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Dr.

Hassen OUAKAD 2/6/2017


ME201

ME553

ADVANCED
VIBRATIONS
Dr. Hassen M. Ouakad
Department of Mechanical Engineering

ME553, Advanced Vibration / Term 162

AGENDA

 Today:
 ME553 Logistics
 Syllabus
 Grading scheme, etc…
 Start Chapter 1, “Introduction to Mechanical Vibrations”

 Questions???

Dr. Hassen OUAKAD ME 553/ 2

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Dr. Hassen OUAKAD 2/6/2017
ME201

Instructor: Dr. OUAKAD


( ‫ حسن محمد الوقاد‬.‫)د‬
 Tunisia Polytechnic School (TPS), Tunisia
 B.S. – Mechanics and Structures (2007)

 TPS, Tunisia & Virginia Tech, VA, USA


 M.S. – Computational Mechanics (2008)

 The State University of New-York @ Binghamton, NY, USA


 Ph.D. – Mechanical Engineering (2010)

 Texas A and M University at Doha, State of Qatar


 Post-Doc research Assistant, Dept. of Petroleum Engineering (2011)

 King Fahd University, KSA, Joined in Sep. 2011


 Research: MEMS-NEMS, Linear, Nonlinear, Mechanics, Dynamics, Vibration,
Control,…
 Focus: Computational Mechanics (http://faculty.kfupm.edu.sa/ME/houakad/)

Dr. Hassen OUAKAD ME 482/ 3

ME553 Course Objectives

 Course Objectives

 The purpose of the course is to develop the skills needed to


design and analyze mechanical systems in which vibration
problems are typically encountered.

 These skills include analytical and numerical techniques that


allow the graduate student to model a mechanicsl system,
analyze its vibrational performance and employ the
necessary design changes.

 Emphasis is placed on developing a thorough understanding


of how the changes in system parameters affect the system
vibrational response.

Dr. Hassen OUAKAD ME 553/ 4

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Dr. Hassen OUAKAD 2/6/2017
ME201

Good to Know…

 Time: M-W (5:00-06:15 PM) ???


 OPTION # 01: U-T (3:30-04:45 PM)  NO
 OPTION # 02: U-T (5:00-06:15 PM), ?? ME551
 OPTION # 03: U-T (6:30-07:45 PM)  OK

 Location: 63-032

 Office #: 63-254

 Phone #: 013 860 3819

 E-Mail: houakad@kfupm.edu.sa

 Office Hours: Sun., Mon., Tue., Wed. : 12:30  1:30pm

Dr. Hassen OUAKAD ME 553/ 5

Textbook

 “Mechanical and Structural Vibrations: Theory


and Applications”, by: J. H. Ginsberg
o John Wiley and Sons

o First Edition (2001)

o We’ll cover material out of first six chapters


(details in Syllabus)

o On a couple of occasions, the material in the book


will be supplemented with other references

o Available in the book store (grab it asap)

o Try to have it with you…

Dr. Hassen OUAKAD ME 553/ 6

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Dr. Hassen OUAKAD 2/6/2017
ME201

Grading

 Homework 15%
 Term Project 10%
 Major Exam 1 (March 20) 20%
 Major Exam 2 (May 01) 20%
 Final Exam (Jun 04) 35%
--------------------------------------------------------
Total 100%

NOTES:
• Score related questions (homeworks/exams/projects) must be raised prior to
next class after the homeworks/exams/project are returned.
• Final Exam will be most probably comprehensive

Dr. Hassen OUAKAD ME 553/ 7

Homework

 See Second Page in Syllabus


 Assigned at the end of almost each week
 Due one week later
 No late homework accepted

 Average of all Homework grades will be calculated at the


end of the term

 Grading
 Each problem scored on a 1-10 scale (10 – best)

 Solutions to homework problems will be posted on


Blackboard 9.1
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Dr. Hassen OUAKAD 2/6/2017
ME201

MATLAB and Simulink

 Present in ALMOST every chapter in the textbook

 You are responsible for brushing up on your MATLAB skills


 I’ll try to offer a MATLAB examples (from time to time)
 Topics to be covered: working in MATLAB, working with matrices,

m-file: functions and scripts, for loops/while loops, if statements, 2-


D plots

 Resources posted on course website on Blackboard 9.1


 MATLAB and Simulink Examples

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In This Course…

 BE active, PAY attention, ASK questions

 A rather INTENSE class


 The most important thing is taking care of homework
 Reading the text is important
 The class builds on itself – essential to start strong and keep up

 Your FEEDBACK is important


 Provide feedback – both during and at end of the semester

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Dr. Hassen OUAKAD 2/6/2017
ME201

Course Outline

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Lectures 01-04
(weeks 01-02)

