Vibration Engineering
Unit-2
Dr Alok Khatri,
Associate Professor,
Department of Mechanical Engineering
Engineering College, Ajmer
Contents
Un-damped single degree freedom system
• Derivation of equation of motion for
longitudinal, transvers and torsional systems.
• Compound Pendulum
• Damped vibration Systems- Over, under and
Critical damped systems
• Viscous, eddy current, Coulomb and
Hysteresis damped systems
Free Undamped vibration single DoF
System given initial disturbance and oscillates
free of external forces.
Undamped: no decay of vibration amplitude
The equation of motion can be derived using
• Newton’s second law of motion
• D’Alembert’s Principle,
• The principle of virtual displacements and,
• The principle of conservation of energy.
Newton’s Equilibrium Method
The forces acting on the mass are:
1. Inertia force , m ẍ (upward)
2. Spring force or restoring force, K (x + δ )
3. Gravitational force, mg (downward)
Now, if mass is displaced from its equilibrium position by a distance x as shown in figure and released, then
δ
x
Static condition, mg=k δ
Restoring force = Accelerating Force
Newton’s Equilibrium Method
Restoring Force = mg - k (x + δ )
Accelerating Force = m ẍ
Therefore,
m ẍ = mg - k (x + δ )
m ẍ + K x= 0
D'Alembert's Principle
A body is said to be in dynamic equilibrium if the sum of external
forces, external couples and inertia forces and couples is zero.
Consider a spring-mass system constrained to move along the axis
of the spring.
Where
m = mass suspended from the spring end ,kg.
K = stiffness of spring N/m.
δ = defilation of the spring due to weight mg,
x = displacement given to the mass, by application of initial external
force, from mean position, m.
D'Alembert's Principle
• Σ [Inertia forces+ External forces] = 0
m ẍ + k (x + δ ) - mg = 0
[Taking upward forces as +ve and downward force as -ve]
m ẍ + Kx + K δ - mg = 0
m ẍ + K x= 0……..(1)
Natural Frequency of Longitudinal Vibrations
• The motion is simple harmonic motion.
The motion is simple harmonic motion.
Where, f = Natural frequency of vibration f= 0.498 / √ ẟ
For longitudinal vibrations , static deflection is taken as
E = Young’s modulus
Natural Frequency of Transverse Vibrations
The natural frequency of free transverse vibrations are same as that of longitudinal
vibrations.
Cantilever with end force Equivalent spring
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Natural Frequency of Torsional Vibrations
I = Mass moment of inertia = mk2
Natural Frequency of Torsional Vibrations
=Torsional Stiffness(Kt )
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Compound Pendulum
• Initial displacement Ө is provided
• Restoring force = mg
• Restoring moment = mg l sinӨ
• Accelerating moment = J0 Ӫ
J0 Ӫ + mg l Ө = 0
ω
=√ mgl / J0
n
J0 = Jg + ml2
J0 = mK2+ ml2
ω
n =√ mgl / (mK2+ ml2 )
T=2
π / ωn
Free Motion of a Damped SDoF System
Free Vibration with Viscous Damping
FBD
System
Spring Force = KX
Damping Force = F= CẊ
Accelerating Force = m ẍ
Theefore , Equation of motion : mx cx kx 0
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Free Motion of a Damped SDoF System
Equation of motion : mx cx kx 0
Let, x = est
Ẋ = S est
ẍ = S2 est
Therefore, m S2 + C S + K = 0
Roots of quadratic equation
S1, 2 = - ± ()2 -
If, Radical = 0
Then, ()2 -
Hence, Cc (Critical damping coefficient) = √ 4km = 2 √km = 2m ωn
Damping factor/ratio
c c
is the viscous critical damping ratio.
cc 2 km
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Free Motion of a Damped SDoF System
c c
is the viscous critical damping ratio.
cc 2 km
The damping ratio is a system parameter, denoted by ζ (zeta) = C/Cc
Putting, c/2m= ζ ωn and k/m= ωn
Roots can be written as, 1, 2 ( 2 1)n
• Undamped System(ζ = 0)
• Underdamped System (ζ < 1)
• Critically damped System (ζ = 1)
• Overdamped System (ζ > 1).
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DAMPING
• Damping is an influence within or upon an oscillatory system that has the effect
of reducing, restricting or preventing its oscillations.
• OVERDAMPED: The system returns (exponentially decays) to equilibrium without
oscillating. the condition in which damping of an oscillator causes it to return to
equilibrium without oscillating; oscillator moves more slowly toward equilibrium
than in the critically damped system
• CRITICALLY DAMPED: The condition in which the damping of an oscillator causes
it to return as quickly as possible to its equilibrium position without oscillating
back and forth about this position. The system returns to equilibrium as quickly as
possible without oscillating.
• UNDERDAMPED: The system oscillates (at reduced frequency compared to the
undamped case) with the amplitude gradually decreasing to zero.
• UNDAMPED: The system oscillates at its natural resonant frequency. (ωo).
Over Damped System
• ζ>1. Over damped case with oscillatory motion
Both roots are real : 1 ( 2 1)n
2 ( 2 1)n
1t 2t
Solution is of the form : x (t ) C 1e C 2e
C1 & C2 are two constants depending on initial conditions.
Boundary Conditions are
• X = X0 at time t = 0 and
• Ẋ = 0 at time t = 0
Over damped System
• Putting, X = X0 at time t = 0
X0 = C 1 + C 2
• Putting, Ẋ = 0 at time t = 0
• The velocity vector will be:
Over damped System
Over damped System
Over damped System
Over damped System
Both roots are real : 1 ( 2 1)n
2 ( 2 1)n
The solution becomes :
( 2 1)nt
x(t ) Ae
( 2 1)nt
Be
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Critical damped System
• A critically damped system will have the smallest damping required for
aperiodic motion; hence the mass returns to the position of rest in the
shortest possible time without overshooting.
