Philadelphia University
Faculty of Engineering
Mechanical Engineering Department
Physical system
.. .
m x c x kx F t Equation of motion
F t is a harmonic force. It may takes one of the following forms :
F t Fo sin t
F t Fo cos t Fo is the amplitude of force
F t Fo e jt is the frequency of force
Harmonically Excited Vibration
Consider t he form :
.. .
m x c x kx Fo e jt Equation of motion (1)
This 2nd order differenti al equation is non - homogenuos . Its solution has
two parts
1. Complement ary function (Transient response) : It is the solution for
the homogeneou s equation (described in previous chapter). for 1
The solution w as written as :
xc (t ) e nt C1 cos d t C2 sin d t
2. Particular integral (steady state response : It is the solution for the
non homogenuos equation. Because the force (excitatio n) is harmaonic
with frequency we can expect tha t the response (solution) is harmonic
with the same frequency . The solution can be written as
x p (t) Xe jt , X is called the ' steadty state response amplitude'
Harmonically Excited Vibration
Substitute the particular integral into equation (1) and solve for X :
Fo
X
k 2 m jc
By writing k 2 m jc as
k 2
m c e
2 2 j
, where tan -1
cw
k m
2
is the " phase
NOTES :
1. For the force form F(t) Fo sin t x p (t ) X sin t
2. For the force form F(t) Fo cos t x p (t ) X cost
3. Transient response ( xc (t )) represents a motion tha t decays with
time and can be neglected after a certain ti me.
4. Steady state response ( x p (t )) is a harmonic motion wit h constant
amplitude and frequency .
F
5. The term o is usually called the " static deflection ( st ). The ratio
k
X
is usually called the " Magnificat ion Factor (M)".
st
1
M
1 r 2r
2 2 2
Damped Forced Vibration System
For ζ = 0 , the phase angle is zero for 0<r<1 and 180o for r>1.
Fo
1. At low frequency (r 0) then X which means the displaceme nt
k
is Stiffness control.
Fo
2. At high frequency (r 1) then X which means the displaceme nt
m 2
is Mass control.
Fo
3. At resonance (r 1) then X which means the displaceme nt
2k
is Damping control. (for small )
Harmonically Excited Vibration
X
Fo
k
1 r 2r
2 2
2
-1/2
d
X is maximum when (X)0
dr
This condition gives :
X is maximum when r 1 2 2 which is known as a
n
Resonance Frequency, i.e res n 1 2 2
Forced Vibration due to Rotating Unbalance
me 2
k
X , or
1 r 2 2
2r
2
me 2
M r
X t
1 r 2 2
2r
2
and
2r
tan 1 2
1 r
The plots of X and are shown in the figure below
Transmissibility of Force
(1 r 2 ) (2r ) 2 (1 - r 2 )
F
Transmissibility of displacement (support motion)
.. . .
Mathematical model: m x c x y k x y 0
Transmissibility of displacement (support motion)
c
tan
1
k
Assume x(t) Xsin t (Harmonic motion)
k 2 c 1 2r
2 2
X
Displaceme nt Transmissi bility(TR d )
Y k m c
2 2 2
1 r 2r
2 2 2
2r
tan 1 2
1 r
Transmissibility of displacement (support motion)
So, k
192 200 x109 41.667 x10 9 102,400.82 N / m
250 x10
2 3
Solution
a. From the given data
d 1 2 n
k 4000
n 20rad / s
m 10 d 1 0.052 20
c 20 d 19.975rad / s
0.05
2mn 210 20
10
r 0.5
n 20
Example 3.2:
Solution
F 100 st
st o 0.025m X 0.3326m
k 4000 1 r 2r
2 2 2
2 r
tan 1 3.814 o
1 r
2
Total solution:
X(t) = X c (t) + X p(t)
- n t
x (t) Ae cos( t - ) X cos(t - 0.066)
n
- 0.05*20 t
x (t) Ae cos(19.97t - ) 0.3326cos( 20t - 0.066)
at t 0, xt 0.01m
0 Acos 0.3326 * cos0.066
Acos 0.33187 (1)
-t
x (t) Ae cos(19.97t - ) 0.3326cos( 20t - 0.066)
-t -t
x (t ) Ae * -19.97sin (19.97t - ) A cos(19.97t - ) * (-t)e
0.3326 * 20sin( 20t - 0.066)
at t 0, x t 0
0 19.97 A sin 0.438, A sin 0.0219 (2)
From (1) and (2) 0.066 rad and A -0.3325
-t
x(t) -6.64e cos(19.97t - 0.066 ) - 0.3326cos( 20t - 0.066)