CHAPTER 01:
INTRODUCTION TO
MECHANICAL VIBRATIONS
Dr. Hassen M. Ouakad
Department of Mechanical Engineering

ME553, Advanced Vibrations / Term 162

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Dr. Hassen OUAKAD 2/6/2017
ME201

Chapter’s Objectives

After you have finished this lecture you will be able to do


the following:

 Know what is meant by vibration


 Know the importance of vibration
 Know the desirable effects/undesirable effects of vibration
 Classify the different types of vibration
 Know important vibrational motion
 Know the harmonic motion
 Develop Models for Spring and Damper Elements

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Chapter # 01
OUTLINE
 What is Vibrations?
 Brief History of Vibration
 Importance of Studying of Vibration
 Basic Concepts of Vibration
 Classification of Vibration
 Vibration Analysis Procedure
 Spring Elements
 Mass or Inertia Elements
 Damping Elements

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Dr. Hassen OUAKAD 2/6/2017
ME201

Lecture # 01:
INTRODUCTION
Dr. Hassen M. Ouakad
Department of Mechanical Engineering

ME553, Advanced Vibrations / Term 162

What is Vibration?
Vibration is the back and forth (up and down) motion of a machine
or machine part from its equilibrium position.
Examples:
 All bodies possessing mass and elasticity
are capable of vibration.
 Vibration:
Oscillatory motion of bodies, such as acceleration,
velocity and displacement of bodies, and the forces
associated with them.

 Vibration: could be
 regular like the pendulum, or
 irregular like the earthquake.

 The simplest vibration type is the Simple


Harmonic Motion (SHM)  Next Section in this Chapter
(NEXT LECTURE)

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ME201

What is Vibration?

 Scientific Definition
Any motion that repeats itself after an
interval of time

 Engineering Definition
Deals with the relationship between forces
and oscillatory motion of mechanical systems

Remark:
All machines can be represented as
(spring-mass-damper system) since
they have weight, structural
damping, and spring-like properties.
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Brief History of Vibration

Phenomenon Musical instrument


of Vibration (string)

Use monochord

Pythagoras
(582 - 507 BC)
Observed that if 2 string of
different length are subject to
the same tension, the shorter
one emits a higher note.

Frequency of
vibration

18
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Dr. Hassen OUAKAD 2/6/2017
ME201

Brief History of Vibration

(1564 – 1642) Galileo Galilei


- Founder of modern experimental science.
- Started experimenting on simple pendulum.
- Study the behavior of a simple pendulum (observe
pendulum movement of a lamp).
- Describing resonance, frequency, length, tension
and density of a vibrating stretched string.

(1642 – 1727) Sir Isaac Newton


- Derive the equation of motion of a vibrating body.
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Brief History of Vibration

(1902 – 1909) Frahm


- Investigate the importance of torsional vibration
study in the design of the propeller shafts of
steamships.
- Propose the dynamic vibration absorber, which
involves the addition of a secondary spring-mass
system to eliminate the vibration of main system.

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Dr. Hassen OUAKAD 2/6/2017
ME201

Why Caring about Vibration?


Why Studying Vibration?
 Vibration can lead to excessive deflections and
failure on the machines and structures.
 Study Vibration:
 To reduce vibration through proper design of
machines and their mountings.
 To improve the efficiency of certain machining,
casting, forging & welding processes.
 To stimulate earthquakes for geological research
and conduct studies in design of nuclear reactors.
 To utilize profitably in several consumer and
industrial applications.
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Importance of Vibration

 Most of Engineering Branches are challenged with vibration


 Widespread in Energy daily life
 Daily-use applications: Home appliances, Trains, Cars, etc
 Rotating Machines : Turbines, Pumps, Compressors
 Reciprocating Machines: Internal Combustion Engines (ICE), Piston
slider crank mechanism,…
 vibration cause spectacular mechanical failure.

 Can be used in Fault Diagnosis Analysis (FDA)


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Dr. Hassen OUAKAD 2/6/2017
ME201

Examples of Vibratory Systems


SDOF

MDOF

Feeding and
Unloading applications
Washing conveying bulk
Machines materials

Dr. Hassen OUAKAD Screening, separating, classifying sample materials ME 553/ 23

Vibration in Everyday Life


 Our heart beats, our lungs oscillate, we hear because our ear drum
vibrates … Vibration even makes us snore!!
http://www.freehearingtest.com/about_animated.shtml

 The light waves which permit us to see & sound waves through which we
hear entail vibration

 We cannot even say “Vibration” without vibration of larynges, vocal cord

 We move by oscillating our legs

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Dr. Hassen OUAKAD 2/6/2017
ME201

Vibration in Everyday Life


 NVH (Noise, Vibration, &
Harshness) is a Top Priority for
the BIG 3 Auto Industry.
 Several hundred million dollars
have been invested in
infrastructure & human resource
development in this area over the
past 30 years.

