.
(4). Magnification factor M = 1/(r2 - 1) = f Operating speed of the machine, rpm
= 0.0013 f c = Critical speed of the machine, rpm
( 5). Transmissibility factor Tr= o. 0013 fe =Equivalent fundamental frequency, rpm
(6). Response value of inertia block (longi- =
f m Resonant frequency for constant force-
tudinal direction) : amplitude excitation, rpm
fm:c, fmz, fml/I =Resonant frequep.cy in horizontal (x)
vertical ( z) , and rocking (if) modes.
M (Te/ke) e = 0.0013 X [44,520/
f11 = Natural frequency, rpm
(1.8612 x 109)] x 60 f 111, f 112 =Natural frequencies of masses m 1 , m 2
in coupled model, rpm
= 1.87 X 10-5 in. f 1, f 2 =Natural frequencies of masses m 1 , m 2
(negligible) in uncoupled model, rpm
112 Design of Structures and Foundations for Vibrating Machines
The availability of electronic digital computers having speed coupled with large costs have made the rule-of-
great calculating speed and analytical power has re- thumb approach and hand computation either unsafe
sulted in substantial advancement in the engineering or too conservative for many structures. Modem com-
art of analysis and design of structures supporting .puter programs yield, among other factors, the natural
dynamic machines. Increasing machine weight and frequencies, the deformations, and the forces in the
Table Top Compressor Unit. Courtesy of Big Three Industries, Inc., Channelview, Texas. Photo by
Engineering Media Center, University of Houston.
113
114 Design of Structures and Foundations for Vibrating Machines
structure (ref. 1). These quantities were either ignored, dynamic machines, the members are usually v
conservatively assumed, or calculated in a simplified large and massive and the stresses and deflecti
·.·approximate way in precomputer times. For ·example, an will be well within tolerable limits. This situat
equivalent static strength analysis of a structure sup- is a direct result of initial trial sizing of the str
porting a centrifugal machine is usup.lly made for the ture where the mass of the supporting struct
following loading conditions: is made several times the mass of the machine
described in the section on Trial Sizing of Eleva
1. Total vertical load plus 0.5 of the foll load acting
Foundations (Table Tops) of Chapter 3.
in the vertical direction.
2. A dynamic analysis is also performed to determ
2. Total vertical load plus 0.3 of the full load acting
the natural frequencies or eigenvalues of the str
in the transverse direction.
ture, the mode shapes or eigenvectors, and the c
3. Total vertical load plus 0.1 of the full load acting
placements and member forces at a number
in the longitudinal direction.
time intervals.
These approximate machine load factors (0.5, 0.3, The dynamic analysis technique used in most cc
OJ) are fairly accurate for an equivalent static analysis puter programs is called a normal mode (or mod
when the ratio of machine acting frequency to natural technique which results in the calculation of the J
frequency r in the specified direction is less than 1, quencies and mode shapes which in turn are used
greater than 1, and much greater than 1, respectively, the response calculations. The method is termed norr
as shown in Figure 1-36. However, the factors 0.5", 0.3, because the equations of motion (one per dynamic ·
and 0.1 are derived for a machine with an acting fre- gree of freedom) are transformed to a new coordin
quency of 1,800 rpm and considered very stiff in the system oalled normal coordinates, resulting in uncoup
kmgitudinal direction. The selected ratios of 0.5, 0.3, linear equations leading to a relatively efficient solut
and 0.1 are generally consistent with a highest rigidity process.
in the vertical direction, a not-so-high rigidity in the The primary purpose of the dynamic analysis is
transverse direction, and no dynamic load component ascertain possible resonance conditions, that is, to de1
in the longitudial direction. Even though the ratios mine. if any of the structure natural frequencies coinc
0.5, 0.3 and 0.1 are approximate, they are useful in that with the machine acting frequency or any of its criti
being conservative, a safe structure will result. Since the speeds. A true ·dynamic analysis is sometimes repla1
strength is usually not a controlling design factor, many by a static analysis by using the Rayleigh method
designers have traditionally used equivalent static loads calculate the lowest natural frequencies. "The calci:
in their strength check. A dynamic analysis, coupled with tion of the Raleigh frequencies is a very simple and
the help of the computer, will give the true dynamic expensive feature when used with a computer. st<
forces that act on the structure in addition to the natural analysis, and some designers will only perform a st<
frequencies and displacements. computer analysis with Rayleigh natural frequern
In many cases, the structure or soil parameters are calculation. However, only a complete dynamic anal
known only within .certain limits. For example, the will provide the necessary information for predicting
shea~ modulus of the soil may vary by 25% or more behavior of a structure supporting time-dependent 102
at p6ints below the foundation as described in Chapter
4. The effect of these variations may be studied by Example Problem
making additional computer runs and varying the
parameter in question. Thus; the behavior of the 1ltruc-
ture may be predicted for probable ranges of parameter An example of computer coding for the solution
values. This feature of computer use· is impo,rtant since an elevated foundation is given in the following pai
the possible variation of some parameters may be rather This example has been selected to illustrate the use
_wide and strongly affect the results. the popular computer software package, STRU:
Computer coding and software applications for the (Structural Design Language, part of the MIT -de'
solution of structures supporting dynamic loads are con- oped Integrated_ Civil Engineering .System, ICES) ,
sidered in this chapter. An analysis of a dynamically plied to the analysis of an elevated foundation ( 2
loaded structure is performed t-o obtain the following
0
called a table top) .
information: The structure shown in Figure 7-1 is analyzed us
1. Forces and deflections in. members and joints for the software package mentioned above. The. struct
all static loading conditions. This will determine if trial dimensions are selected to meet certain prelimin
the structure is statically safe or if deformations criteria as described in Chapter 3 under Trial Siz
exceed tolerable limits. For structures supporting of Elevated Foundations (Table Tops),
Computer Analysis and Applications: Example 115
Predicted static settlement = 0.2 i_n. at 2,000 psf = 101.0 in. = 8.42 ft
116 Design of Structures and Foundations for Vibrating Machines
A flexible mat is one whose outside dimensions 12. Column resonance check shows no column re
exceed 3l 8 or 25.3 ft in each direction and is nance with the acting machine frequency (6,9
loaded over a small area, as· described in Chapter rpm). For example, for all the columns,
5. Therefore, a 24 ft by 30 ft by 3 ft mat may =
p 44.34 psi
be considered as rigid since the load is spread L= 168 in. (clear height of columns)
/11 = 44,800 (3,000) • /\144.34 x 168
0 25
out over most of the mat.
3-5. The cross-sectional dimensions of columns and = 3,842 rpm
beams are selected according to these guidelines. Thus, the trial design is judged satisfactory and 1
6. The ratio of mass of structure to mass of ma- dynamic analysis for the proposed configuration
chine is then performed.
423,000j150,000 = 2.82 - 3 O.K. The idealized computer model is shown in Figure '
7. The mass of the top half of the structure is 0.8 where numbered joints have been located at meml
times the mass of the machine (the ratio should intersections and at other points of interest such
preferably exceed 1.0). loading points. The structure is idealized as a Mo
8. The maximum static pressure is 6 type D described in Chapter 2. The gloibal coordin
( 423,ooo + 150,000) / (24 x 30) = 796 psf axes are selected according to the right-hand rule w
~ 0.5 X 2,000 psf O.K. axis Y being vertical; each member is also numbe1
9. The center of resistance of the soil is found to (numbers within circle in Figure 7-2), and springs .
coincide with the centroid of all superimposed placed at joints in contact :with the soil in the verti
loads (structure plus machine) . and horizontal directions. These springs represent
10. The center of column resistance found as shown resistance that the supporting soil offers to displa
in Figure 3-2 coincides with the center of gravity ment, and the equivalent spring stiffness is calcula
of the equipment plus the top half of the struc- using soil properties as described in 4 below.
ture. A flow chart of the steps that occur during the cc
11. Column and beam deflections are checked in puter analysis is given in Figure 7-3 and represent:
the computer analysis that follows. typical analysis regardless of the software package be
~z
Figure 7-2. Computer model of elevated pedestal foundation.
Computer Analysis and Applications: Example 117
Computer command
------
STRUDL - II
Explanation
Type of Computer Program
JOINT COORDINATE
JOINT RELEASES
MEMBER INCIDENCE
MEMBER RELEASES Description of Structure Geometry
TYPE PLATE BENDING
ELEMENT INCIDENCES
MEMBER PROPERTIES
ELEMENT PROPERTIES Description of Structure Stiffness
CONSTANTS
E
G Elastic Constants
POISSON
DENSITY
LOADING
JOINT LOADS
MEMBER LOADS Static Loading Conditions
LOADING COMBINATIONS
DYNAMIC LOADING
JOINT LOADS Type of Dynamic Forces Acting
used. The chart lists the specific stages in an ICES- 3. Structure topology which indicates the connect:
STRUDL analysis, and these are described in detail. of the members in the structure. Each command i
Other software packages would. include similar stages, the form IJK and means that member I goes from
but the exact commands and their order would be start joint J to the end joint K. The positive sens
different. the forces acting on the member follo.ws the right-b
rule when the first (axial) axis is oriented from sta1
Example-STRUDL Coding end of member.
2. Geometry of the structure (Figures 7-1 and 7-2). k,, = G(3,, \/BL 'f/z/(1 - v)
Units are defined since the default internal units are or:
inches and pounds. Each joint is described by its num-
ber and its x y z coordinates. Numbering of joints "· = 6,500 x 144 x 2.2 x v'24 x 30 = 100,462
should be selected so that the difference in joint number
(1 - .45) x 1,000
at each end of all members is a minimum. The term where the terms G, v, and 'f/z (equal to unity in
SUPPORT identifies the joint as a support. Note that example) are defined in Chapter 4. Therefore, for n
support joints have bee'n identified under each column = =
1 and 2, kv1 ku2 100,462 X 85.5/720 11,930 1 =
and midway across the sla:b edge and transverse equiv- ft. Note that the Y direction in the computer examp
alent "beams." Figure 7-2 is the vertical soil direction previously
noted as the Z-direction in the soil-spring con:
UNITS FEET KIPS
equations of Chapter 4. At the risk of some confu
JOINT COORDINATES
0.0 0.0 SUPPORT the Y-direction is selected vertical in the computer :
1 0.0
0.0 10.0 ysis due to certain global-local axes advantages. .
2 0.0 SUPPORT
0.0 0.0 SUPPORT rotational restraints are assumed to be non-existent :
3 8.0
10.0 SUPPORT they are generally negligible. Further discussion ol
4 8.0 0.0
calculation of the spring constants in the case of l<
flexible mats is presented in Chapter 5.
15 8.0 17.0 5.0
16 8.0 17.0 10.0
These are denoted Loading Combinations 4 through 6, INERTIA OF JOINT ADD 17, 18 LINEAR ALL
respectively, in the computer printout. 28.47t
INERTIA OF JOINT ADD 20 LINEAR ALL 73.'
LOADING COMBINATION 4 'FULL
VERTICAL LOAD PLUS 0.3t Note that the added machine mass at joints 9 and
FULL TRANSVERSE LOAD' - t is 27,000 / ( 32.2 X 12)= 69.88 lbs.-sec2 /in., and sir
COMBINE 1 1.0 3 0.3 larly for joints 15, 17, 18, and 20, see Figures 7-1 a
7-2. The structural mass is included through 1
LOADING COMBINATION 6 'FULL INERTIA OF JOINTS LUMPED command.
VERTICAL LOAD PLUS 0.5t 13. Dynamic degrees of freedom-only tra,nslati
FULL VERTICAL LOAD' - t modes are considered. The commands that accompl
COMBINE 1 1.0 1 0.5 this are
The first command specifies that loading combination
4 consists of loading 1 times 1 plus loading 3 times 0.3, DYNAMIC DEGREES OF FREEDOM
8. Listing of all data. A printout of all internal data JOINT 1 TO 25 DISPLACEMENT X Y Z
is requested with the command PRINT DATA ALL.
9. Geometry plotting. Structure geometry plots are 14. Damping ratio. The damping ratio for each c
requested a& a further check of the input data. gree of freedom is given by
10. Static Analysis. The following command is used
to build and invert the structural stiffness matrix and DAMPING RATIO 0.10 75
to solve the problem for all loadings.
Where total average damping of 0.10 has been spe
STIFFNESS ANALYSIS (REDUCE BAND ROOT) fied for the X, Y, Z translatory degrees of freedom
each of the 25 joints, or 3 X 25 = 75 times. Note th
The command within parentheses is optional and gen- realistically, those degrees of freedom associated wi
erally results in a more efficient algorithm for large foundation movement have a damping ratio in t
problems. 0.15-0.20 range, whereas damping for the remaini
11. Output of results. Results are printed by using degrees of freedom may only be in the 0.05-0.10 ran~
the LIST commands, such as Therefore, 0.10 is used throughout as an average valt
Chapter 5 gives a further discussion on the choice
UNITS KIPS INCHES CYCLES SECONDS soil damping ratios.
LIST RAYLEIGH 15. Dynamic forcing function. Forcing functions
OUTPUT BY MEMBER the vertical ( Y-direction) and in the transverse (,
LOADING LIST 4, 5, 6 direction) are applied at the joints where they ocn
LIST FORCES DISPLACEMENTS These forcing functions include a force amplitude equ
REACTIONS ALLt to the unbalanced machine force, a frequency given '
the acting machine frequency (in radians) and a pha
Results for loadings 4 through 6 are requested. This angle of 1.5707 radians (90°) for the transverse fun
step completes the static analysis. The dynamic analysis tions, i.e., the transverse function is 90° out of phase
includes the following additional steps: the vertical function in this centrifugal machine. Ti
12. Mass acting at each joint. The structure's mass dynamic forcing functions are appl!ed at the centerli1
and the machine mass are taken to act at the structural of the centrifugal machine shaft, joints 10, 15, and 2
joints in the three linear directions only. Inclusion of One half of the turbine force acts at joint 10 or 0.5
rotational inertia has a negligible effect on the results. 286 sin 727. 7t, one half of the turbine and compress
The structure mass may be computed internally and forces act at joint 15 or 0.5 X 286 sin 727.7t + 0.5
automatically lumped at each joint and the machine 7,794 sin 727.7t, and one half of the compressor for
mass is then added at the machine support joints. acts at joint 20 or 0.5 X 7, 794 sin 727. 7t.
JOINT 10 LOAD FORCE Z FUN SIN AMPL 143. 17. Listing of dynamic data. A printout of all dy-
FREQ 727.7 PHASE l.5707t namic data is obtained with the command
JOINT 15 LOAD FORCE Y FUN SIN AMPL
4040. FREQ 727.7t PRINT DYNAMIC DATA ALL
JOINT 15 LOAD FORCE Z FUN SIN AMPL
18. Dynamic analysis. The actual dynamic analysis
4040. FREQ 727.7 PHASE l.5707t
is obtained with the following command with the part
JOINT 20 LOAD FORCE Y FUN SIN AMPL
within parentheses being optional. Only the first 20
3897. FREQ 727.7t
modes are included in the analysis to reduce computing
JOINT 20 LOAD FORCE Z FUN SIN AMPL
time with negligible loss of accuracy.
3897. FREQ 727.7 PHASE 1.5707t
DYNAMIC ANALYSIS MODAL
16. Time Periods. The time span and time incre- (REDUCE BAND ROOT) 20t
ments for the dynamic analysis must be specified. The
integration time periods should include, as a minimum, 19. Output of dynamic analysis. The natural fre-
12 steps per single complete operating frequency cycle, quencies, the modes (normalized), the displacements,
in order to achieve a +5% accuracy in the results (ref. and forces for each time increment are requested iwith
4), that is, for a frequency of 727.7 radians/sec, the this command. The first 20 modes are requested to con-
integration time periods should .not be greater than T serve paper but more may be printed.
