The objectives of this experiment are: a. To measure the two natural frequencies of a two degree of freedom torsional system. b. To determine the same natural frequencies analytically. c. To compare these results.
Figure 1
Figure 2
Both of these systems are represented by similar equations of motion. Newtons second law is used to determine these equations. (1)
(2)
(2)
In equation 2, is the torsional spring constant of the shaft and is the polar mass moment of inertia for the disk. The torsional spring constant is determined from the relationship between moment and angular displacement of the shaft.
Where G,
, are the shear modulus, polar area moment of inertia, and the length of the shaf is given by Therefore
DISK 2,
DISK 1,
Figure 3 For the system shown in figure 3, k1, k2, k3 are the torsional spring constants of the three shafts, , and are the polar mass moment of inertia of disk 1 and disk 2, and , are the angular displacements of the two disks. The free body diagrams of these disks are shown in figure 4.
Figure 4 Note that positive directions are the directions of are given by , and as shown in figure 4. Equations of motion
and
(9)
, and
terms in equation 9.
Simplifying
Equations 14 represent two algebraic equations in terms of unknowns A1, and A2. To simplify these equations assume .
One possible solution of equation 15 is a trivial solution of A1=A2=0. This solution is not acceptable since it implies no vibration. For a non trivial solution of A1 and A2, the determinant of the coefficients of amplitudes A1 and A2 should be zero.
Equation 16 which can be written in terms of frequency ( roots of this equation represent the two natural frequencies
equations 15. Note that since equations 14 are homogeneous, only the ratios of could be evaluated. In fact these two equations are not linearly independent of each other and only one of them can be used to determine mode shapes or amplitude ratios.
Note that both of these equations are the same and only one of them is used to find the amplitude ratio. The amplitude ratio for the first mode is then given by
Both of these equations are the same and only one of them is used to find the amplitude ratio.
Experiment: The two degree of freedom torsional system that is used in this experiment is shown in figure 5. The amplitude ratios are used to determine the two natural frequencies experimentally.
Steel Ball
Steel Rod
Steel Wire
Steel Coupling
Figure 5 The vibration model of this system is similar to the one shown in figure 3 except here J1 =J2. Assume that all three string segments have the same stiffness k given by:
Also the two polar mass moments of inertia are equal to J and given by:
Therefore if both bars are rotated equally in the same direction the measured frequency will be On the other hand if both bars are rotated equally but in the opposite directions, the measured frequency will be .