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Effects of Vibrations (+ve)


 Desirable Effects
 Washing Machines
 Conveyors, Hoppers, Compactors,
Ultrasonic cleaning
Pneumatic Drills
 Seismic Instruments
 Can be used in Fault Diagnosis Compressor
 It is one of the best indicators of M/c
health conditions Testing
 Medical fields, massages, ultrasonic
processes
 Musical Instruments
 Clocks, watches
 Mixing of dispersions and aggregates-
concrete mixing for example
Medical/Physiotherapy Therapy
Dr. Hassen OUAKAD Handheld massagers ME 482 26

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Dr. Hassen OUAKAD 2/6/2017
ME201

Effects of Vibrations (-ve)

 Bad or Harmful Effects For the Previous Harmful Effects,


Vibration must be avoided if possible.
 Undesirable noise (Its occurrence indicates some kind of
 Tiring to people faults or defects). Minimize its
harmful Effects.
 Resonance effects
 Excessive vibration leads to loosening
on parts, noise & eventual failure
 Structural damage
Noise Destruction Wear
 Equipment malfunction
 Effects of vibration on human body:
 Discomfort, fatigue, performance, loss
of efficiency, and the health of people
subjected to it, as in sickness due to
ship(or high rise building) oscillation. Fatigue

Seismic Seismic--Induced Unstable Vibration


Earthquake in Kobe, Japan
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Effects of Vibrations
Useful Vibration Harmful vibration
Compressor
Noise
Testing

Destruction

Wear
Ultrasonic
cleaning

Fatigue

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Dr. Hassen OUAKAD 2/6/2017
ME201

REAL EXAMPLE:
TACOMA BRIDGE

The Tacoma Narrows,


Washington State, USA
Amplitude of oscillation
reached 14 feet!
July 1940 (first open to
public)
 November 7, 1940
(Closed)
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What was the cause?

Vortex Shedding  FLUTTER

 Caused Wind-
Induced Vibration (?)
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ME201

Disaster…

November 7, 1940

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Other Real Examples

Hellicopter resonance:

Flutter (Aeordynamically induced vibration) :

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Dr. Hassen OUAKAD 2/6/2017
ME201

Real Examples

Bridge collapse:
http://www.youtube.com/watch?v=j-zczJXSxnw
Hellicopter resonance:
http://www.youtube.com/watch?v=0FeXjhUEXlc
Resonance vibration test:
http://www.youtube.com/watch?v=LV_UuzEznHs
Flutter (Aeordynamically induced vibration) :
http://www.youtube.com/watch?v=OhwLojNerMU

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Vibration Analysis Procedure

Step 1: Mathematical Modeling


Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results
Derive
system/component
Free body diagram
(FBD) +
Newton’s Second
Find Law
the response
(solve problem
method)
Response (result):
Displacement, velocities
& acceleration
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Dr. Hassen OUAKAD 2/6/2017
ME201

ME553: Mechanical Vibrations


IMPORTANT:
 We will limit our discussions to:

 “MECHANICAL VIBRATION”… i.e. Vibration of Dynamic


Systems.

 What is a Dynamic System ???  Any System that contain


Mass and Elasticity.

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Modeling Vibration

The Ingredients:
1 1. Inertia (stores kinetic energy)
2. Elasticity (stores potential energy)

Realistic Addition:
3. Energy Dissipation

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Dr. Hassen OUAKAD 2/6/2017
ME201

Modeling Vibration

The Ingredients:
1 1. Inertia (stores kinetic energy)
2. Elasticity (stores potential energy)
2
Realistic Addition:
3. Energy Dissipation

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Examples of
Translational Spring Elements

Leaf Spring

Concrete pit with spring elements and


rebars, Köln, Germany
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Dr. Hassen OUAKAD 2/6/2017
ME201

Examples of
Torsional Spring Elements

A mousetrap
Compress
http://www.esm.psu.edu/courses/emch13d/design/animation/animation.htm

Dr. Hassen OUAKAD ME 553/ 39

Modeling Vibration

The Ingredients:
1 1. Inertia (stores kinetic energy)
2. Elasticity (stores potential energy)
2
Realistic Addition:
3 3. Energy Dissipation
 Viscous Damping
 Coulomb or Dry Friction Damping
 Material or Solid or Hysteretic Damping

A pneumatic door closer


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Dr. Hassen OUAKAD 2/6/2017
ME201

Modeling Vibration

The Ingredients:
1 1. Inertia (stores kinetic energy)
2. Elasticity (stores potential energy)

2 3 Realistic Addition:
3. Energy Dissipation

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Modeling Vibration

x
The Ingredients:
m 1. Mass, m
2. Stiffness, k

k c Realistic Addition:
3. Damping, c

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Dr. Hassen OUAKAD 2/6/2017
ME201

Modeling Vibration

m
How is this
k c model useful?