(one cycle) = 2-rr/727.7 = 0.00863 sec; then,
UNITS KIPS INCHES CYCLES SECONDS
LIST DYNAMIC EIGENVALUES 20
t:::.t = T/12 = 0.00863/12 = 0.0007194 sec
NORMALIZE EIGENVECTORS
LIST DYNAMIC EIGENVECTORS 20
The following command includes 10 complete cycles of
LIST DYNAMIC DISPLACEMENTS ALL
machine operation with 12 s_teps in each cycle. However,
LIST DYNAMIC FORCES ALL
3 complete cycles of operation may be sufficient to study
the response of the structure. 20. End of analysis. The last command in the job is
Computer Printout in
ICES-STRUDL
- ,-
\'
'('1E''1eER INCIDENCES _______@=_-_-~---.
9
2 2 11
5 7 19
23 3 23
24 23 ·4
. Computer Analysis and Applications: Example 123
25 5 24
32 3
35 22 23
"s~;~::~·o~~l...1'
,-{,:',"
·•~ Yi Krx 6121.0 Krv 9219. Krz 6121.0
MEMBER PROPERTIES
15 FO~CE Y •50o0
17tl8 FORCE Y •17,8
19t21 FORCE Y •9.8
20 FORCE Y •31•9
22 FORCE Y •16,CJ
23 FORCE Y •13,J
24 FORCE Y •Jl,3
25 FORCE y -1s.o
i::mm-rm;-r--·rrot:-i:-·cmH) .ACTING--IN THE ·LoNGITlJrllNAL DTRECTION•
JOINT LOADS
J,2 FORCE X 39,4
10 FORCE X 6.8
12tl3 FORCE X 3,6
15 FORCE X 50.0
17tl8 FORCE X 17,8
20 FORCE X 31,9
22 FORCE X )6,9
7.JrORCtx-TT;i -
24 FORCE X 11•3
25 FORCE x 1s.o
10 FORCE 7. 6,8
FORCE Z 3,6
-• 'FORCE 7 16,9
15 FORCE Z 50,0
20 FORCE z 31.9
22 FORCE z 16.9
24 FORCE Z 1\,3
25 F"ORCE 7 15,0
-co11onm··coMBINATION 4 •FULL VERTICAL LOAD P.j_US o.3 F"llLL TRANSVERSE LOAD• -
COMRINE I l•O 3 0.3 -
-COAOING ·coMBlNATION 5 •FULL VERTICAL LnAO PLUS Ool FULL LONGITUDINAL LOAD' •
~OMRINE l l•O 2 Ool
-i:UADTNG--COM!llNATION i:,· ·•FULL VERTICAL LOAD PLUS 0,5 FULL VERTICAL LOAD•
COMRTNE l loO 1 o,5
4
--,,---
x zy o.o
·x v r-------,,·;u----
o.o o.o 6726.996 9278.996
u·-· -,·-····sn5;vvo···-· . 7952; 9116"
6726.996 o.o
-··· 5765; 9gs-----------ir.- u-
o.o
···-·rr;r~----rr; O>O
~ x y z o.o o.o o.o 5765.996 795;:!'.996 5765.996 o.o o.o
7
-,,----
x y z o.o o.o o.o 7687.996 10603.996 7687,996 o.o o.o
A y l u.u u.u u.o ·----roHr.-.,.'1'o J VOU-'•~':10 f0~1•"9'1b----~---v.-u- -uov-
22 x y z o.o o.o o.o 4551.996 6278.996 4551.996 o.o o.o
23 x y z o.o o.o o.o 3S40.999 4883,996 3540.999 o.o o.o
24 x y z o.o o.o o.o 3034.999 4185.996 3034.999 o.o o.o
25 x y z o.o o.o o~o 4045.999 5580,996 4045.999 o.o o.o
~1l'ICTUEr<rCE:s-;;;;;;-..;;;;-=r1:urc;r-R=---1 RELEAsEs--------------------~os--7
MEMBER START END LOCAL COORD. START END
MOMENT FORCE MOMENT
} 1 9 11.000 ACTIVE SPACE FRAME
2 2 11 11.000 ACTIVE SPACE FRAME
---·-·w 17.ooo AC llvE SPACE FRAME
4 4 16 11.000 ACTIVE SPACE F"RAME
5 7 19 11.000 ACTIVE SPACE FRAME
--rr ~q1ve; FRAME;
~~:2i ' f'RAME
6 8 If ""OQU
7 9 10 s.ooo ACTlVE
8
9
10
10
14
15
11
15
16
.
s.ooo
5.000
ACTlVE
ACTIVE
ACTIVE
SPACE
~~
SPACE FRAME
FRAME
-----------
11 19 20 5.000 ACTIVE SPACE FRAME
-rc-----zu---- -·2T· s.001> ACI IVE SPACE . F RA!'£
13 11 13 4.oo_o ,, ACTIVE ·. SPACE FRAME.
14 13 16 4.ooo ACTIVE SPACE FRAME'
15 16 llf 6.ooo ACTIVE SPAcr-F RAME
16 18 21 6.ooo ACTIVE SPACE FRAME
17 9 12 4.000 ACTIVE SPACE FRAME
Te-- 12 ·-·-·n-· 4.ooo "
ACTIVE $PACE ~
19 14 17 6.00-0/: .ACTlVE SPACE . FRAMEi:.:··
20
:- <'!
:n
17
1
22
19
------z-z--·
2
.
6,000
s.ooo
ACTlVE
ACTIVE
ACTIVE
SPACE- FRAME
SPACE
SPACE
FRAME
FRAME
·23 3 23 s.ooo ACTIVE SPACE FRAME
...---:-z-r--··--~.
5.ooo ACTillE , sPACE • F'Rl\M_E
<'5 5 24 5.ooo ACTIVE- -· .SPACE - FRAME
26
27
28
24
7
25
6
25
8
.
5.ooo
5.ooo
ACTIVE
ACTIVE
ACTIVE
SPACE
SPACE
SPACE
FRAME
FRAME
FRAME
29 2 4 e.ooo ACTIVE SPACE FRAME
-:m--..-----·r;- 6.ooo ACI IVE S!'ACE - FflAME
31 6 8 6.ooo ACTIVE SPACE f'RAME •
32
33
34
1
3
s 7
3
.
a,ooo
6.ooo
ACTIVE
ACTIVE
ACTIVE
SPACE '· FRAME.
SPl\CE
SPACE
FRAME
FRAME
35 22 23 e.ooo ACTIVE SPACE FRAME
36 23 --Cli' 6.o:oo ,"'
.
. ACTIVE SPACE, FRMIE
37 24 25 60000 ''';"0" ·ACTIVE• SPAGC° . •.:.FRAME
TABULAR
TABULAR
~~---------------TABUCl!K ..
TABULAR
TABULAR
~~--------------------r11i;ot:AR' -
TA8ULAR
TABULAR
--'n~-------·---1AllULA1<···-· .. ------------- ·-·--·
FLTK TABULAR
WBTK TABULAR
~AR-------
tD/ AF t:
):!Y TABULAR
RZ TABULAR
-rimi:.------------;11131JtJ[R_______ ---------- ·------ --- ·- --
YC TABULAR
ZC TABULAR
--.w"E"1Ir-tG"H"1---------r-irB!Jt;"A'R -------------
JOINT LbADS·----~-----------------------------------1
JOINT STEP FORCE x y z ------------------------------------/
MOMENT x y z
-,---------------- - ...... 38<4CJO o.o o.o o.o o.o o.o
2 38.400 o.o o.o o.o o.o o.o
3 34.400 o.o o.o o.o o.o o.o
,.------------··"34-;z;o·o·-- ---o;·o- - · o·~ o o;o o.o o.o
5 21.400 o.o o.o o;o o.o o.o
6 21.400 o.o o.o o.o o.o o.o
,---:-·----- .. 33;200 o.o o.o ·o.o o.o o.o
8 33.200 o.o o.o o.o o.o o.o
9 38.500· o.o o.o o.o o.o o.o
--ro-------------------·· 6;aoo·· o;o· o; o· --- ·o.o o.o o;o
11 3!!.500 o.o o.o o.o o.o o.o
12 3.600 o.o o.o o.o o.o o.o
-rr-- -3.600 o.o o.o o~o . 0. 0 o.o
14 16.900 o.o o.o o.o o.o o.o
15 50.000
ff,"900 ___ o.o o.o o.o o.o o.o
16 o-;o· - o·.·o o~o o·.o o.o
17 11.aoo o.o o.o o.o o.o o.o
18 ·11.aoo o.o o.o o.o o.o o.o
~------- ---· -- ---- -- 9;aoo o~o o. o· o.o o.o o.o
20 31.900 o.o o.o o.o o.o o.o
21 90800 o.o o.o o.o o.o a.a
;>2 T6·;9·lf0·------· --- ·a;·O" ·-- - o;o cr;o o;·o o;o
23 13.tOO o.o o.o o.o o.o o.o
24 lh300 o,o o.o o.o o.o o.o
-zs---------- 1'5· 000 - o.o ·o. o o.o o.o o·,·o
JOINT
JOINT DISPLACEMENTS··--··---------------·--·------·-/
STEP ots"P";·x--------- --y--- - - - - -Rot, z -- - ------------------------------------1
JC - y ... . z
y .7 MOMENT X y z
STATUS • ACT! VE
F~L_L_v_E~TICAL
-·l-N_G_-_5________ ~!?~_D_~L~~--~~l_ _":U_l:L LONGITUDINAL LOAD STATUS • ACTIVE
; _L_.o_A_O_I_N~_:__6_______ FULL VERTICAL LOA~ --~L-~~ ~~_s_ :uLL VERTICAL LOAD STATUS • ACTIVE
•*********O****~************************
* END OF DATA FROM INTERNAL STORAGE *
~+'tfil'00:4**lRRflnnf"'lfOlflf1F.-O-:O:cf.0'1f'**-(f'Cf"lf.***04·*····~
!"':---'''
!\;;: 223 o.o
e.oooo o.o s.oooo
~- _ _ -- ------Tlt;ou-oo o;-o s.oooo ·
;;:-·:> 2s 20.0000 o.o s.oo·oo
;:'
EL
I ~,
,-:;.,_
130 Design of Structures and Foundations for Vibrating Machines
IN PLANE MEMBERS
MEMBER TN"ClUENCES
MEMBER START --z2----------·-·---
END ,.
32 3
22 22 2
29 ~-------4--
23 3 23
33 3 s
24 23 4
30 4 6
25 5 ?4
--~----~5- ----,--
- -~~ 24 6
,. 3i 6 8
...
---'-~2 7---~7- ·<!'.>-- -----------···-- -·- ·-·----
28 25 8
35 22 23
-~3~{;----2-3~-------2-1+
HORIZONTAL SCALE 2.0000 UNITS PER INCH
:n . 24 25
.. * . *
....
*
*..
.. ... ...
*
,
0012
. +
.. .
..
....*
_
..
* ....
... ...
.....
0010 +
. •..
.... ...
!I
.
.
.
0008 X*4*******************23*X**********************3*X
..... ..
...-
--·-
...
* .. ...
..
... ..*
0002 +
-.. .
...
.....
*
-
... ..
0 X*2********~**********22*X**********************l*X
,Computer Analysis and Applications: Example 131
PLANE JOINTS
9
JOINT - - - --··--
II
x
o,o 11.0000
--··---u-;-u------·1T;ooim
O,o
Y
·cnoROINATES
y
EQUALS
17.0000
17.000
z
o.o'
!i<OOOO
10,0000
.12 4.0000 11.0000 o.o
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134 Design of Structures and Foundations for Vibrating Machines
OUTPUT BY MEMBER
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LIST FORCES DISPLACEMENTS REACTIONS ALL
-~11~11~o~i<-*lf.'lrlRflf,,-.- ..-4.4"{f'.tF~~Fif4"lf64"*.0.~·4.
•RESULTS OF LATEST ANALYSES*
****************************
•
ACTIVE COORDINATE AXES XYZ
•
4 8 50,8770142 0,4542289 -11.8847094 -9.6837492 1211.2097168 30•A348846
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5 8 37.8488159 2,0874596 -1.3083725 1,66381199 34.3237152 -l 9A.6451721
21 •37,84RR159
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i'"'l IComputer Analysis and Applications: Example 135
~'
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A 0,568S053 -2.0146761 0.0761767 S9.8608704 37.09614S6
L~. -o,S6A5053 2.0146761
?I -0.0761767 3Sl .l 330S66 78.878982S
7
4 9 -I .I S'l0748 -17.2346497 -0,31Sl071 -31.S249939 16.9988403 -126S.68l81!48
~~' 10 l .1590748 17;2346497 0.3151011 31.5249939 J.9075861 2j1 .6033478
~ 9 0.2333486 3,3999'l68 0.3399994 -0.0000021 -12.0425339 -?5.2678986
10 -0.2313486 -3.39'l9968 -0.3399994 0.0000021 -R,3574286 229.2676697
6 q -O.?.OA613A 5,0999956 -0.0000000 -0.0000027 -2.8613806 -41.4052124
10 O.?.Oll613R -S.0999956 0.0000000 0.0000021 2.8613806 347.4047852
ll
4 10 O.A!'lO'l2?7 -24.0346375 -0.3151071 -31.5249939 -1.9075861 -?31.6033478
11 -0.8809227 24,034637S 0.3151071 31.5249939 20.Al40106 -1?10.4748535
5 10 o·.21JT4B6 -3.39'19977 -0.3399994 -0.0000021 8,3574286 -229.2676697
11 -o .2313486 3,3999977 0.3399994 0.0000021 12.042S339 .25.2678986
6 10 -0.?01!6138 -S,09999S6 -0.0000000 -0.0000021 -2.8613806 -347.40478S2
11 0.20A6138 5,0999956 0.0000000 0.0000021 2. 86!381S 41.40S2124
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4 14 -5.4169369 1,481\4140 o.ot59638 -8.Sll84S62 -J.401\2S76 -947.1843?6?.
15 5.4t69369 -J,4864140 -0.0159638 8.S8R4562 o.441l4282 1036.3691406
s 14 2. 3.17374 7 24,9999847 2.499'l98J -0.0000006 -67.3990479 463.S261230
IS -2.3373747 -24.9999847 -2.4999981 0.0000006 -82oM0677S 1036.4733887
6 14 3.124S861 37,4999!'147 0.0000000 -0,0000003 -0.6726444 69S.44SS566
15 -3 .J 245Jl6 l -37,4999847 -0.0000000 0.0000003 0,6726437 15S4.5537109
10
4 15 9,SA1049A -4A,Sl3S651 0,0159638 -8.5AA4S6-2 -0,44842A2 -1036.3691406
16 -9.SA30498 48,51356Sl -o.OJS9638 s.SAA4S62 •0.5094008 -1!174.4448242
5 15 2.3373747 -24.9999847 -?..4999981 -0.0000006 82o600677S -1036.4733887
16 -2.3373747 24,9999847 2.4999981 0.0000006 67.3991089 -463.S261230
i; 15 3.1245861 -37,4999847 o.oonoooo -0.0000003 -0.6726437 -1SS4.5S37109
16 -3.1245861 37,4999A47 -0.0000000 0.0000003 o.6726432 •6'lS.4455566
11
4 19 -3.430!'1796 -1.2279253 •0,9489564 · -A.3734407 S7,06llS72 -79S.81103S2
20 3.431)8796 J,2279253 0.94A9S64 8.3734407 -0.1231021 722ol3S4980
5 19 o.741SB583 15,9499941 l.S949984 o.oooooos -43.9149780 ?.33.7839203
20 -0.7468583 -lS.9499941 ·-l.S949984 -o.oooooos -SI. 7!!49426 723.2155762
~ 19 2.03\1737 23.9249878 0.0000000 0.0000009 o,18565S6 3S2o29S8984
20 -2.0311737 -23.92491l.78 -0.0000000 -0.0000009 -o.IBS6564 l083,2028A09
12.
