C. R.

Yang, NTNU MT

Chapter 9
Vibration Control

9
台灣師範大學機電科技學系 -1-
 C. R. Yang, NTNU MT

Chapter Outline

9.1 Introduction
9.2 Vibration Nomograph and Vibration Criteria
9.3 Reduction of Vibration at the source
9.4 Balancing of Rotating Machines
9.5 Whirling of Rotating Shafts
9.6 Balancing of Reciprocating Engines
9.7 Control of Vibration
9.8 Control of Natural Frequencies
9.9 Introduction of Damping
9.10 Vibration Isolation
9.11 Vibration Absorbers

台灣師範大學機電科技學系 -2-
 C. R. Yang, NTNU MT

9.1
Introduction

9.1
台灣師範大學機電科技學系 -3-
 C. R. Yang, NTNU MT

9.1 Introduction

• Vibration leads to wear of machinery and discomfort of humans,

thus we want to eliminate vibration

• Designer must compromise between acceptable amount of

vibration and manufacturing cost

• We shall consider various techniques of vibration control in this

chapter.

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 C. R. Yang, NTNU MT

9.2
Vibration Nomograph and Vibration Criteria

9.2 台灣師範大學機電科技學系 -5-

 C. R. Yang, NTNU MT

9.2 Vibration Nomograph and Vibration Criteria

• Vibration nomograph displays the variations of displacement,

velocity and acceleration amplitudes wrt frequency of vibration

• Harmonic motion: xt   X sin t

• Velocity: vt   x t  X cos t 2fX cos t

• Acceleration: a t  xt    2 X sin t  4 2 f 2 X sin t

• Amplitude of velocity: vmax 2fX 9.4
• Amplitude of acceleration: amax  4 f X  2fvmax
2 2
9.5

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 C. R. Yang, NTNU MT

9.2 Vibration Nomograph and Vibration Criteria

• Taking log of Eq. 9.3 and Eq. 9.4:

ln vmax ln 2f  ln X
ln vmax  ln amax  ln 2f 
• When X is constant, ln vmax varies linearly with ln(2πf)

• When amax is constant, ln vmax varies linearly with ln(2πf)

• This is shown as a nomograph in the next slide.

• Every pt on the nomograph denotes a specific sinusoidal vibration.

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 C. R. Yang, NTNU MT

9.2 Vibration Nomograph and Vibration Criteria

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 C. R. Yang, NTNU MT

9.2 Vibration Nomograph and Vibration Criteria

• Vibration severity of machinery is defined in terms of the root mean

square (rms) value of vibration velocity. (ISO 2372)

• Vibration severity of whole building vibration (ISO DP 4866)

• Vibration limits for human (ISO 2631)

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 C. R. Yang, NTNU MT

9.2 Vibration Nomograph and Vibration Criteria

Example 9.1
Helicopter Seat Vibration Reduction

The seat of a helicopter, with the pilot, weights 1000N and is found to
have a static deflection of 10 mm under self-weight. The vibration of
the rotor is transmitted to the base of the seat as harmonic motion
with frequency 4 Hz and amplitude 0.2 mm.
a) What is the level of vibration felt by the pilot?
b) How can the seat be redesigned to reduce the effect of vibration?

台灣師範大學機電科技學系 -10-
 C. R. Yang, NTNU MT

9.2 Vibration Nomograph and Vibration Criteria

Example 9.1
Helicopter Seat Vibration Reduction
Solution

Mass = m = 1000/9.81 = 101.9368 kg

Stiffness = k = W/δst = 1000/0.01 = 105N/m

k 105
Natural frequency = ωn =  31.3209 rad/s 4.9849 Hz
m 101.9368
 4.9849
Frequency ratio = r =  1.2462
n 4.0
Y
Amplitude of vibration felt by pilot: X 
1 r 2
where Y is the amplitude of base displacement

台灣師範大學機電科技學系 -11-
 C. R. Yang, NTNU MT

9.2 Vibration Nomograph and Vibration Criteria

Example 9.1
Helicopter Seat Vibration Reduction
Solution
0. 2
X 2
0.3616 mm
1  1.2462
vmax 2fX 2 50.3616  9.0887 mm/s
amax 2f  X 228.4074 mm/s 2 0.2284 m/s 2
2

At 4 Hz, the amplitude of 0.3616 mm may not cause much discomfort.