• The property of critical damping is used in many practical applications.
• For example, large guns have dashpots with critical damping value, so that
they return to their original position after recoil in the minimum time
without vibrating. If the damping provided were more than the critical
value, some delay would be caused before the next firing.
• Roots are equal and zeta = 1
• Root [- ζ + √ (ζ2 – 1)] ωn = (-1) ωn = - ωn
Double root : S1 S 2 n
The solution becomes :
x(t ) (C 1 C 2t )e nt
Critical damped System
• Putting, Boundary condition, X = X0 at time t = 0
• C1= X0
• Putting, Ẋ = 0 at time t = 0
• The velocity vector will be:
Ẋ = - ωn C1 e - ωn t - ωn tC2 e - ωn t + C2 e - ωn t
Appling Boundary condition Ẋ = 0 at time t = 0,
0 = - ωn C1 – 0 + C2
C2 = ω
n X0
Therefore, The complete solution will
x = (X0 + ωn X0 t) e - ωn t
x = (1+ ωn t) X0 e - ωn t
Critical damped System
Double root : 1 2 n
The solution becomes :
x(t ) ( A Bt )e nt
Under Damped System
• It is most physical system.
• Damping is small (ζ<1).
• Roots are imaginary and complex conjugate.
Both roots are complex : S1 ( i 1 2 )n
S 2 ( i 1 2 )n
Under Damped System
Under Damped System
Under Damped System
Time history for oscillatory motion
Exponential term
nt
e
Oscillatory term
C sin(dt )
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Logarithmic Decrement
The logarithmic decrement represents the rate at which the amplitude of a
free damped vibration decreases. It is defined as the natural logarithm of the
ratio of any two successive amplitudes.
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Logarithmic Decrement
Logarithmic Decrement
Logarithmic Decrement
If the two amplitudes are separated by (N - 1) cycles :
1 x(tm)
ln
N x(tm N)
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Viscous damping
• Based on viscous fluid flowing through gap or
orifice.
• Eg: film between sliding surfaces, flow b/w
piston & cylinder, flow thru orifice, film around
journal bearing.
Viscous Damping Principle
dv
• Damping force is proportional to velocity and
dz = Damping Coefficient C times Velocity dx/dt
v – dissipates energy
F (Dt ) cx
• Dashpots can de designed as in shock absorbers
Dt or the equivalent effect of energy dissipating
c N - s/m capacity determined from tests to find the value of
this coefficient c
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Eddy Current damping
• If a non ferrous conducting object is moved
in a direction perpendicular to the lines of
magnetic flux which is produced by a
permanent magnet, then as the object
moves current is induced in the object.
• This current is the induced eddy current
and sets up a magnetic field so as to
oppose the original magnetic field that has
induced it.
• It is used in mechanical damping viscous
type vibrometers and in some vibration
control systems.
Coulomb (dry Friction) damping
• In vibrating structures, whenever the components slide relative
to each other, dry-friction damping appears internally. As
stated, Coulomb damping arises when bodies slide on dry
surfaces. Coulomb s law of dry friction states that, when two
bodies are in contact, the force required to produce sliding is
proportional to the normal force acting in the plane of contact.
Thus the friction force F is given by
• Damping force is constant and opposite the direction of
motion.
Coulomb Damping (Dry Friction)
• where N is the normal force, equal to the weight of the mass
and is the coefficient of sliding or kinetic friction. The friction
force acts in a direction opposite to the direction of velocity.
Coulomb damping is sometimes called constant damping, since
the damping force is independent of the displacement and
velocity; it depends only on the normal force N between the
sliding surfaces.
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Coulomb (dry Friction) damping
Coulomb (dry Friction) damping
Coulomb (dry Friction) damping
The term μN/k appearing in Equations is a constant representing the virtual
displacement of the spring under the force μN, if it were applied as a static
force.
Motion of the mass with Coulomb damping
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Coulomb (dry Friction) damping
Note the following characteristics of a system with coulomb damping:
1. The equation of motion is nonlinear with coulomb damping.
2. The natural frequency of the system is unchanged with the addition of coulomb
damping.
3. The motion is periodic with coulomb damping.
4. The system comes to rest after some time with coulomb damping.
5. The amplitude reduced linearly with coulomb damping.
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Hysteretic (material or solid) damping
• Based on plastic deformation of
materials (energy loss due to slippage
b/w grains)
• Energy lost due to hysteresis loop in
force-deflection (stress-strain) curve of
element when load is applied.
• Area of hysteresis loop is energy
dissipation per cycle of motion- termed
as per-unit-volume damping capacity.
• The damping caused by the friction
between the internal planes that slip or
slide as the material deforms is called
hysteresis (or solid or structural)
damping .
Hysteretic (material or solid) damping
Hysteretic (material or solid) damping
Hysteretic (material or solid) damping
Hysteretic (material or solid) damping
Hysteresis Vs Coulomb Damping
Hysteresis (or solid or structural) Coulomb’s Damping
damping
The damping caused by the friction This form of damping is caused by
between the internal planes that slip or Coulomb friction at a structural joint. It
slide as the material deforms is called depends on many factors such as joint
hysteresis (or solid or structural) damping forces or surface properties .
Structural damping (caused by contact or The Coulomb-friction model is as a rule
impacts at joins), energy dissipation is used to describe energy dissipation
determined by means of the coefficient of caused by rubbing friction.
restitution of the two components that are
in contact.
Area of hysteresis loop is energy
dissipation per cycle of motion- termed as
per-unit-volume damping capacity.
The purpose of structural damping is to
dissipate vibration energy in a structure,
thereby reducing the amount of radiated
and transmitted sound.
THANKS