4 20 6.1391087 -33.1278992 -0.9489S64 -8.3734407 0.1237821 -122.13S4980
21 -6.1391087 33.1278992 0.9489S64 8.3734407 S6,8J:'l5986 -1?65.5388184
---·----·-··-s·---·---- . ···20· - u;741\8583 •15;9499903 ·- •r;s9499B4 o. o o·oo oos Sl <.7849426 -723.21SS762
?I -0.746A583 15,9499903 1.5949984 -o.oooooos 43.9!4947S -?33 .. 7839203
A ?o 2.0311737 -23.9249725 0.0000000 0.0000069 0,1AS6564 -1083.20<'81'!09
·21 -2.1)311737 23,924972S -0.0000000 -0.0000()09 •0.1856573. -3S2.295898'<+
•
13
4 II 0.45493S3 -o,9240214 0.2786918 19,977S39l -24. 7880707 -31.2914429
--------- ···1T •0,4'549353 o,9240214 ,.-o.• 271'!69 re -l9o977S39l l!.4108A96 -l3o061S692
5 11 1.7519034 -6.2248697 0.3609633 66.0128021 -12.23704,91 -?.S2.869S984
13 -1. 7S39034 6.2248697 -o. 360963.~ -66.0128021 •S.OA91943 -45.9242859
- - ---·--·-i;- 004561379 0.3839194' .1) .. 06113372 ·-·99•2115479 ··3•1746016 ·29.4753113
11
13 -0.4561379 -0.3839194 -0.0683372 -98.211S479 -0.105S872 -11.0471859
14
--···--···--·-..-· -- . 13 o.4S49353 -4;5240183 . -1. 3S86903 19,977S391 -11.4108896 13.06lS692
16 -0.4549353 4,S240183 -1.3S86903 -19.977S391 -S3.8062744 -230.2144775
5 D 2· 1139030 -9,8248701 0.3609633 66.0128021 5-. 0891943 4S,9242859
"16 "'2·1139030 9,8248701" •0.3609633' •66•or20021 - -22.4154358 -517.51806!\4
6 13 o.4561379 -5.0160770 0.0683372 98.2115479 o.JOSS872 11.047JAS9
16 -0.4S61379 S,0160770 -0.0683372 -98.211S479 -3.385776S -?51.8189087
--1s·---- -
4 16 -0.4947273 9,8508663 -2.5343895 S;:>.2685242 46.9700470 207.128036S
IA 0.4947273 -9,1'!508663 2.5343895 -52.2685242 13S.SOS9814 502ol34S?.l5
----- ·-c;· ·-ro· -· -"'2"'.?0'5341-~-- 5.1011~1" o.ss1s1s1 l.19911839 -3R.6U;l320 •233.436i'5;2
18 2.2675341 -s.1011519 -0.56!S1Sl -1.1994839 -1.8219614 643.91894S3
6 16 o.s60so53 lS,3195801 -o.• 0164978 J .1628866 2· 11.38477 362.501?207
18 -O,S6A5053 -lS,3195801 0,0164978 • l. l 62!lll66 -o.9260067 740.S087A91
16
4 18 -0.4947273 -7,9491081 2.8056021 S2.26AS242 -l35.S059814 -so2.J34521S
21 0.4947273 7,949JOF!l -2.8056021 -s2.2685242 •66·4972992 •70.2012939'
5 18 -0.487S373 -12.09A8264 O,S6151SI 1.1994839 1.8219614 -643.91894S3
21 0.4875373 12.09A8264 -0.56151Sl -1.1994839 -42.25JOS29 -?27.1965942
6 18 0 .561lSOS1 •11,3803854 -0.0164978 1.11\28866 0.9260067 -740.5087891
21 -0.56AS053 l!,3803854 0.0164978 -l.l6?.8A66 Oo261B340 -78,878982S
17
4 9 o.1S3241l5 I.4359131 "IJ. ! 87S754' -11009712372. •20.S5S2826 70.5918S79
12 -o .1 S324A5 -1.4359131 -o.J8757S4 ll0.9712372 ll·SSJ6748 -l.6680193
5 9 l.7S19034 -6.2248697 -0.3609633 -66.0128632 12.237041S •2S2.8695984
. 12 -J.7539034 6.2248697 0.3609633 66.0128632 5.0091943 -45.9242859
9 o.4S61379 0,3A3'll96 -0.0683372 -98.211S479 3.! 746025 29.4753265
" 12 -o.45r,1379 -o. 3839196 0. 06833.72 98,2115479 o,JOSS868 -11. 04 71859
B
4 12 O.! SJ24A5 -2.1640844 l.267S734 -110.9712372 .,.ll<S51674A 1.6680193
14 -o, J 5.3248<; 2,1640844 -J.267S734 ll 0. 9712372 -49.2919006 -105,5440521
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14
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-2 .i 139010
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9,A248701
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2?..41S43S8
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-517.Sl80664
n 12 {).1'561379 -5,0160770 -0.0683372 ·9R.2Jl5479 -o.105S868 ll•0471RS9
14 -0.4561379 S,0160770 0.0683372 98.2115479 3.3857756 -251,0109os1
19
4 14 1.2s27342 10.s1s2313 -2.Sl23930 S0.7180176 44·1SlS808 276.2067871
•
-17 .;l .2527342 -10.5752'373 2;5123930 -so. 7180176 136.7406769 485.2104492
5 14 -2.26753S2 S,7011Sl8 -O.S615151 -1.i 994877 38.6071167 •233.4361S72
17 2.26753S? -s.1011510 o.s61s1s1 1.1994877 t.821980S 643.9189453
6 14 o.sMSOS3 1S,319S801 0.0164977 -1.1628933 -2.1138420 362.S012207
17 -0.56ASOS3 -15,3195801 -0.0164977 J.1628933 o.92600S5 740.508?891
............ ------------~-
136 Design of Structures and Foundations for Vibrating Machines
20
-4 !7 1;2527342 '-7,2247372 - 2.8275986 - 50.7180176 "'136· 7406769 •485.2104492
19 -l ·252734? 7.2247372 ·-2.8275986 -so. 7180176 -66.8463593 -34.9706879
5 17 •0.4A75376 •12,09A8264 -0.5615151 -t.1994877 -1.8219805 -643.9189453
19 o.4875376 12,091l8264 0•5615151 1.1994877 4202510834 •227.1'965942
6 17 o.5M5053 -l! .3803854 0.0164977 -1.1628933 •0.9260055 •740e5087R91
19 -o.5685053 11,1803854
'... - . .. .. -0.0164977 1.1628933 •0.261A312. -78,8789825
-71--- ~
•
1 -1.11174189 1. 9948902 009836210 69.5413666 •31,4A9807 l ·194,3A62305
-· ·-1, l'8741A9 -1. 9948902. •0.9836210 •69.5413666 -Sli.9378052 385.8955078
6 1. -0.3655444 10.0l1408A 1.2570610 63.3713837 -52.3162122 A0.4243011
3 o.3655444 -10,01!408!! -1.2570610 •63.3713837 •6Ao34l6748 880.6708984
Computer Analysis and Applications: Example 137
33
4 3 -0.3772805 -5,3257103 5.7201433 598.1862793 -193.9714203 -?4 7,8784;790
5 o,3112sos 5,3257103 -5.1201433 -598,186?793 -217.8789825 •135.57273116
I- :;,sn-3120 . -23 ;7786865 •0•3154467 -68.9586182 8.9662838 -1290,2907715
5 -3.5713120 23,7786865 o.3154467 68.9586182 13.7458935 -421,7751465
6 3 -0.4598483 •24.9645386 -0.7111034 -135.2165527 40.5051727 •999.8315430
-------··-s 0.45984A3 24.9645386 0.1111034 135.2165527 10.6942759 -797.61572?7
34
4 5 I •0, 7811686 4.2909365 -i.7942352 -3.8307295 140.0591'>771 ?89.8723145
--------- r ll071l 11 6 8 6 -4.290"305 --..7~2352 3.83117795 •TlJ'87'i 701 S- - --rT9• o 7528~Y
5 5 j,Jl\13836 3.3797274 0.3730668 22.3?55768 -13.5062056 11l7.355?246
7 - -I .!613816 -3.3797274 -o.3730668 -22.3255768 -13.3<;46162 -144.01461'137
6 5 -0.4467912 10,5969954 0.4191979 21.0373840 -16.4174347 76! .6941159
7 0.4467912 ~10.59~9954 -0.4191979 -21.0373840 -13.7648191 1.28911108
35
4· 22 -0.1153864 2.2996998 -0.2962773 86,09A5565 -19.4151001 -22.4631653
23 0, lJ 53864 -2. 2996998 0.2962773 -86.0985565 47.8577271 ?43.2343445
5 ?2 -o.58355?? J,3648109 -0.0000001 -0.0000425 0.0000049 -99.4139252
?3 o.5111c;52? -1.3648109 0.0000001 o.oooo42s o.onooo7a 230.4358521
6 22 -o .17:10796 ,J,4495478 0.0000000 -0.0000653 -0.0000011 -33.6948547
23 0.1730796 -.1.4495478 -0.0000000 0.0000653 o.ooooou 364.8513184
----- -
------;JOTlllTl.0405 -. SUPPORTS
•
4 100198765 35.8043518 -22.4542?.36 -0.0000000 0.0000000
.. -5 '-6.8085537 67.6194916 0.0036440 -0.0000000 0.0000000 0.0000000
6 0.0033467 115. 26 754 76 0.0041123 -0.0000000 -0.0000000 0.0000000
GLOBAL
. ---- -- --··- ··4·- -1. 0154 J 42 . li7,8AS7?69 -22~4597931 -0.0000000 0.0000000 0.0000000
5 -6.8085537 6 7 .6194916 -0.0036440 -0.0000000 0.0000000 0.0000000
6 000033467 115.26 754 76 -0.0041723 -0.0000000 ... 0.0000000 0.0000000
,------------i;cos"IL
4 0.7952607 23.7\90399 •16 o l 946564 -0.0000000 0.0000000 0.0000000
5 -5,3015184 54,5713501 0.0035663 -0.0000000 -0.0000000 0.0000000
---,;- - - 0;0007644. 8;>,9\55426 - o~-oos2a4o ;.0.0000000 0.0000000 0.0000000
4 GLOBAL
4 -o. 794;>4! 4 86,A349915 -16.2017059 0.0000000 0.0000000 0.0000000
5 '-5.3015184 54,5713501 .;·o .0035663 0.0000000 -0.0000000 0.0000000
6 0.0007644 82.9155426 -0.0052840 0.0000000 -0.0000000 0.0000000
5 GLOBAL
- - - - - - - - · - - - - ··-4· 0~6!!04323 l6,6d341'9A ;;13. 0617371 -0.0000000 0.0000000 0.0000000
5 -4.5326090 45,5854187 0.0029310 -0.0000000 -0.0000000 0.0000000
6 -0.0008316 64.279091l5 0.0048117 -0.0000000 0.0000000 0.0000000
• •·· - '
.......... ------------~-
138 Design of Structures and Foundations for Vibrating Machines
•
JOINT DISPLACEMENTS • SUPPORTS
--·-----·-·-·--:::·-·-----:--===-··-- -·-- ----.--- ····-·-----·- -···------·--·-------·-- ·-· ---------- ---- ---------- -·-- ---·- - ------·-- -····--····
JOINT LOADING 1-·-····-··········DISPLACEMENTS·················ll····················RDTATIONS················-··I
--.----ui."UBAL_ _ _ _
X DISP · Y D!SP Z DISP X ROT . y ROT 'l ROT
5
-0.0208439
-··o;-oni:i112·2· --
0.0310218
•0•1114240 0.0000695
----;;o;TIT59ne-·------o.l!TOZS9T · --- -----ir;-o·ooH38 ..
-0.0767840 0.0000000 •000000000
o.oo00141 -0.0000000
o;oo<ro044
-0.0000000
0.0000125
0.0000083
-0.0000103
•
6 •0,0206532 -0.1163952 •OoOOOO'OOO •OoOOOOOOO -0.0000000 0.0000125
16
4 •000122180 -0.1163216 0•2100765 0.0001175 0.0000044 <>.oooooee
5 0,0305686 -0.0734693 -o.oooos20 -0.0000094 -0.0000006 -0.0000103
----,;·-- .. ·-; -::·-;.;1r;~<Hl4'.l·9---- -~.:n-;rn-~o:::..-:-=,--:Q.ogG<r69'5-_--.,,,1r~oJoT41·----:---11-;oon-oooo·--- ···!)_.oOO{fH!~---·
- - .. I
I
Computer Analysis and Applications: Example 139
•
17 GLOBAL
4 -o.ols5FJ06 -o.028BA97 o.20Ao399 o.ooorJ4o 0.0000064 0.0000111
- s- o;oJ06l70 -n. o754iSsa·- -- - - ·-1);1nro·o557 --------o.0000094--------;;;<r;11oo·oiro3 < · --- o ;oo-001r36
6 I •0,0208560 -0.1057499 0.0000744 0.0000141 0.0000000 0.0000184
18 GLOBAL
------·-·-----------·-4· ,_ .;;o;-012??74 ··- · .;;o-;n;;_s1ro2-------o.-20r94cnr- -------0-~-c>oons-2· ·cr;·ooorfo64- · 0;0000·135···
5 0.0306170 -0.0754688 -0.0000557 -0.0000094 0.0000003 0.0000036
-0.0208560 -0.1057499 -0.0000744
6
- . ----- __ ,_ - - -·------.------------·------ -------0.0000141 -0.0000000
------------·--·····-····· ·····---------- --------·-·--.---------··
0 ..0000104
4 -0.0156074 -0.021651~ 0.2044226 0.0001311 0.0000000 0.0000102
5 0,0306274 -0.0713151 0.0000222 0.0000095 0.0000007 0.0000102
- €' -.;;!)', 02iill6A2 - .;;o .-09406·115· ------0;01roo602·- - ----o-;oooov+«!- · ·-cf;·ooooooo - --.. 0.0000209-
20 GLOBAL
4 -0.013907~ -0.0656620 0.2045244 0.0001022 0~0000021 0.0000193
--------- --- -·--s- o; 031 :irss - - - -.;-o --------.o.inrlf<fITTr(J ______ --;;-ir;-1nroo-01ro- -------.;;u·;no-o·airou-- --------u •·1ronnu-2 ·----
~lil'+'27Z6
JOIN! 1 107'>LlTSPU-CEl'IENT X Y Z
@
DAMPING RATIO 0.10 75 @
UNITS RADIANS SECONDS POUNDS INCHES
JOINT IS LOAD FORCE z FUNCTIO"J SINE AMPLITUDE 4040, FREQ 727.7 PHASE 1.5707
-----··-·----
JOINT 20 LOAD FORCE Y FUNCTION SINE AMPL I TUOE 3897, F"REQ 727.7
'·'~
JOIN
JOB IO -
EXAMPLE JOB TITLE - STATIC ANO DYNAMIC ANALYSIS or A iABLE-TOP
----------------------------- -- ------ ------------------ ---- -------- ·-----
fC}IVEHNITS - LENGTH --WEIGHT ANGLE TEMPERATURE TIME
LS RAD _OEGF" SEC
---------------------------
********** DYNAMIC STRUCTURAL DATA **********
• x v:---z:-------- ----·---------
x y z
_.......--------------~
140 Design of Structures and Foundations for Vibrating Machines .
'5 x y z
6 x y z
x y z
°A x y z
..9 x y z 69.87999 1\9.87999
··----··---·--- -·-- ..-·--
69.87999
·- --· -- ---.··-·---··· -·
o.o o.o o.o
10 x vz ----·-------·--·~---·--
MOOE DAMPING RATIO MOOE DAMPING Rt>TIO MOOE DAMPING RATIO MODE DAMPING RATIO MODE DAMPING RATIO.