However the velocity and acceleration at 4 Hz are not acceptable for a
comfortable ride.
Try to bring amax down to 0.01 m/s2

台灣師範大學機電科技學系 -12-
 C. R. Yang, NTNU MT

9.2 Vibration Nomograph and Vibration Criteria

Example 9.1
Helicopter Seat Vibration Reduction
Solution
amax 10 mm/s 2  2f  X  8 
2 2

X 0.01583 mm
X 0.01583 1
  2
or r 3.6923
Y 0.2 1 r
 8 k
n   6.8068 rad/s 
3.6923 3.6923 m
m 101.9368 kg  k 4722.9837 N/m

Either use softer material for seat or increase mass of seat.

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 C. R. Yang, NTNU MT

9.3
Reduction of Vibration at the Source

9.3 台灣師範大學機電科技學系 -14-

 C. R. Yang, NTNU MT

9.3 Reduction of Vibration at the Source

• Try to alter the source so that it produces less vibration

• E.g. balance rotating or reciprocating machines, use close

tolerances or better surface finish

• 
Some sources cannot be eliminated e.g. turbulence, engine
combustion instability, road roughness X

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9.4
Balancing of Rotating Machines

9.4 台灣師範大學機電科技學系 -16-

 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Unbalanced mass in rotating disc will cause vibration.

• Can be eliminated by removing the unbalanced mass or adding

equal mass to cancel out vibration

• Need to determine the amount and location of the eccentric mass

experimentally

• We shall consider 2 types of balancing: single-plane balancing and

2-plane balancing

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9.4 Balancing of Rotating Machines

• Single-Plane Balancing

When center of mass is displaced from the axis of rotation, the

element is statically unbalanced.
To determine whether a disc is balanced, mount it as shown below.

Rotate the disc and let it come to rest. Mark the lowest point.
Repeat a few times.

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Single-Plane Balancing

If the disc is unbalanced, the markings will coincide (static

unbalance).

Static unbalance can be corrected by removing material at the mark

or adding material 180° from the mark.

Amount of unbalance can be found by rotating the disc at a known

speed ω and measuring the reactions at the 2 bearings.

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Single-Plane Balancing

If the unbalanced mass m is located at radius r, the centrifugal force

will be mrω2.

a2 a
Measured bearing reactions: F1  mr 2 , F2  1 mr 2
l l

台灣師範大學機電科技學系 -20-
 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Single-Plane Balancing

Another method for single-plane balancing uses a vibration analyzer

as shown:

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Single-Plane Balancing

Turn the rotor and fire a stroboscopic light at the same frequency ω.

A marking on the rotor will appear stationary but positioned at an

angle θ from the mark on the stator.

The amplitude Au caused by the unbalance is also noted by the

vibration analyzer.

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9.4 Balancing of Rotating Machines

• Single-Plane Balancing

Add a known trial weight W to the rotor and repeat the procedure.

The new angle of the marking, φ and the new amplitude Au+w are
noted.

Construct vector diagram:

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Single-Plane Balancing
  
The difference vector AW  AU W  AU is the unbalance vector
due to trial weight W.

AW  AU2  AU2 W  2 AU AU W cos   

Original unbalance is at angle α from position of trial weight.

1  A 2
 A 2
 A 2

 cos  U U W U W

 2 AU AW 
Magnitude of original unbalance WO=(AU/AW)•W

台灣師範大學機電科技學系 -24-
 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Two-Plane Balancing

If rotor is as shown, unbalance can be anywhere along the length

Can be balanced by adding weights in any 2 planes, most common

planes being the end planes of the rotor

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Two-Plane Balancing

Consider a rotor with unbalanced mass as shown:

Force due to unbalance, F=mω2R

Replace unbalanced mass m by m1 and m2 located at the ends of
the rotor as shown:

台灣師範大學機電科技學系 -26-
 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Two-Plane Balancing

Forces exerted due to m1 and m2 are F1=m1ω2R and F2=m2ω2R

For equivalence of forces: mω2R=m1ω2R+m2ω2R or m = m1 + m2
Taking moments at the right end:
l
m R m1 2 Rl or m 3m1
2

3
Thus m1 = m/3, m2 = 2m/3
Thus any unbalanced mass can be replaced by 2 unbalanced mass
at the end planes.

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Two-Plane Balancing

Vibration analyzer
Replace unbalance weight by UL and UR as shown:

 
Measure vibration amplitude and phase VA and VB   of original
unbalance at A and B
    
VA  AALU L  AARU R (9.13)
    
VB  ABLU L  ABRU R (9.14)

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Two-Plane Balancing

Vibration analyzer
Add known trial weight WL in left plane at known position.
     