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Vibration Modeling Procedure


 Example of the modeling of a forging hammer:

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Dr. Hassen OUAKAD 2/6/2017
ME201

Vibration Modeling Procedure


 Example of a motorcycle:

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Vibration Modeling Procedure


 Example of a Four Wheels Automobile:

(a) Model representation of an automobile. (b) A simplified representation.


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ME201

HOW do we Quantify Vibration?

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Examples of Industrial Applications


with Vibrating Excitations

Press Exciter (shaker)

Wind

Internal
machinery

Traffic
Plant

Seismic activity
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Dr. Hassen OUAKAD 2/6/2017
ME201

Vibration Modeling:
Exciting Force & Vibration Response
Exciting Force System Response (vibration)

 Initial Conditions  Free response


 Harmonic forces  Harmonic response
 Periodic forces  Periodic response
 Impulsive forces  Impulse response
 Random forces  Random response

Exciting force
F(t) F(t)

Response
m m
x(t) x(t)

k c k

Undamped System Damped System

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Excitation Types

 Forcing function : external force acting on system (exciting force)


 Forced response : part of the response due to the forcing function

 Harmonic forces Harmonic


 Periodic forces
 Impulsive forces
 Random forces time

Periodic Random Impulsive Impulsive


Continuous Transient

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Dr. Hassen OUAKAD 2/6/2017
ME201

Free v.s. Forced Vibrations


 Free Vibration:
A system is left to vibrate on its own
 after an initial disturbance (shock received, or initial displacement)
from equilibrium
 NO external force acts on the system.

 Forced Vibration:
 Forced vibrations occur if a system is continuously driven by an external
excitation. A simple example is a child’s swing that is pushed on each
downswing. Of special interest are systems undergoing SHM and driven by
sinusoidal forcing.
 This leads to the important phenomenon of resonance. Resonance occurs
when the frequency of the external force coincides with one of the natural
frequencies of the system.
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Free Vibration 
Get the Vibrations Characteristics
 When a system is initially disturbed by a displacement,
velocity or acceleration, the system begins to vibrate with
a constant amplitude and frequency depend on its
stiffness and mass.
 This frequency is called as natural frequency, and the
form of the vibration is called as mode shapes

Equilibrium pos.

Period=T =
.

Amplitude: The maximum


displacement of vibrating body from
Dr. Hassen OUAKAD its equilibrium position ME 553/ 52
http://www.brown.edu/Departments/Engineering/Courses/En4/java/shm.html

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ME201

Basic Concepts 
Vibrations MAIN Characteristics
Every object has:
 Frequencies at which it “likes” to vibrate
 Natural Modal Frequencies

 Characteristic geometries of vibration


 Mode Shapes

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Free Vibration with


Viscous Damping
Free Damped Oscillations
For damped oscillations,
simplest case is when the
damping force is
proportional to the velocity
of the oscillating object

In this case, amplitude


decays exponentially:

y  t   Be  t / sin t   

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Dr. Hassen OUAKAD 2/6/2017
ME201

Forced Vibration

 Resonance Phenomenon
 A vibration of large amplitude
 Occurs when an object is forced near its
natural frequency

n
Force Amplitude versus Freq Plot
(cosine OR sine)
 Resonance : amplitude
becomes LARGE when forcing
frequency is close to natural
Simulations of real frequency
earthquake excitation
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Another Classification of Vibrations

Longitudinal Vibration:

Transverse Vibration:

Torsional Vibration:

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Dr. Hassen OUAKAD 2/6/2017
ME201

Basic Concepts of Vibration:


Degrees of Freedom
Degrees of Freedom and Generalized Coordinates
 The minimum number of independent coordinates needed to describe a
 system completely is the number of degrees of freedom (DOF) of the
system.

 Any such set of kinematically independent coordinates is called a set of


generalized coordinates.

 The number of degrees of freedom is unique, whereas the choice of a set


of generalized coordinates is not unique.

 Kinematics quantities such as displacements, velocities and


accelerations are written as functions of the generalized coordinates
and their time derivatives.
DOF=1 Single degree of freedom (SDOF) DOF=2 Multi degree of freedom (MDOF)

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Degrees of Freedom &


Generalized Coordinates

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ME201

Degrees of Freedom &


Generalized Coordinates

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Degrees of Freedom &


Generalized Coordinates

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ME201

Discrete Systems and


Continuous Systems
Discrete Systems and Continuous Systems
Systems with a finite number of degrees of freedom are termed
discrete or lumped parameter systems
Infinite number of degrees of freedom system are termed continuous or
distributed systems
Example of Infinite-number-of-degrees-of-freedom system:

More accurate results obtained by increasing number of degrees of


freedom
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End of
Lecture # 01

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