. 1 2----o~Toooo··---- -----3 ------·o-;10000 ·--- · ··4··
0.10000 o~foooo 5 0.10000
6 0.10000 7 o.ioooo R 0.10000 9 0.10000 10 0.10'000
11 0.10000 12 0.10000 l:l 0.10000 14 0.10000 15 0.10000
--10-- OolOOOO ---n---· --- 0 OlOlrOO n--- - .. 0•11l1YOO .. 1'9 0 •TIT01l1f . 20 u.10000
21 0.10000 22 0 .! 0000 23 0.10000 24 0.10000 25 0.10000
26 0.10000 27 0.10000 2A 0.10000 29 . 0.10000 30 0.10000
31 0.10000 32 0.10000 33 0.10000 34 0.10000 3'5 0.10000
36 0.10000 37 0.10000 3!l 0.10000 39 0.10000 40 0.10000
41 0.10000 42 0.10000 43 0.10000 44 0.10000 45 0.10000
0. 1000'0' ------ -7+7- - 0.-10000 48 0.10000 49 0 .10000 so 0.10000
0.10000 52 0.10000 S3 0.10000 54 0.10000 SS 0.10000
0.10000 57 0 .! 0000 S8 0.10000 59 0.10000 60 . 0.10000
•
0.10000 ----02--------o·;i.-o-o-C10 ·--··-- ----53··-·· --ll ;nnoo· 64- 0.10000 65 0.10000
0.10000 67 0.10000 li!I 0.10000 69 0.10000 70 0.10000
10000 72 0.10000 73 0.10000 74 0.10000 75 0.10000
---- ·--·-----------·- . -·--·· --···· ---·-
JOINT LOADS··--------------······-------------·--·------------·-····--·-········-·····-·-------------------········/
JOINT DIRECTION TI"Mc:-·--------l:lTAff ___________ l1ME __ ,_________ r:o-.m ---··rrHE . LOAD TIME LOAD
J.Q FORCE y rum:T!UITT SIN AMPJ:TTUDEf --·1·;i;:l<rO'E-~--rREOOENCYT --,-;-n10E· Oc ... PHASE- ANGLET n. o
lo FORCE z FUNCTION I SIN
·-·---·--·· -- ···---·-·
AMPLITUDE:
--- ----- l .4300E 02 FREOUENCVI 7.2770E 02 PHASE ANGLE I 1.S707E 00
15 FORCE y FUNCTION I SIN AMPLITUDE I 4,0400E 03 FREQUENCY I 7,2770E 02 PHASE ANGLE I o.o
f ORCE z rUNCTtom· snr--A'MPL!TUOEI A.-0-400E- 03 FllEOUENCYr --1.c770E 02 -PHASE ANGLE1 t.S707E 00
20 FORCE Y FUNCTIONi SIN AMPLITUDE: 3.8970E 03 FREOUENCYI 7.2770E 02 PHASE ANGLE! o.o
---~----
20 FORCE Z FUNCTION: SIN AMPLITUDE: 3.8970E 03 FREm~NCYI 7.2770E 02 PHASE ANGLE! 1;5707E 00
. o. 0 0.08630 0.00012
• -·~•i•~·~*******************************
~ END OF' DATA FROM INTERNAL .STORAGE *
W04*99i''it0464944l'0:000*091'W901""*'"1flFlRfl-"*T4F1f..-tF- .. -- ...._.__ _______ -- ._._
Computer Analysis and Applications: Example 141
**~**~*~*~**~********~******
~RESULTS OF LATEST ANALYSES*
**********~*****************
...... "EIGE"NVALLIES
MODE-------E!GENVALUE-------FREQUENCY--------PERIOO---/
I l.3556960 01 J.6819780 00 2. 7159310-<'l
.. 2, 2.2111660
5,'lR4095D
01
01
4.70?3040
7.7356940
00
00
~ ?.1266170-nl
l.2<l?709D-Ol
4 t.?.70442D 02 1·1?71390 01 s.s120220-02
5 l.IS934980 02 l • 3013450 01 7.f:>A4360D-n2
""6 1.7040980 02 103054110 01 7,M0421D-02
7 3.0f:>6904D 02 1·7512580 01 s.1101s20-02
A 3.3601950 O? l.A330840 01 5.455289D-n2
9 4.3J7265D 02 2.0826100 01 4,8016,..,70-02
l0 7.%55360 O?. 2.75oss20 01 3.635f:>J40-0?.
•
lI B.1379070 O? 2.8527020 Ot 3.5054490-02
12 lo06!:!460D 03 3.21;87310 01 J.0592920-02
13 1.11537060 03 3·4113140 01 2. 9314210-02
14 1.7401070 03 4.t 714590 01 2.39724JO-n2
··Ts· - ··-··2 •426 0240 03 4.925469[) 01 i.'.0302640-02
16 2.<;718630 03 S.0713540 01 l.'l7JA,..,OD·02
17 3.7855400 OJ 6 .! 526740 01 l.6?53100-02
TA . 4.2569580 03 6.5245370 01 1.5326760-02
19 4.4755870 03 6.6899830 01 1.494 7720-02
20 4.6226810 03 6.7990300 01 lo4707980-n2
NORMALI7t EIGENVECTORS
LTST DYNAMIC EIGENVECTORS 20
··•·•••·••oo•ooo•o.••i>ooooooo***
*RESULTS OF LATEST ANALYSES*
**********************••ct•••
EIGENVECTORS
MOrlE
IOINT 1-----------------DISPLACEMENT------·----------11-------------------ROTATION--------------····•/
X OISP. Y_ DISP. Z DISP. X ROT. Y ROT, Z ROT.
-------- ·--- ··-· - ---
GLOBAL -o.o0f>7923 1'1·2124984 0.0792493 0.0011039 OoODOll32 -0.0000051
•
GLOBAL 0.0067923 -0.2124984 0.0792493 0.0011039 0 .00011·32 0.0000051
- - - - Gt:OBAL •0.0060112 ·0.2100704 "090683671 - "00003158"8"6 .. Oi00-01137 ·•0•·00-00519
GLOBAL 0.0068172 -0.?.100704 o. 0683671 0.0036886 o.ooou:n 0.0000519
GLOBAL -0.0068133 o.20311ss D.0601735 0.0035246 o.ooolll6 •0.0000615
---··-:--·G_LOBAL ·· o.0_0611133 -0~2037185 0 ._06111 ~35 .... 0"<0035246 o-. o_o_o 1136 __ o_._OQD_O§_l~L-.
142 Design of Structures and Foundations for Vibrating Machines
MODE 2
-.ronrr------- -----, .;;;;;-..-.-""""'"'"',;;"'-'---•-"01 SPL ACEMEN T.;.;.- .o "'-"'"'"•••o.·o.o.;;;.;·•-r/ •-------------•-••••-•-·ROT ATI ON---•-••---•·•····•· I
X DISP, Y DISP, Z DISP, X ROT, Y ROTo 7. ROT,
•
IB GLOBAL o,9840539 •001270545 -0.0001671 -o.oooot4B .0.0000405 •0,0015566
19 GLOBn;-·------- · o; 9844-893 - •0.2314"746 •0.0003848 -0.0000303 0.0000998 -0.0015984
20 GLOBAL 009999995 -o.2329970 -0.0000000 -0.0000000 -0.0000000 -000015984
.21 GLOBAL o.9844893 -0.2314746 000003848 -0.0000303 -0.0000998 -0.0015984
?2 ""'lrr.llma:------ - · o--. TI 41 ~z 0;2496134 -·o. 0000000 0.0000000 -0.0000000 -0.0024069
?3 GLOBAL Oo l1432SO 0,0301146 •000000000 -0.0000000 0.0000000 -0,0022308
24 GLOBAL 0.1137908 •001048773 -0.0000000 -0.0000000 -0.0000000 -0.0016196
~----GLOEJAt· 001135581 -0.2115590 -0.0000000 -0.0000000 000000000 -0.0015967
0 .1158892
o.2856015
0.0004012
0. 0007171
•o,;0023625
•000023581
-0.0023568
-0.0000000
0.0000000
0,0000000
------·-- -·-·-··-- .. ···----·-· -- ..__ - --···-·-··-··· - ·- --· --- ···---------- ----
MOOE 4
~awf,jlt/i'\/ ---- --
•
l·••·•··----------0 I SPL ACEMENT ··-------·-----··//•••••••••••••····-·ROT AT t ON----------··•••••••I
_:"-'-'-_,'."-,,,-'-'----'--------~X_O_I_5_P.c..•__ Y Ot_~~-------..J:_~OIS~.-------------.-!--~2.!..!___ ___ Y ROT• _'I: -~OT~
•
3 GLOHAL o.~r94·151e · o,uuuut101 o.uou~rz3 · -- - .;u•oooouuo
4 GLOBAL -0.1360005, o.8794618 -0,·0000861 -0.0002113 0.0000000 •0.0011704
5 GLOBAL -0.1357959 n,7569069 o,ooooe24 0.0001545 0.0000000 -0.0019545
F. GLOBAL -0.1357959 0.7569069 -o.ooooa24 -0.0001545 -0.0000000 -0.0019545
7 GLOBAL •0.1356713 0.611%250 0.0000829 0.0001600 -0.0000000 -0.0018612
A GLOBAL -o.1356713 0.6186250 -0.0000829 -0.0001600 0.0000000 -0.0018612
--- q GLOBAL -0.0617591 0.9922456 -0.0000011 -0.-0001987 ·0;·0000036 •0;0007531
10 GLOBAL -0.0617608 o.9999998 -0.0000000 0.0000000 0.0000000 -c>.0007531
11 GLOBAL -0.0617591 o,9'122456 0. 0000611 0.0001987 -0.0000036 -0.0007531
-T2--- . GLOBAL -0.0613237 o.9523607 -o;ooori;35 . •O; Oll04410 -o.1rooo161 - --o. 0001!887
13 GL08AL -0.0613;:>37 0 ,9523607 0.0007635 0.0004410 -0.0000161 -0.0008887
14 GLOFlAL -0,0608373 0 .9116666 -0.0006962 -0.0006833 -0.0000283 -0.0007281
--15 'GLOBAL -ll.0646018 1),9512376 -·0.0000000 - - o.-ocrooooo 0;0000000 •0;00'072AI
16 GLOBAL -0.0608373 1),9116666 0.0006962 0.0006833 0,0000283 •0.0007281
17 GLOAAL -0.0610613 0.82.15370 -0.0007474 -0.0006150 0.0000132 •0.0018863
---i:ir------ · GLOR'.AL --o .06! 0613 0.8215370 0.0007474 -cr;ooo615o .. -0.0000132 -o. 001B863
19 GLOBAL -0.0609848 n.6565737 -0.0002659 •Oo0-G05467 -0.0000425 -0.0023556
20 GLOBAL -0,06708SO o.6813196 0.0000000 0.0000000 0.0000000 -0.0023556
~i--- GLOAAL -o .0.6091348 o.6565737 0.0002659 - 0.0005467 0;0000425 -0.0023556
?2 GLOBAL -0.1357332 0;9442801 -0.0000000 -0.0000000 -o ;0000000 •0.0005266
?3 GLOBAL -0.1359981 o.8703532 -0.0000000 -0.0000000 -0.0000000 -0.0012052
---µ.------ - -~L-OAA L -- •O • 1'357968 ll,7t;22643 - 0;0000000 •o;nooonoo ·;;.0;0000000 ..-0.-00192~6
25 GLOBAL •0.!356719 n.6126020 0.0000000 -0.0000000 -0.0000000 -0.0018910
MODE 5
---;J011'1T _______ -- --- ------ -7.·;. -'.,;.;.·;.;o;•·• .;;.;.;.;.;:.. • • QI SPL ACEMENT-..;..; •• .;;.;;;.;..;.;.·.;;,;;;.;;;;.• r F•·.;;·;.-;,;'-·.;;;;.;;;,;·..;;. •.;;.;;;..,_-;;·.;.;ROT AT I ON-'"'···••"----'--•.;.•;..o • .;. F
X DISP. Y D!SP, 7 D!SP, . X ROT, Y ROT• Z ROT,
-,------------GLOBAL - 0•9988'843 -0.4129394 0.0000567 •0;0000119 0.0000004 -·o•U0515co
? GLOBAL o.998M43 -0.41;>9394 -0.0000668 0.0000119 -0.0000004 0.0051520
3 GLOBAL o.9999954 0.07A7779 0,0000578 0.0000362 0.0000000 0,0049613
-..----------ucoBlf.L: -- - - -- -u-.~9999c;4 OorJ7A7779 - •u·.-0000·51s --- •-0;·0000362 --o.croonooo n.0049613
s GLOBAL o.9991596 o.4351376 0.0000490 0.0000525 0.0000003 0.0049780
6 GLOBAL o.9991596 o.4351376 -0.0000491 -o.oooos25 -0.0000003 0.0049780
----r---------ut1J13 AI.:. o.-99110285 · -o .79661!39 o. 0000'259 'Oo-0001081 - -. - o~oonoao5 -- - --O';oosllc7a
I! GLOBAL o,9980285 o.7966839 -0.0000259 -0,0001001 -0.0000005 o.005027A
9 GLOR AL 0.0282955 •0,4341l9Al 0.0000401 0.0000379 0.0000004 0.0052981
---i:ir---------~COBAL 0<0283761 -0.4370804 •0.0000000 0.0000000 •0.0000000 0.0052901
11 GLOBAL 0.0282955 -n.4348981 -0.0000401 -0.0000379 -0.0000004 0.0052901
12 GLOBAL 0.028??94 -0.1753971 0.0002104 -0.0000581 -0.0000029 0.0054684
--r:r-· -
-c;LORAL 0.0282294 •O. l7t;3971 -0.0002104 --o .oooose1 0.0000029 0;0054684
14 GLOBAL 0.0281319 0.0849489 -0.0001319 -0.0001541 0.0000217 0.0053109
15 GLOBAL 0.0306260 0.0920303 0.0000000 0.0000000 -0.0000000 0.0053189
•
-To--------GCURJIL - ·-u-;·02Rl TI 9 0,(}849489 . 0;0001319 ---- ··0.0-001541· -- •0.0000211 0. 0053189
17 GLOFlAL 0.0285549 o,476606A -0.0003179 -0.0004447 -0.0000062 o.oos3206
18 GLOBAL 0.0285549 0 .4766061! 0.0003119 0.0004447 0.0000062 0.0053206
--T9 - 'Gl.08 ;1.·t- - -!J,0287905 0,8416il54 -o.ooo748A -0.0001354 0.0000289 0.0049296
20 GLOBAL 0.0329009 o.8815361 -0.0000000 0.0000000 -0.0000000 0.0049296
21 GLOBAL 0.0287905 o,8416854 0.0007488 o.0007354 -0.0000209 ci.0049296
--;s-;s-- ---GLORAL -··ll ;.,,.,.890150 "-0;4119033 ·· --o.oooooM ·0;0000000 --o. 0000000 0.0051520
23 GLOBAL Q,9999999 0. 0772559 -0.0000000 0.0000000 -0.0000000 0.0049821
?4 GLOBAL 0,9991A39 o.4340o99 -0.0000000 0.0000000 -0.0000000 0.0049619
--75------------m:oBAL o,9980538 o.7924210 --0~0000000 --- o .-ncru-0000 •o•lloooaoo - 0.00501.30
_;__:_ ____ >IUUE·---'~6. -
JOINT 1----------------·DISPLACEMENT····-------------11--------~----···-··ROTATION----·····----------1
--roISP, .... --y DISP, ....7. DISP,- ----)( ROT. y-ROT•_____ --"·-z· ROT.
