FBD
Since addition of solutions is also a solution.
(1)
Roots:
The Critical Damping Constant and Damping Ratio
• The critical damping constant (cc) is defined as the value of the damping constant
for which the radical in the general solution becomes zero.
• For any damped system the ratio of the damping constant to the critical damping
constant is defined as the damping ratio (ζ)
Mathematical manipulation: Zeta =
NOTE: The nature of the
ζ2mωn/2m = ζωn roots and hence the behavior
Recall, of the solution of free
damped vibrational systems
s1,2 = (where ω2n = k/m) depends on the amount of
damping present in the
(roots in terms of system. It can be seen that
damping ratio) for ζ = 0 the solution reduces
So the solution can be rewritten as: to the case of free undamped
vibrations.
Case 1) Underdamped System (ζ< 1)
• It is very important case in mechanical vibrations because it is the only case which produces
oscillatory motion of the mass with consideration of damping. Examples
Recall, • Systems with light
damping
If ζ < 1 •Pendulums
• Guitar string
(√-1 = i)
Using Aeiθ = Acosθ + Aisinθ & collecting cos and sin terms
• Above equation represent free damped harmonic motion with damped frequency ωd.
• The negative exponential indicates that this type of vibration is decaying wrt time and
thus is stable.
{Dcos(ωnt) + Esin(ωnt)}
cos(A-B) = cosAcosB + sinAsinB
General solution:
NOTE:
ẋ(t) = d/dt(x(t)) & solve
Initial conditions: x(t = 0) = xo & ẋ(t = 0) = ẋo simultaneously.
&
Solution is
x(t) = +
Graphical Display of Undamped, Underdamped,
Critically damped and Overdamped Vibrations.
• ωd < ωn
• τd > τ
The Logarithmic Decrement
• It represents the natural logarithm of the ratio
of two consecutive amplitudes that are one
cycle apart during a free damped vibration.
• It represents the rate at which the amplitude
of a free damped vibration decreases in time.
• Due to logarithmic decrement the amount of
damping in the system can be estimated
experimentally.
δ
Finally,
ζ
• We can measure the amplitudes x1 and x2 experimentally using vibration sensors and
estimate the amount of damping present by calculating the damping ratio zeta ζ.
• When ζ = 1 the decrement is large & when ζ = 0 there is no decrement (no damping).
FBD
ct = Torsional viscous damping constant
Jo = Moment of inertia of disk abt its center.
kt = torsional stiffness of the system.