•
JOINT 1-----------------or~PLACEMENT-----------------11-------------------ROTATION-------------------1
x D!SP,
-·-----··---'" -·-·-· .... ---
y DI5P, z DISP. )( ROT, y ROT• 'l ROT.
GLOBAL o.4619697 0.1026532 -0.8489;>24 0.0020031 -0.0076982 -0.0002470
GLOBAL -0.4619697 -0.1026532 -0.8489;>24 0.0020031 -0.0076982 000002470
144 Design of Structures and Foundations for Vibrating Machines .
MOOE 8
JOINT ·-7-;;;;;;;;;;.;-;;-;;·.;;;;;;;.. •••••J:ffSPL ACEMENT..; ••·------- ••••• ..;.; 11--;; • .; •••••••••••••• Ro TAT I ON---·---------·-----/·
X OISP, Y O!SP, 7 OISP. X ROT, Y ROT, Z ROT•
-·-···.cr:a;it·.cr~.a-*:O.,q;00<00**0*-0:§<G4t<C>{)i>***
-----· PRORLEM • EXAMPLE TITLE - STATIC ANO o·vNAMIC ANALYSIS OF' A TAALE-TOP
• '0
:::::=::::::::::::::::::::::::::::::::::::::::::::::::::::=========:::::::::::::::=::::::=:::::::::a::::::z:z:::aa::a••••:a2CS-
LQA0JNG • 7 CENTRIFUGAL FORCES ~
--===::=-::::-:::::·::::::::::r:::::::::::::::::·======·=====·===·=========·====·=:d:f::·:::::.i::::·=============··=·====·=============s':i:·::=:i:t:::fic:::zx::a•iil:.C:sss::,;
54
J
,,-·1
·-;:icr!NT TIME 7·--'--------------0 I SPL ACEMENT .;.;.;;·;.. •• ".;..;;...;·;.. ••• .;;.;..Il•-"'"··•.;·..;;..;;;.;. • .;.;;. • .;.;;.;;,ROT AT I ON •• .;..;;.. •••••••••••••• ;
X DISP, y,oJsp, Z OISP, X ROT, Y ROT, Z ROT,
•
0.01295 o.oooooc;;> 0.0000320 •O>OOU0003 •o·.0000001 ·0•0000000 0.000·0000
0.01367 0.0000061 0.0000349 -0.0000003 -0.0000001 -0.0000000 0.0000000
: Computer Analysis and Applications: Example 145
•
o.051ao -0.0000491 -0.0000224 •000000730 000000002 0.0000003 0.0000001
0,0525?. -0.000047?. -0.000057?. -0.0000630 000000002 000000002 •OoOOOOOOO
0.05324 •000000445 -0.0000897 •O,OQ00367 000000002 0 ...00.0.000.1 -o .. ooooJtQ.Z..
,··
,f.'.
146 Design of Structures and Foundations for Vibrating Machines
•
0.03021 -0.0000430 0.0000809 0,0000583 -0.0000000 0,0000001 -o.oooooof
0.03093 -0.0000445 0.0001101 0.0000463 0,0000000
- 0;113165 .. 0.0000001 0.0000001
--ll.;0-000457 0 .;000124'! o.0000236 0.0000000 o.ooootloo 0,0000002
o.·03237 -0.0000461 0.0001145 -0.0000040 0 .• 0000000 -0.0000000 0.0000003
0.03109 '.'0.0000477 o.oooll~!-~-- -o.0_0002% 0.0000000 -0.0000001 0 •. 0000003_
Computer Analysis and Applications: Example 147
LIST
'\;
DYNAMIC FORCES ALL
VV' /\/' ~
OEGF SEC
ACTIVE STRUCTURE TYPE SPACE FRAME
ACTIVE COORDINATE AXES x y z
•
.;.o,1944841 ·-2.6552515 oo3l38095
Oo0532 o.oao149s -000022065 0.0094797 -0.0995474 •10361.8317 o.i101354
Oo0540 000151788 -0.0069890 -0.0029992 Oo014879o 003354899 -o.2614970
-o;os4T--·--·--;;o-;--01+sosn-------·---;;o--;orn2r4- -- ---.;.-o·;-of461if3 - o.11ss472 l .9s63243 -o.683o96B
Oo0554 -o.oa209a2 -0.0133115 -000223014 Ool849468 301494265 -1.0238590
0,0561 -0008480?.8 •Oo0l2All6 •000239618 001956756 305113602 -101750259
-o;-;;56!! ·.;o-;os-2os63 · ·· -- -.;.o;otf9S-615 ·-- - ;;.0~0·191732 0.1482018 209711323 -10010111'.l
Oo0576 000011031 -000042578 -0-.0092281 0.0552283 1.66B04B9 -007435029
Oo0583 000759878 0.0018625 0.0031962 -000584202 -0.0549131 -002414348
--o.os9o·-- -- --o.T341f9''rs-- --o;-cro73457 ---o-~oT47559 -0;1623694 ..;1074~4574 0.3106650
Oo0597 Ool666211 0.0109099 0.0223366 -0.2288369 -209485493 007826039
Oo0604 001612129 0.0111796 000238890 -002400339 -303556337 lo06534lO
·-o-;0611·· ·:· 0~·1pn54r· ·-·cr.oo'1B989 o;on9778 •0.1928909 ·-2;0594131 1.0998516
0.0619 0,0508364 0.0059332 o.ooB8986 -000998598 -105965433 008925995
Oo0626 -000256107 n.0010977 -0.0036865 0.0141252 0.0941112 005139714
--ir;·o63Y .;.c;~·oe<l314o ;;ooiici31s3r· ;;;o.ol54ll6 001202119 107572880 0.0119911
o,0640 •001223509 •000056452 -0.0231620 001887751 209487534 -Oo?.870134
Oo0647 •Ooll45977 -000055287 -0.0248863 0.2023600 3,3524991 -o.4733293
··o.·oo;5------·--·-..1J-;006sl!·6·z- ·-..;n;<ro21so1 -------·..;n.02nrsCir 0;1576115 2;0654375 -t\04225446
0~0662 0,0104773 0.0019341 -0.0102534 0.0667346 1.6249018 -0.1410898
0,0669 000975522 000074065 0.0021183 -000457738 .0.0205124 0.3015915
-o;-0616 ___________ o-;Tr2n:r2 ---o.012-a2·a·- o;oi36127 · .;.001496944 -1.6426112 0.1911194
000683 002169008 0 0 0150934 0,0211101 •002171941 -2,7752924 1.2016945 l
Oo0691 Oo2189416 0.0152911 000225605 -002302963 -301134558 . t.4242640
Oo 069A 0 o l 784958 - Oo 0127541 ---ll""OlfT75'31+6----.;;o-;1~------.7,-s577+1164______ I-;7+11T1-S-60- -
•
o.oa42 0.0614051 -0.0013653 0.0024667 -0.0697622 -0,0846828 -o.5893115
·-u·.;-oa49--·-- ··· ·----·1r;-y-,11334-cr· ·-o;o-02"9688 - ·· ---ll-.-01434"58 ·-··-···- ---·u•t74032l --;;1 >7673559 •llol-516985
0.0856 0.1679377 0.0054632 0,0222129 -002411245 -2.9640503 Oo214453!
0.0863 o.1662481 0.0054188 0.0240490 -0.2537157 -3,3592262 003999426
1Computer Analysis and Applications: Example 149
·---- -""-···-- --- ·--· ·----------·---- ----·-·- . --· -- --- --- ·- -·-·· --·--------··-·-··-··----·---·-- -- -- -- ... _. ·--····-· ---- ...... ----·
9 o,o o.o o.o o.o ,. o.o o.o o.o
0.0001 0.0000048 -0.0000009 0.0003077 0.0006793 0.0434500 0.0000767
o·;-o cr rzt ---- 1J.01l11T5!J2- - ·-----..o-;ll 01l0"078----------u-;-oo-zT2u4 --·· -----ll ;·0045415 -·o; 3Q!27334 o.o00536J
0.0022 0.00087?3 -0.0000967 0.0055061 -0.0021757 0.0063324 0.0107893
0.0029 0.0026475 -0.()006098 0.0090810 -0.0497976 1.3832798 0.07548}7
1l<cl"036 - --- ... --1); 0055652 -;.;o·; on2l775 - ----·-o•ll11l982"6 ·---------001451673 -T•rao1211- 0 •"276522.9
0.0043 0.0091749 .. 0.0053453 0.0097662 -0.2422276 1.7898540 o.6816210
0.0050 0.0126441 -0.0100831 0.0051750 -o.2623003 1,3540697 1.2785530
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150 Design of Structures and Foundations for Vibrating Machines
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Computer Analysis and Applications: Ex~mple 151
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152 Design of Structures and Foundations for Vibrating Machines
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154 Design of Structures and Foundations for Vibrating Machines
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Computer Analysis and Applications: Example 155
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0.0698 -0.2989416 -o.012a150 -0.1113062 -0.9585546 -11.88765'11 1.8569422
0,0105 -0,4175197 -0.0246210 -0.0960323 -o.3746174 -11.78'?7101 3.5978689
0.0112 -0.4408600 -0.0349861 -0.0556060 0.3350154 -8.6703501 4,8796320
0.0719 -0,3666867 -0.0409523 -0.0011093 o.9776955 -3.4274302 5.330557A
0.0121 -0.2182248 -0.0406691 0.0526730 1.3789978 ?.5103807 4.7942610
·n;o134 -0',0378010 -0~0338985 o.0912187 · 1.4296970 7.5340109 3.37325Al'>
0.0741 0,12461Al -o.0;>20906 0.1041607 1.1151857 10.29?1667 1.4034185
0.0748 0 .<'248A62 -0.0080059 O.OA80597 o.5194606 10.0525846 -0.6340961
0.0755 0,2365214 0.0050123 0.0473177 -o.i 973841 6,8968315 -?..2~99988
0.0763 o, 1517734 0•0139235 -0.0010126 -o.8421244 1.6965246 "'.3.0292120
o.ono 0.0120214 0•0167950 -0.0602027 -1.2403107 •4.!2?4566 -2.8329811
-- --:0;0111 ;;;0·;1<;85984 (\,0133128 -0.0978097 -1.2832022 -8.9644556 -1,7434616
0.0784 -0,3046486 o.oo41l593 -0.1095608 -o,9571283 •ll.4939632 -0.08878?0
0.0791 -o.38?8066 -0.0058610 -0.0921195 -0.3473976 •10.9957218 l .65473?7
0.0799 -0,3676924 -o .o 1.55485 -0,0499917 o.3843259 -7.5683193 ?..9897470
0<0806 •0,25A8910 -0.0211942 0.0056724 100431509 -2.0993576 3.5304A80
•
0.0813 •0.01312921 -0;0208851 0.0600598 l .4530449 3,9711761 3.1052732
· - ----1r;oe20 0.1213772 -0.0143157 0. 09!1.6601 1.5039492 9.0359173 1.8015919
0.0827 0.2980A40 ·0·0028674 Oo ll 11527 1·1812840 11. 7503576 -0.0582392
o,oA34 0.4040304 0·0107631 .o ...0941 738 o.5699438 11.3930302 -2.004?.324
- - ·0;0842. 0,41?5713 o.0?32894 0,0522212 -0.16!!3037 8,0590105 -3,5452795
0.0849 0.1?.23141 0.0317168 -0.0035458 -0.8379821 2.6350117 -4.3010931
0,0856 0.1575125 0.0341451 -0.05!!2902 -1.2620792 -3.4374743 •4.1041670
o-;-os6:J -0;0310494 - ();03oc;204 ;.0.0964117 -1.3338833 -8.3900814 -3.0959749
4
-------- 4 o.o o.o o.o o.o o.o o.o o.o
-- 0~()007 -o.oooni64 ..:0.0000015 0. 0011665 -0.0020090 -0.0642679 -0.0001010
0.0014 -o. 0041:155 -0.0000166 0,0080162 -0.0271908 -0.4033713 -0.0017793
0.0022 -0.0240203 -0.0001640 o.o?.26003 •0.1277864 -l.0462379 -0.0130819
-,---o;-0029" _________ --;;;1r;o1s3156 ..:o-;oooi3725 ·o .0439428 -o.3375441 -1.911\4639 •0.0627639
0.0036 -0,1826430 -0.0027887 0,068A863 -o.5803!!54 •2,91R0231 -0.1953400
0~0043 -0.319388!! -0.0062046 0.0923737 -o.6515951 -3.8894682 -0.4364323
-··o·.ooso ..;o·.5300111 -0.0104336 o ;1000523· -0.3354494 -4.5514994 -o.7519658
0.0059 -o. 7188652· -o,0136748 0,1099312 0.4092340 -4.5646830 -1.0325508
0.0065 -0,8'534225 -0.0134517 0.0946802 1.3596315 -3.6899443 -1.1099901
---·-·-0;1;-0·12 ;;-ii~ lli17954A -i\;0073866' ·o ;0633646 2.1384077 -1.9451361 -o.7985134
0,0079 -0,7971013 0.0059009 o.o?.16743 2,4368639 0,3405234 0.0443943
0.0086 -0.5885954 0·0259529 -0.0214746 2.1689749 2.6026516 1.4477510
·0;0-091; -o ;3tf3il222 o~·oso·o446 · - ..;o .-o-564417 1·4603386 4,2158585 3,2775269
0.0101 -0.0062460 0.0135660 -0.0756844 0.5264A07 4.7062492 5a24399Q5
0.0108 0.?.382730 o.0912580 -0.0760438 -0.4348801 3.9302177 6.Q751158
(f.-0115 o;·:ie?.4636 o.o9a!i221 -o. 0'596939 -1.2682371 2.1461792 8.1246119
0 •.0122 0,4126640 0.0942210 •0.0133240 -1.8364897 -0.0635742 Fl.4673510
0.0129 o.35?4008 0.0182205 -0.0058305 -2.0203943 -1.9974289 7,9506550
·--·o;lf137·----- - - - o-;252'9566 - -(,-; 05'4 f776 - ·o. 0145441 ..;l.7613077 '-'3.0773020 6.6977A44
0.0144 o.1142c;o0 0.0210997 0.0225278 •1.1072626 eJ.0263233 4.9;45035
o.01s1 o.i630471 0.0025122 0.0169218 -0.2159511 -1.9236860 3·13039Q7
-----o-;-01s·a - -- -(;-; 23631'33 -- ·;;;0;1ff4Ai\56 . ·0;0064694 o.6918622 -0.1463566 t.5250177
0.0165 0. 3752971 -o. 0221746 -0.0211363 1.3978224 1.7531929 0.4506367
0 •. 0113 0,5'.ll9106 -o.019ooa9 -0.0407326 1.7398052 3,1AR9286 0.0669023
o.oisli - ii'.-6448715 -o.o-o74io3 -0.0514295 i.6465;?82' j,6816397 -· - o.362Bi'.r85
0.0187 0.66000?4 0.0001151 -0.0484137 1.1561747 2.9!!<;7998 1.1578674
0.0194 o.5479i<.96 o.0246211 -0.0304469 0.4140317 1.1783552 2.1462584
0.0201 0.'3138701 n.035921\4 -0.0005563 -0.36?3415 -l .3?737.83 2.9755497
0,0209 -0.0039371 0.0397082 0.0344754 -0.9494188 -3.86117963 3,3392220
0.0216 -0.3447314 n.0351645 0.0658262 -1.1915674 •5.7!?.1477 3,0563393
0.0223 -o .64?.l 506 n.02368!10 0.011151025 •}.04R4180 -6.2712097 2·1162214
0.0230 -0.8414730 o.0083677 0,0868011 -o .5964770 -5.2948895 o.61aoo.10
0.0231 -0.9126108 -n.0069072 0.0100004 0.0077021 -2.9602880 -o.9720656
0.0?.45 -0.8556442 -0.0184824 ii.0387631 0.5795111 0.1605507 -2.4930019
•
0.0252 -0.6981410 -0.0238618 0.0011203 o.9539721 3.2523108 -3.5734043
0.0259 -0.4'!58083 -o.0?23060 -0.0330840 1.0207272 5,41326317 -4.0078154
0.0266 -0,2696310 -o.0149787 -o. 0'548871 o.7488991 6.2374601 -3.7473192
0.0273 -0.11931478 -0.0046177 -0.0586856 o.1978058 5,2973194 -2.9121828
o.o?sl 0.0170367 0•0051806' -0.0438053 -0.4916466 2.9041519 •l 07633543
o.o?aa o.n555979 0.0108902 ..;0.0147298 -1·1296892 -o.2~94934 -o.6387318
156 Design of Structures and Foundations for Vibrating Machines
•
Oo0043 001193888 000062046 -0.0923737 006515951 -1409547682 -008293124
000050 005308171 C\00104336 •001080523 003354494 -1704911652 .;.103764819
Oooosa 007188652 lio0136748 -0~1099312 -004092340 -17 0 8612823 •107571020
000065 0 oi:IS34?;>5 000134517 -000946802 •l 035%315 •l5o624Rl88 -106341553
000072 Oo8A79548 0.0073866 -000633646 -2ol384077 -1009812412 -007083515
000079 007971013 •000059009 -000216743 -204368639 ;.4;7620850 ' 101593809
-~
Computer Analysis and Applications: Example 157
•
0.0086 o.5885954 -0.0259529 0.0214746 -2.1689749 1.7781553 3,8466463
0.0094 0.3038?22 -0.0500446 0.0564417 -1.4603386 7.2982454 6.9315729
0.0101 0.0062460 -n. 07j566·o 0.0756844 -o. "526480 7 10. 7333698 9.7634640
o.n1os -0.2382730 -0.0912580 0.0760438 0.4348801 11.5827293 11.6415186
0.0115 -0.38241'>36 '-0,()988221 0.0596939 1.2682371 10.0313854 12.0350847
0.0122 -0.41?.61'>40 -o.0942210 o. 033324"0 1.83641\97 6.86166"67 · 10 ~15j7299
0.0129 -0.35240~8 -o.010220s 0.0058305 2.0203943 3.11168620 e. 0079Si7
0.0131 -o.25?9566 -o. 0541776 -0.0145441 1.7613077 0.1103060 4.3544407.
0,0144 -o .1742508 -0;0270997 .;.0.0225210 1.1072626 .;.1 ;5693512 o.5538437 ·
0.0151 -o .16304 71 -0.0025122 -0.0169218 0.2159511 -1.5283537 -2.6179094
0.0150 -0,;>363133 0.0148656 -0.0004694 -0.6918622 0.0505901 ·-4.5575933
0.0165 -0.3752971 0.0221746 0,0211363 .;.1.3978224 2;5586023 . ·.;.4,9742651
0.0173 -0,5319106 0.0190089 0.0407326 -1.7398052 5.1205111 -3,9447260
0.0180 -0.6448715 0.0014103 0.0514295 -1.6465282 6.8099756 -1.8745098
0.0101 -o.6nooo?4 -0.0087157 0.04114137 -1.1561147 6.8906002 0.6201413""
0·!1194 -0.5479696 -o. 0246211 0.0'.!04469 -0.4140317 5,0328159 2·8764439
0.0201 -0.3138701 -o.0359264 0.0005563 0.3623415 l.440A598 4.3534365
0.0209 O,Ob39'.l71 -o ,O:i"97082 -o ;()'3·44 754 ·· ·o·,94941ae ;.3,!641B<!7 ·4·;1612572
0.0?16 0.3447314 -o.0351645 -0.0658262 1.1915674 -7.7164049 401172104
0.0223 0. 64"1506 -0,0236A80 •O,OA51025 1.0484180 -11.0896978 ·2. 716i369
0.0230 Ci. A4 l 4 7.10 -0.0083677 -O.iii\68011 o.5964770 •12.41?5338 1.0289974
0.0231 0,9126108 0.0069072 -o. 01o_opo4 -0.0011021 -11.3197842 -0.4369968
o.n24s O.A556442 n.0184824 -0.0387631 -o.519s111 •B,06112135 -1.2_773991
FINISH
V' /\/' /\!" V'
@
Interpretation Of Results to a mode shape discussed below. The first frequency
(transverse mode) is given as 3.682 cycles/sec, section
19 of the computer printout, which compares to a
Computer output results include the following: , Rayleigh-calculated frequency of 3.985 cycles/sec, sec-
Member Forces-Static Loads. Axial forces,, shear tion 11 of the computer printout. In general, Rayleigh-
forces, torques, and moments at each member end are obtained natural frequencies are close to but higher
•
tabulated for the design loading conditions, loading 4 than the corresponding true natural frequency as ob-
(full vertical load plus 0.3 full transverse load), loading tained from a dynamic· analysis. Since the acting ma-
5 (full vertical load plus 0.1 full longitudinal load), .chine frequency .is 727. 7 radians/ sec (see 15 above) ,
and loading 6 (full vertical load plus 0.5 full vertical which equals 6,949 rpm or 115.8 cycles/sec, the first 20
load). These approximate equivalent sfatic loading con- natural frequep.cies-for-~the struetur-e are well below the
ditions yield conservative estimates of the maximum acting frequency, and the structure is said to be low
dynamic plus gravity loads, forces, and deflections as tuned (under.tuned). The undesirable range of natural
described previously. The members and deflections are frequeriCies is between 0.8-1.2 of the acting machine
then checked for the maximum applied loads. In the frequency as given in _item 2 (f) of the checklist table
usual case, this step includes selection of the longitudinal in Chapter 3. This check assures that no resonance con-
reinforcement, which is often the minimum code value dition will be encountered during machine operation.
and which is otherwise determined by the largest axial Additional checks are performed, not necessarily during
force and moment. Transverse reinforcement is also the computer analysis phase, but during the preliminary
selected during this stage using the tabulated maximum design to assure that no resonance condition exists be-
shear and torque values. tween the natural frequencies of vibration of individual
Displacements-.Static Loads. Displacements of the columns and beams with the acting machine frequency"
joints, both support joints as well as free joints, are as in item 12 of the trial sizing procedure above.
tabulated. Certain tolerable limits on deflections may Dynamic Eigenvectors-Mode Shapes. The first 20
be established based on attached piping or other equip- eigenvectors or mode shapes which are normalized to a
ment, and the deflection values are checked against the maximum unit value are listed. These serve to identify
tolerable limits. Note that the tabulated values include the physical direction for each mode. For example, for
the effect of gravity loads. The incremental deflections Mode 1 joints 9 ·through 21 shqw a near-unity Z
due to the 0.3, 0.5, and 0.1 equivalent static loads over displacement. Therefore, the. first mod~ occurs in the
and above the deflections due to gravity only are very transverse Z-direction. This is as expected since the
small and, therefore, negligible in this example. problem. structural stiffness is the lowest in the transverse direc-
Dynamic Eigenvalues-Natural Frequencies. The tion. In· general, the modes are ordered according to
,,1
/
\
-----
' vibration being the largest in the vertical Y-direction.
/
I
/
1 \
I
-- Maximum Velocity. The maximum velocity is
II I
(6,949 X 2rr X 0.0002851)/60=0.207in./sec
f-, - - -
I
I
-- ---~ I
I
/
\
I
I
I
I
I
This maximum velocity falls in the "slightly rough"
I
I I \ range of Table 3-2. lfowever, the combination of
------\__
I
I \ \ I -
velocity and machine speed fall within the acceptable
\ I
\
'
I I
I zone B of Figure 3-3. The designer may consider increas-
i I I
\
\I \
\ ing the base dimensions and re-analyzing the revised
\
\ I
\ \ structure so that all design criteria are met.
I
I
I Dynamic Forces. The dynamic forces acting at the
I
I
ends of each member at each time increment are listed.
The forces are very small, for example, the dynamic
axial force is 1,132 lbs. in column member 5 at 0.0237
sec. The moments are likewise very small, and the struc-
ture is considered adequate for supporting these small
dynamic loads.
Figure 7-4. Structure vibrating at the first fre- Since the .structure was dimensioned initially to meet
quency mode (transverse). the design requirements listed "in Chapter 3, including
providing a sufficiently, large soil bearing area, the pro-
mode may be obtained either manually or using a posed design is satisfactory and the structure meets its
built-in STRUDL plot package; see Figure 7-4. The intended purpose. Note that all items listed in the design
second mode shows joints 9 through 21 with near unity checklist of Chapter 3 are explicitly considered during
longitudinal displacements; thus, the second mode occurs the initial trial sizing phase or implicitly considered dur-
in the longitudinal X-direction. In particular, all modes ing the computer analysis. The design checklist serves
occurring in the direction of the applied dynamic forces as a reminder of important factor~ to be considered
(transverse and vertical in this example) are important during a step-by-step hand calculation.
for response studies. Some of the higher modes are
coupled since they result froµi combination of basic References
lower modes.
1. Arya, S. C., Drewyer, R. P., and Pincus, G., "Mathe-
Dynamic Qisplacements. Displacement of all joints
matical Modeling and Computer Simulation of Ele-
in the structure at each time period are listed. Th_e upper
vated Foundations Supporting Vibrating Machinery,"
joints show the largest displacements. For example,
M athematits and Computers in Simulation, Vol.
joint 20 has a maximum displacement of 0.0002851 in.
XIX, No. 4, Amsterdam: North Holland Publishing
(0.007 mm) in the Y-direction occurring at time equal
Co., December 1977, pp. 262-271.
to 0.00576 sec. This maximum amplitude of displace- 2. ICES STRUDL II Engineering User's Manual
ment is then located on Figure 3-3 at the given machine- R68-9 J, Volume 1 : Frame Analysis, School of Civil
acting frequency. The point falls in zone B (minor faults, Engineering, Massachusetts Institute of Technology,
correction wastes dollars) which irldicates satisfactory November 1969.
performance. Figures 3-6 and 3-7 also indicate that for a 3. ICES STRUDL lI Engineering User's Manwal
maximum displacement of 0.0()7 mm and a machine R70-77, Volume 2: Additional Design and Analysis
speed of 6,949 rpm ( 115.8 cps), the predicted structure Facilities, School of Civil Engineering, Massachusetts
behavior is satisfactory. The amplitude of vibration at Institute of Technology, June 1971.-
all other joints, being smaller, is also satisfactory. Note 4. Mes, M. J., "Maximum Time Step for Dynamic
that many structures supporting centrifugal machines Analysis," Ocean Engineering, pp. 40-58, November
show a largest amplitude of vibration in the transverse 1976.
Appendix A
Solution of
Multi-Degree-of·
Freedom System
•
direction, then each of the masses m 1 and m 2 will have (:when superimposed) that shape. The first mode will
trwo types of motions, i.e., vertical and horizontal mo- also indicate the particular mass or masses which will
tion. In fact, a two-dimensional planar system has up to have the maximum amplitude of oscillation in a given
159
160 Design of Structures and Foundations for Vibrating Machines
direction from their state of res~ (static equilibrium). m11x1 + m12x2 + m13x3 + c11x1 + c12x2
This serves to indicate the relative degree of structural + c13X3 + k11x1 + k12x2 + kiaxa = Fi (t)
stiffness among various points of the system. This
examination of the mode shapes in the vibrating system m21x1 +m22X2 +m2aX3 + C21X1 + C22X2
is considered a valuable step in adjusting the vibration + C23X3 +
k21x1 + kz2X2 + kz3X3 = F2 (t) (Al-1)
amplitudes at critical points by varying the stiffness,
mass, and damping resistance of the system. A practical ma1X1 + m32X2 + maax3 + ca1X1 + C32X2
example can be observed in the operation of a washing +caaxa + k31x1 +ka2X2 + k33X3 = F3 (t)
machine during the rinse cycle. If the load is acciden-
tally lumped to one side of the drum during centrifugal The natural frequencies depend on the mass ( mii)
motion, severe vibration beyond a predetermined magni- and stiffness ( kii) terms; therefore, the damping ( Cii)
tude can occur. Special sensor cut-off switches are then and applied forces (Fi) terms are omitted.
activated in order to prevent damage to the machine. Equations (Al-1) are then reduced to
Activation of the contact switches is actually set accord-
ing to the fundamental mode of the spindle-drum
assembly. mux1 +
m12X2 + m1axa
The next stage of analysis is a response calculation of + kux1 +
k12x2 +
k13X3 = 0
the system caused by the dynamic force; This solution is
quite tedious and time-consuming for multidegree-of- m21X1 + m22x2 + m2ax3
freedom systems; however, for a system with three + k21x1 + kz2X2 + kzaXa = 0 (Al-2)
degrees of freedom, the response calculation can be
accomplished by using hand calculators. Use of com- m31x1 + ma2X2 + maaxa
puter programs is recommended for systems with more + k31X1 + k32X2 + k33X3 =0
than three degrees of freedom. This part of the analysis
gives the displacement, velocity, and acceleration of the
masses and also the internal forces in all members of the It is assumed that ·the free-vibration motion of masses
is simple harmonic (see definition of modes in the
system.
Terminology section of Chapter 1), which is expressed
Determination of Natural Frequencies for a multidegrees-of-freedom system as
and Mode Shapes
(Al-9)
The expansion of determinant (Al-5) gives the char- In order to reduce the amount of computation, the
acteristic equation of the system. This equation will be values of aii are calculated by substituting the actual
of third degree in the frequency parameter (w2 ) and has values of masses and stiffnesses.
three roots representing the three basic frequencies of
2
the system. Having determined the three natural fre- au = (kx + k,. - miw ) = (78,995.2 - 17.80 w2 )
quencies; the mode shapes are obtained by making use a12 = -k,. = -6,160.2
of Equations (Al-4). For each of the three values of a13 = k,.H = 6,160.2 X 17.0 = 104,723.4
2
w , the ratios of (A 1/A1), (A2fA 1 ), and (A 3 /A 1) are a21 = -kh = -6,160.2
2
evaluated and yield the three mode shapes for the system. a22 = (k11 - muw ) = (6,160.2 - 9.662 w2)
a2a = -k,,H = -6,160.2 X 17.0 = -104,723.4
Example. For part (a) of Model 6-C, the equations aa1 = 0
2
of motion without damping and applied forces terms aa2 = -muHw = -164.254 w2
2
are: a33 = (ky, - ly,w ) = (14,703,707 - 2,843.3 w2)
(a) m(x1 + (kx + k11)x1 - k11x2 + k11Hif; = 0( Substituting these values in the expansion of Equa-
tion ( Al-9) and setting w 2 z, =
(b) mux2 - k11x1 + k11x2 - k1,Hf =0 ( (Al-6)
(78,995.2 - 17.80z)[9.0577775 X 10 10
(c) muHx~ + I.,;j; + k;,if; = 0 )
- 17.515296 X l0 6 z - 142.06721 X l0 6 z
z3 - 10,872.992z 2
- 1.3491464 x 10
+ 31.653102
10
= 0
X 10°z
(Al-11)
2
(a) (k:;; +kn- m1w )A1 - k1iA2 + k;,H A.p = 0 ( Solution of the cubic equation yields three roots:
Z2
= 512.0
= 4,481.0 ( (Al-12)
(b) W2
Design of Structures and Foundations for Vibrating Machines
(a) W1 = 22.63
66.94
l (Al-13)
(,) 766.60Ao - 6,l60.2Ao
+ 104,723.4Av- 2 = 0
l (Al-16)
(c) W3 76.68
) (b) - 6,160.2A12 - 37,135.2A 22
- 104, 723.4At1-2 = 0
The mode shapes are obtained by substituting the Again setting A12 = + 1.0 and solving Equations (a) .
above frequency values in any (Al-8) equation. For and (b) of (Al-16) simultaneously for A 22 and Atf! 2 , the
Equation A1-8(a) and (b) using the given values of amplitudes of the second mode are obtained:
masses and spring stiffnesses,
•
two amplitudes. When one amplitude is assigned an to solve the cubic equation (Equation (Al-11)), 15 sig-
arbitrary value, then all others are fixed in magnitude . nificant digits are required to obtain more "exact" results.
A set of such amplitudes defines the mode shape, and This type of accuracy is normally not available in small
therefore, the modes shapes are not dependent upon the hand calculators and if sufficient number of significant
absolute true values of amplitude. Using n =
1 and sub- digits are not retained in the calculation of frequency,
stituting w 1 2 = 512.0 in Equations (Al-14), then large errors are present in the mode shape ampli-
tude results. Therefore,. it is important that the values
of mode shape amplitudes be checked using the ortho-
(a) 69,881.6An - 6,160.2A21 ) gonality conditions. The orthogonality condition of nor-
+ 104,723.4Av-1 = 0 l mal modes (see definition in the Terminology section of
(Al-15) Chapter 1) is expressed by the following equation
(b) - 6,160.2An + l,213.3A21 ( (ref. 1, Chapter 2) :
- 104, 723.4A\1<1 = 0 )
m
Assuming an arbitrary value of A 11 = + 1 and solving
l: M, Arz Arn = 0 (Al-17)
Equations (Al-15) simultaneously for A 21 and Al/rl, the r-1
amplitudes of the first mode are obtained:
where l and n identify any two normal modes of the sys-
tem, and the subscript r refers to the rth mass out of a
An = +1, A21 = +12.8809, A.;-~ = +0.0904 total of m mass<;!S.
Expanding the series of Equation (Al-17) for the first
The notation adopted is that the first subscript of the A and second mode, i.e., l =1 and n =2; then
identifies the mass, or point on the structure at iwhich
the amplitude occurs, and the second subscript desig- (AI-18)
nates the mode. Using the value of n =
2, and substitut-
=
•
ing w2 2 4,481.0 in Equations (Al-14) yields, Substituting an appropriate value for each term,
Solution of Multi-Degree-of-Freedom System 163
•
Mi = m1 = 17.80, M2 = mu = 9.662, next cyde starting at (2) again. The procedure is to be
Ma = l.p = 2,843.3 repeated until the computed shape is the same or very
An = +1.0, A12 = +i.o, A2i = +12.8809, close to the last assumed shape. In Step ( 1) it is usually
A22 = -0.1600, Asi = A.pi = +0.0904, convenient to assign a unit value to the first value of A.
Aa2 = A.p2 = -0.002091 on the left side of equation The procedure outlined above can best be described
(Al-18), by applying the method to the solution of Equa-
17.80 X (I) (I) + 9.662(12.8809) ( -0.16) tions (Al-8).
+ 2,843.3( +0.0904) (-0.002091) = -2.650298, The equations .of motion (Al-8) can be rewritten as:
(AI-19) 2 2
(c) -w l.pA.p - w muHA2
+
k.pA.p = 0
Substituting A13 = +1.0, A23 = -0.560248, At/13
= +0.212150, and the values of other terms which are Multiplying equation (Al-20b) by H and adding to
given above into the left side of Equation (Al-19): Equation (Al-20c) in order to eliminate the term
w2 m,,HA 2 from Equation (Al~20c), the resulting equa-
tions are rearranged in a convenient form:
17.80 X (I) (I) + 9.662(12.8809) ( -0.560248)
+ 2,843.3( +0.0904) ( +0.212150) = +2.6040,
which is again not zero, thus confirming that errors are (a) w~Ain =
present in the frequency calculations. Therefore, it is
desirable that natural frequencies be calculated using
• digital computers for a system having more than two
degrees of freedom. ·
(Al-21)
Stodola-Vianello Method
•
computed shape as the revised assumed shape in the + 5,797.49 A.p,.
164 Design of Structures and Foundations for Vibrating Machines
The iteration procedure converges on that of the in order to reduce the number of equations by one.
highest, or third mode. The following steps are used: Expanding the equation for the second and third mode,
1. Assume values of A's (amplitudes of the mode) i.e., l =
2 and n 3:=
such that the amplitude of mass 1 = + 1.0, i.e.,
Arn= +LO;
2. Substitute the .values of A's in the right side of 3
~ M,A,1Arn = M1A12A13 + M2A22A23 + MaAa2Aa3 = 0
Equation (Al-22a) to compute the value of· w,, 2 ; r=l
3. Substitute the value of w,, 2 and trial values of A's
in the right side of Equation ( Al-22b) to compute
the value of Aw; Substituting M1 = m 1 = 17.80, M2 = mu = 9.662,
4. Substitute the value of w,, 2 and the trial values of M 3 = I;, = 2,843.3, A13 = +LO, A2a = -0.6011,
A's in the right side of Equation (Al-22c) to obtain A3a = A;,3 = +0.2412, in the series.
the value of At/tn;
Use the new values of A2,,, At/tn along with the value 17.80(A12)(+I.O) + 9.662(A 22)(-0.6011)
of Arn = + 1.0 as new trial values of the A's and follow + 2,843.3(Aa2)(+0.2412) = 0
Steps 2 to 4. This process is to be continued until con-
vergence is achieved, i.e., the difference between previous or A32 = -0.025955 A12 + 0.008469A22, (Al-23)
and nem trial values is negligible. For example, the
amplitude values for mode shape three, i.e., n = 3
which is equal to Atft2·
A2a = -1.5, +o.5, Substituting the expression for At/1 2 into Equations (a)
+LO,
and (b) of (Al-22) and using n =2, yields
'~
Table Al-1. The value of A's computed are in fact the used to obtain Atft2·
amplitude ratios with respect to A 13 which is arbitrarily The determination of the first mode is made directly
taken = + 1.0. · from the orthogonality conditions by applying the condi-
Proceeding further to the second mode, the ortho- tions to the first and the second modes, and then, to the
gonality conditions given by Equation (Al-17) are used first and the third modes. Expanding Equation (Al-17'),
Solution of Multi-Degree-of-Freedom System 165
•
Table Al-1
Stodola-Vianello Procedure for Model Shown in Figure 2-9
Third Mode
Trial Values Computed Values
Second Mode
Trial Values Computed Values
w2 2 A22 A<j12
Trial Equation Equation Equation
No. A12 A22 (Al-24a) (Al-24b) (Al-23)
1 +LO -0.5 4,433.36 -0.1419
2 +i.o -0.1419 4,327.27 -0.1002
•
3 +1.0 -0.1002 4,314.91 -0.0952
4 +LO -0.0952 4,313.44 -,-0.0946 -0.02676
Summary
w
. w2 A1 A2 A.p (radians/sec.) f (cps)
Third Mode 6,073.50 +LO - 0.6011 +0.2412 77.93 12.40
Second Mode 4,313.44 +LO - 0.0946 -0.0268 65.68 10.45
l:"irst Mode 515.68 +LO 12.6894 +0.0815 22.71 3.61
=
~ MrAr1Ar2
Assuming A11 + 1.0, -these two equations are solved
(a) = M1A11A12 + M2A21A22 ) simultaneously to provide
r=l + MaAa1Aa2 l (Al-25)
(b) ~ MrAr1Ara = +MiA11A1a
r=l
+ M2A21A2a (
MaA31Aaa )
A21 = 12.6894, A31 = A.pi = +0.08151
llllllll....111111......lllllllllllllllll!!!ll!lllll!l!!l!ll!lllllllllllllllllllllll!lllllllllllllll!lilllllll!lllllllllllll!illm.•mll!ll!l!:•n•·llllliill!l!ll!lll!llt••••·•1....,.....,.....,_._..,_.~~~-
166 Design of Structures and Foundations for Vibrating Machines
Steady-State Response Analysis In equations A-1.28 to A-1.31, arn and arn are respec·
tively the displacement and velocity component of mas~
Calculation of the maximum amplitude of vibration r associated with the nth mode, Aun is the distortion oJ
for a steady-state condition is often the main item of spring g (i.e., the relative displacement of its ends) ir
interest in an engineering dynamics problem. The the nth mode, and k0 is the stiffness of that spring
amount of computation work is quite extensive when a These equations are based on the fact that any displace-
response analysis is required for a system with more than ment or velocity is equal to the sum of the modal com-
three degrees of freedom. In those cases, computer pro- ponents.
grams such as ICES-STRUDL, NASTRAN, ANSYS, The squared series in Equation A-1.28 is equivalent
or NISA may be used. Hence, the investigation of the to the sum of the squares· of all modal components of
three-degrees-of-freedom system considered above is a,n plus twice the sum of all cross products of these
extended to the calculation of the mode shapes and fre- components. '\A,7hen summed over all masses, the total of
quencies. There is a variety of methods for finding the these cross products must be zero, according to the
response in this type of problem; however, a modal anal- orthogonality condition given by Equation A-1.32.
ysis technique is used here. This technique has become
the current state-of-the-art (ref. 1, Chapter 2). This J
method of analysis consists of calculating the response ~ Mr lzm lzrm = 0 (Al-32)
r=l
for each normal mode individually and then superimpos-
ing the individual responses to yield the total solution. This orthogonality condition is true for the displacement
There are some limitations on the applicability of this and for the velocity vectors. Thus Equation A-1.28 rriay
method: The system has to be linearly elastic and the . be written as
dynamic forces acting on the masses must follow the
same time variation, i.e., if the applied forces are har- J N
monic, then all the forces must have the same acting K = ~
r=l
72 MT ~
n=l
a;n (Al-33)
frequency. However, these restrictions can be relaxed if
numerical methods are used in the solution of the modal Similarly, by the same reasoning the cross product terms
equations. For a lumped multimass system having j of the series in Equation A-1.29 will also be zero and
masses M damping constant C, associated with mass r, thus, is reduced to
s springs, and N normal modes the modal equations of
motion for the nth mode is derived by the use of the
Lagrange equation. N
U = ~ 72 ko ~ .6..;n (Al-34)
o=l n=l
At any instant in the system, the total kinetic energy is
K =
J
~ 72 M, (N~ am)2, (Al-28)
For each mode it is convenient to select
displacement Xn so that all individual mass
a modal
displace-
r=l n=l
ments may be expressed in terms of this one variable.
the total strain energy in the springs is Xn is usually taken as the displacement of one arbitrary
selected mass. Thus
(Al-29)
J N where Arn and Ac.0 ,. are conS'tants for a given mode. The
w. ~ F, ~ a,n (Al-31) resulting equations of K, U, D, and We may therefore
r=l n=l be written as
Solution of Multi-Degree-of-Freedom System 167
given as w~ ~ M, A;n
r=l
•
n= 1,N = 2843.3 kips-sec2-ft
~.
b
,. '"
168 Design of Structures and Foundations for Vibrating Machines
Table Al-2
Modal Response Analysis
3
:i: Fri Arn
T-1
Mode Forcing
---
2 3 2
Mass Amplitude Function Mass 2 2 C.)n !: Mr Arn
Point r A,,. F,) Frl Arn M, M.,.Arn Wn T-1 (M)n Equation: A-1-40
Moden (1) (2) (3 (4) (5) (6) (7) . (8) . Table 1-4 (Max. Response)
The following ICES-STRUDL commands are described in refs. 2 and 3 of Chapter 7. Some special symbols
are used to denote options. Among these are:
-Underlines: The portion of the word which is required is underlined and the rest of the word is optional.
-Braces i t:A set of braces indicates that a choice exists. Any one, sometimes more than one choice, can be made.
-Parenthe5es () : Ariy item in a parentheses may be omitted. The element inside a parentheses is optional, there-
fore, the meaning of the command does not change if the item is omitted or included.
-Asterisk *: An asterisk located outside and in front of a set of braces indicates that more than one choice may
be made.
-Arrow ~ : An arrow located in front of an element inside a set of braces indicates that if the user does not
make any choice, the element indicated by the arrow will be assumed (default value).
A For convenience, the format of the "list" element is given first. The symbols v, v1 . . • vn denote decimal
~alues. '
alphalist }
!Where: list --*{ integerlist
ni TO n2
1. EJECT Command
EJECT
2. FINISH Command
FINISH
3. DEBUG Command
OFF
MAP
REGISTERS
DEBUG
~COMMON
POOL
ALL
170 Design of Structures and Foundations for Vibrating Machines
4. STRUDL Command
'ai' ('title') }
STRUDL { RESTORE 'a1 '
5. SAVE Command
SAVE
6. CHANGE ID Command
CHANGE ID
7. UNITS Command
*' length unit
force unit
angular unit
UNITS temperature unit
times unit
mass unit
Elements:
CYCLES
INCHES
FEET
FT
angular unit
{
RADIANS
DEGREES }
CENTIMETERS
length unit CMS
METERS FAHRENHEIT}
~ temperature unit = { CENTIGRADE
MILLIMETERS
MM
}
{ SECONDS
POUNDS time unit = MINUTES
LBS HOURS
KIPS
TONS
fo!'Ce units MTONS
NEWTON
~ _} LBM
SLUG (
KN
MN
mass unit
-( KILOGRAM
KG
KGM }
8. Input Mode Command
{
~AD.DITIONS}
CHANGES
DELETIONS
9. TYPE Command
TY.PE
~ PLANE
TR.USS
FRAME }{
{ GRID }I
~ SPAOE
TRUBS }
{ FRAME }
Summary of ICES-STRUDL Commands 171
•
10. IdentificatiO"n Mode Command
INTEGER }
SET ELEMENTS { UNRESTRICTED
11. TIME Command
TIME BEGIN
TIME PRINT
12. SCAN Command
·-?ON }
SCAN { OFF
. - - .
13. DUMP Command
-? g~F (i) )
JOI~T }
DUMP
COORDINATES
l COMMON}~
POOL
TIME
{ NODE
_..,.FREE }
{ .::. } ([XCOORD] v, [YCOORD] Vy [ZCOORD] Vz)
{ SUPPORT
l
15. JOINT RELEASES Command
l JOINT (
NODE ~ RELEASES (
* force releases (
moment releases \ ) , (angle specs), (elastic support specs)
•
angle specs = ([THl) V1 [TH2] v 2 [TH3) v3 )
elastic support specs = ( [KFX] V4 [KFY] v 5 [KFZ] v 6 [KMX] v 7 [KMY] v 8 [KMZ] Vs)
172 Design of Structures and Foundations for Vibrating Machines
force releases
MEMBER RELEASES moment releases
force releases
moment releases
force releases
moment releases
list
force releases
moment releases
force releases
moment ·releases
list
force releases
moment releases
moment releases
eocentric specs ( l -
GLOBAL
~LOCAL
i
)
*f START [X]
(END [~]
V1
V4
[Y]
[Y]
V2
Vs
[ZJ
[ZJ
v,}
Vs
•
20. MEMBER PROPERTIES Command PRISMATIC, (Section values)
VARIABLE
FLEXIBILITY
STIFFNESS
variable specs
\
list table specs
variable specs
• section values
(STIFFNESS), matrix specs
[AX]
[IX]
[SY]
V1
V4
V7
[AY]
[IY]
[SZ]
V2
Vs
Vg
[AZ]
[IZ] v6
[YD] V9
V3
(VARIABLE) LENGTH
zc
LENGTH
zc
•
matrix specs = a series of commands, the first of which
contains the "list" element and, if not specified in ·the
heading, the word FLEXIBILITY or STIFFNESS.
174 Design of Structures and Foundations for Vibrating Machines
constant description
E
POISSON
LOADING}
- (
23. LOADING COMBINATION Command
12
loading specs = V2
{ i, (
Va) •• • • •
'a2' ( 'aa'}
l -JOINT
NODE
f LOADS
.
* lFORCE [X] V1, [Y] V2, [Z]
Va f)
MOMENT [X] V1, [Y] V2, [ZJ Va
Summary of ICES-STRUDL Commands 175
*· lFORCE
list
( MOMENT
JOINT f DISPLACEMENTS (
* lDISPLACEMENTS (X] v 1 , (Y] V2, [_~_] Val )
NODE
l - - ROTATIONS
-- [XJ V1, [Y] V2, [ZJ Va~
FORCE s -x (
y
( z s
directions specs (GLOBAL)
MOMENT sx y
}
{ z
CONCENTRATED (FRACTIONAL) [P] v1, [L] v2
type specs !FORM (FRACTIONAL) (W] Va, ([LA.] V4, [LB] v 5 )
NEAR (FRACTIONAL) [WA] Vs, [WBJ V7 (fLAJ. Vs, ~LBJ
*l (AXIAL] V3 l
(BENDING) [~] V4 (.~J V5 ~
176 Design of Structures and Foundations for Vibrating Machines
.
list (place types)
CONCENTRATED (FRACTIONAL) [L] v1 ( dist data
place types
l UNIFORM (FRACTIONAL) [LA] V2 [LB] V3 ~
\DISPLACEMENT [X] V4, [YJ. v5 , [Z]_ Vs
dist data
l ROTATION . rxJ V4, J.Y] V5 ~Z] V<;
list *l START
( END
FORCE [X] V1 [Y] V2 [Z] Va
- t) .
angle specs =
V1 ... Vn }
loading specs { 'loading ' v . . . 'loadingn' Vn
1 1
Summary of ICES-STRUDL Commands 177
.
list, (force specs, distance specs, loading specs)
FORCE
XorFX}
FORCE Y or FY
- -
\ FORCE Z or FZ
force specs
= (·MOMENT X or MX)
MOMENT Y or MY
- -
MOMENT Z or MZ
- -
l
DISTANCE v
distance specs
FRACTION v f
loading specs =
l V1 . . . Vn
'loading1' V1 . . 'loadingn' Vn f
32. ACTIVE-INACTIVE Command
•
( MEMBERS ) (ALL )
l
l ACTIVE
INACTIVE \
) JOINTS
( LOADINGS f
~ ~ ALL BUT list
~ l~t
~
f
33. LOADING LIST Command
LOADING LIST
f
)
ALL (
ALL BUT list (
{ list )
~
( STIFFNESS
~
DETERMINATE
PRELIMINARY )
i
)
(ANALYSIS) ([NJP] i) (REDUCE BAND ROOT)
•
178 Design of Structures and Foundations for Vibrating Machines
DATA
STRUCTURAL DATA
LOADING DATA
DESIGN (DATA)
LENGTH
RELEASES
CONSTANTS
MEMBER INCIDENCES
PROPERTIES
type STATUS
\ END (CONDITIONS
f
JOINT )
~
STATUS
COORDINATES
RELEASES
l
)
( MEMBER LOADS )
APPLIED ) JOINT LOADS ~
( JOINT DISPLACEMENTS f
FORCE ASSUMPTIONS
component specs
( ALL (aotive and inactive) (joints and members) )
) JOINTS list
( MEMBERS list
i
)
MEMBERS.}
joints and members = { JOINTS }
MEMBERS { JOINTS
ACTIVE INACTIVE } )
active and inactive
{ INACTIVE } { ACTIVE
3 7. OUTPUT Command
~
DECIMAL i
OUTPUT f LOADING
( t
( BY (JOINT
MEMBER
-'---- f )
38. LIST Command
* FORCES
DISTORTIONS
LIST LOADS
(component specs)
REACTIONS
DISPLACEMENTS
Summary of ICES-STRUDL Commands 179
l
active and inactive INACTIVE
(AND -
INACTIVE ACTIVE t
members and joints
SECTION FORCE
--
-- --
SECTION STRESS
•
MAXIMUM STRESS
MAXIMUM STRESS EACH LOADING
41. PLOT DEVICE Command
* (LENGTH v1
(~PRINTER}
)
V1 ~
~T DEVICE~ PLOTER )WIDTH
( ) COLUMNS i (.
~ SCOPE
~ROWS i )
42. PLOT Command ( PLANE )
PLOT ) DIAGRAM ~ (identification specs)
( ENVELOPE f
For PLOT PLANE TRUE (VIEW)
f XY)
XZ } PROJECTION
identificaition
specs =
{s}
( yz )
• { : } EQUALS v,
180 Design of Structures and Foundations for Vibrating Machines
. l
id= 'a'
~
t
~NORMAL
t
ORIENTATION
l STANDARD
NON STAND ARD
*) HO RIZO NT AL
v, }
SIZE (FRACTIONAL) l VERTICAL V1
EQUAL
MAXIMUM
*)x(
LENGTH
( l~ f ) V1
SCALE
FORCE
(* f l~ ) V1 (UNITS PER INCH)
( zf
MOMENT
* fx l
(~f
) V1
LENGTH
*f~ l
l~f
V1
Summary of ICES-STRUDL Commands 181
MOMENT
(i) VERTICAL v1
TOP V1
MARGINS BOTTOM v1
LEFT V1
RIGHT v1
DATA • i~STANDARD (
•
MINIMUM \
SEGMENT (CHARACTER) 'a'
ll
43. INERTIA Command
General form:
( list
) ALL * LINEAR
)l~ ~TRANSLATION f
( FORCE
) DISPLACEMENT
•
STORE TIME (HISTORY) - ) 'Name' (IN)
( ) VELOCITY ) ROTATION
~ ACCELERATION
182 Design of Structures and Foundations for Vibrating Machines
Elements:
'name' = the identifier (up to 8 characters) which is given to the time history record.
'password' = the password for the subsystem data set.
s = the scale factor to be applied to the record prior to storage; i.e. the value of the time
history at t, will be stored as v1 X s. s is set equal to 1.0 if omitted.
DISPLACEMENT }
.STORE RESPONSE (SPECTRA) ) VELOCITY
j
'-? FREQUENCY
(VS)) ( 'Name' (IN) -
l
~ ACCELERATION ~ PERIOD )
~-?USER l
f SUBSYSTEM 'password' ~
RATIO
DAMPING. - -
-- l PERCENT
DAMPING· lRATIO
--
-- PERCENT
where
(function specs) =
SINE }
FUNCTION [AMPLITUDE] V2 [FREQUENCY] V3 ( PHASE] V4)
-- { COSINE
TRANSLATION
DISPLAJCEMENT (load specs.)
ROTATION
TRANSLATION
DISPLACEMENT (load specs.)
ROTATION
where
General form:
JOINTS
{ NODES
*{ DISPLACEMENTS }
ROTATIONS
184 Design of Structures and Foundations for Vibrating Machines
-+TRIDIAGONALIZATION }
DYNAMIC ANALYSIS ITER . (solution
-- -~ { ATION
specs.) (REDUCE BAND ROOT)
where
Jj EIGENVALUE (ONLY) !
l
(frequency specs.)
(solution specs.)
-( MODAL
PHYSICAL ([BETA) v1 )
General form:
where
* DATA
STRUCTURAL (DATA)
LOADING DATA
- - --
NORMAL (MODES)
DEGREES (OF FREEDOM)
(type specs.) JOINT (INERTIAS)
MATRICES
LOADS
SUPPORT (ACCELERATIONS)
INITIAL (20NDITIONS)
INTEGRATION (PERIODS)
{JOINTS
(joints and members) =
( MEMBERS } (AND MEMBERS } ) )
{ JOINTS
General fonn:
NORMALIZE EIGENVECTORS
General fonn:
l l
ACTIVE INACTIVE
(active and inactive) =( (AND
INACTIVE t ACTIVE
General form:
tna
186 Design of Structures and FounClations for Vibrating Machines
General Form:
~RATIOS
DAMPING
l PERCENTS
Elements:
187
•
example, 114-158" categories of, 1, 78
trial sizing, 50 deep, 80-89
Elevated frame foundation structure, 18 sizing and construction of, 81
Elevated pedestal foundation, I. See also Elevated foundation design of, 1
typical (model), 36- 38 elevated, l, 18, 36-38, 50, 113
Embedment. See Footing embedment elevated pedestal, 36-38, 113
Environmental demands, 49, 54, 98, 102. See also Geotechnical embedment, 72, 92
considerations flexible mat, 40, 83, 115
Equations of motion, 20. See also Differential equations, forms of, l
Dynamic equations of motion machine mass ratio, 49
development, 33-34 mat, 18, 50, 79-80, 83
for forcing function, 11 model, 34-35
in modeling, 34-38 pile, 80-89
Equivalent forcing function (F(t)) rigid mat, 83
calculation for, 4 structural systems,
Equivalent lumped-mass model, 20 table top
Equivalent mass (m.) structure in, l, 18, 113
calculation of, 2-4 Free system, 28
Equivalent spring constant (k.) Free vibrations
calculation of, 4 mathematical model, 4, 6-8
Equivalent spring stiffness, 28 Frequencies. See also Fundamental frequency; Rayleigh's
Equivalent system, 28 frequency
Excitation. See also Excitation frequency circular, 18
rotating mass-type circular natural, 6
solution for, 11-12 natural, 19
sources of, 8-11 determination of, 160-168
types of, 17-18 resonance, 26
Excitation frequency, 19 types of, 18-20
of vibration, 16
F Fundamental frequency, 19
f(t), See Equivalent forcing function Fundamental modes, 22
•
Factor damping, 15
Fatigue, 53...:54 G
failures, 102 Generalized coordinates, 15
I
Index 189
Period, 24 laboratory
Periodic excitation, 9, 17 determination of, 63-64
Periodic motion, 20 and pile foundations, 81
Phase, 24-25 soil, 62-69
Phase angle, 6-12, 24-25 , field procedures for, 62- 64
Physiological effects. See Environmental demands laboratory procedures for, 64
Pier foundations. See Pile foundations typical values, 69 ·
Pile cap, 81, 84 Shear strain, 69-70
Pile foundations, 49-50, 80-89 Shear strain magnitude
Pile groups, 82-86 selection of, 69-70
Poisson's ratio Simple harmonic motion, 21
selection of, 71- 72 Simultaneous differential equations, 16
and soil density, 71-72 Singh, J.P., 89
typical values, 72 Single-degree-of-freedom (SDOF) system, 2, 28
·Principal coordinates, 16 in layered soils, 73-74
Principal modes of vibration; 22-24 model examined, 4-12
Procedures, design, 54 Sinusoidal excitation, 17
Psychological effects. See Environmental demands Sinusoidal motion, 21
Skempton, A.W., 67
R Soil
Ratio damping, 6, 15 loose granular, 74-75
Rayleigh wave lengths, 63 stiff, 72-74
Rayleigh's frequency, 19-20, 114, 119 Soil density
model, 36-37 and selection of Poisson's ratio, 71-72
Reciprocating compressor Soil dynamics
design example for, 92-99 problems of, 59-62
Reciprocating machines, 92-93 Soil-foundation interaction, 71-72
design foi:, 49 Soil parameters, 47-49
Resistance evaluation of, 59-62
calculation of, 4 Soil shear modulus, 62-69
center of columns, 51, 116 Soil spring stiffness, 28
of soil, 49-50, 116 Soil-structure interaction, 38, 71-72
Resonance, 12, 25-26 Soiltests, 63 ·
column; 51 Southwell-Dunkerley formulae, 107
condition, 25-26 Spring absorbers (model), 35
frequency, 26 Spring constants,
Resonant column test, 64 equivalent
Response, dynamic, 26-27 calculation for, 4
foundation evaluation of, 58-59
modification of, 78-79 in modeling, 32
steady state, 10, 26-27 obtaining, 78
transient, 6, 27 vertical
Richart, F.E., Jr., 72 for flexible mats, 79-80
Rigid mat foundations, 83 Spring-dashpot system. See Lumped-mass spring-dashpot
Rigid staff, 27 system ·
Rocking equivalent spring, 38, 111 Spring stiffness, 27-28
Rocking motion Static analysis, 14
in pile foundations, 86-88 Static balancing, _14
Rotating-mass-type excitation Static conditions, 100
dynamic system subjected to, 11-12, 17 Static design conditions, 50, 52, 114
Steady-state resppnse, 26-27
s method of frequency and mode shape determination,
Sands, 74-75 166-168
foundations in, 64-65 Steady-state solution of forced vibrations
Saturated clays solution equations for, 8-11
foundations in, 65-68 Stiff shaft, 27
Saul, W.E., 89 Stiff underlying stratum
SDOF. See Single-degree-of-freedom system effect of, 72-74
Seed, H.B., 66-68, 70 Stodola-Vianello method, 163-165
Shaft Stokoe, K.H., II, 72
critical speed of, 27 Strain magnitude
Shear modulus. See also Shear strain magnitude selection of, 69-70
calculation of Stratum
for structure-soil interaction analysis, 68-69 loose granular soil
correlations, 64-68 effect of, 74-75
field stiff underlying
determinations of, 62-64 effect of, 72-74
Index 191
Structural system of foundations, I
Structure-soil interaction, 71-72 Undertuned foundation structure, 18
analysis of, 68-69 v
• STRUDL computer coding, 118- 121 Velocity, 12
commands, 169-186 Vertical motion
Subharmonic motion, 21 in pile foundations, 81-83
Superharmonic motion, 21 Vibrating machine
supported by a cantilever (model), 35
T supported by a fixed beam (model), 35-36
Table top foundation structure, l, 18. See also Elevated supported by block-type foundation (model), 34
foundation supported by mat-type foundation (model), 34-35
Terminology, 12-31 supported on inertia block and vibration isolated from
Testing methods, 63, 88-89 foundation (model), 35
Theory of vibrations Vibration amplitude, l 3
fundamentals of, 2 Vibration analysis, 14
Transient excitation, 18 Vibration limits, 52-54 .
Transient motion, 6 Vibration modes, 53, 92-94, 102
Transient response, 27 types of, 21-24
Transient vibrations Vibration response,
mathematical model, 4, 6-8, 16 in multidegree model, 37
Transmissibility factor, 26, 31 Vibration tests, 88
Trial sizing Vibration theory fundamentals, 2
of block foundation, 49-50 Vibrations
of elevated foundation, 50 forced
Two-lumped mass, 16, 23, 37-38 steady-state solution of, 8-11
free
u solution of, 4, 6-8
Uncoupled modes, 22 transient, 4, 6-8
Undamped system Viscous damping, 15
solution equations for, 6-7 w
Underdamped system
Whitman, R.V., 63-64, 71
solution equations for, 7
Woods, R.D., 67
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