  
 

VA  AAL U L  WL  AARU R
 
Eq 9.15
 
VB  ABL U L  WL  ABRU R Eq 9.16

Subtract Eq. 9.13 and 9.14 from Eq. 9.15 and 9.16:
   
 VA  VA  VB  VB
AAL   , ABL  
WL WL

台灣師範大學機電科技學系 -29-
 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Two-Plane Balancing

Vibration analyzer
Remove WL and add known trial weight WR in right plane at known
position.
     
  
 

VA  AAR U R  WR  AALU L
 
Eq 9.19
 
VB  ABR U R  WR  ABLU L Eq 9.20

Subtract Eq. 9.13 and 9.14 from Eq. 9.19 and 9.20:
   
 VA  VA  VB  VB
AAR   , ABR  
WR WR

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

• Two-Plane Balancing

 analyzer
Vibration
Once Aij are known, Eq 9.13 and Eq 9.14 can be solved to find the
unbalance vectors.
       
 ABRVA  AARVB  ABLVA  AALVB
UL      , UR     
ABR AAL  AAR ABL ABL AAR  AAL ABR
Rotor can now be balanced by adding equal and opposite weights in
each plane.
   
BL  U L , BR  U R

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9.4 Balancing of Rotating Machines

Example 9.2
Two-Plane Balancing of Turbine Rotor

In the 2-plane balancing of a turbine rotor, the data obtained from

measurement of the original unbalance, the right-plane trial weight,
and the left-plane trial weight are shown below. Determine the size
and location of the balance weights required.

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

Example 9.2
Two-Plane Balancing of Turbine Rotor

Solution VA 0.260 0.1  i 0.1732

VB 0.16205  0.145  i 0.0676

VA 0.15125  0.086  i 0.1229

VB 0.1230  0.0643  i 0.0766

VA 0.1535 0.1229  i 0.086

VB 0.25160  0.2349  i 0.0855

WL 0.3270 0  i 0.3

WR 0.34180  0.34  i 0

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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

Example 9.2
Two-Plane Balancing of Turbine Rotor
Solution   
VA  VA  0.186  i 0.0503
AAL    0.1677  i 0.62
WL 0  i 0.3
 
 VB  VB 0.0807  i 0.009
ABL    0.03  i 0.269
WL 0  i 0.3
 
 VA  VA 0.0229  i 0.0872
AAR     0.0674  i 0.2565
WR  0.34  i 0
 
 VB  VB  0.0899  i 0.1531
ABR    0.2644  i 0.4503
WR  0.34  i 0
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 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

Example 9.2
Two-Plane Balancing of Turbine Rotor
Solution


UL 
0.1045  i0.0008 0.0271  i0.0327 
 0.2347  i0.2397   0.712  i0.0104 
 0.2565  i 0.1546

UR 
 0.0436  i 0.0321  0.663  i 0.0785
 0.0712  i0.0104   0.2347  i0.2397 
 0.0875  i 0.1612

台灣師範大學機電科技學系 -35-
 C. R. Yang, NTNU MT

9.4 Balancing of Rotating Machines

Example 9.2
Two-Plane Balancing of Turbine Rotor
Solution
Thus the required balance weights are
 
BL  U L 0.2565  i 0.1546 0.2994  31.0772
 
BR  U R 0.0875  i 0.1612 0.1834  61.5242

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9.5
Whirling of Rotating Shafts

9.5 台灣師範大學機電科技學系 -37-

 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

• In many applications, a heavy rotor is mounted on a light, flexible

shaft supported in bearings.

• Unbalances and other effects will cause a shaft to bend at certain

speeds known as whirling speeds

• Whirling is the rotation of the plane made by the line of centers of

the bearings and the bent shaft.

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 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

• Consider a shaft as shown below.

• Forces acting on rotor: inertia force, spring force, damping forces

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 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

• Equations of Motion

Let O be the equilibrium position of the shaft when balanced

perfectly.

Shaft (line CG) rotates at velocity ω.

During rotation the rotor deflects by

a distance A.

CG of rotor (G) is at distance a from

geometric centre C.

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9.5 Whirling of Rotating Shafts

• Equations of Motion

Angular velocity of line OC,  d / dt is known as the

whirling speed and is in general not equal to ω.
    
       
Inertia force Fi Elastic force Fe  Internal damping force Fdi  External damping force Fde mR
  
where R x  a cos t i  y  a sin t  j
  
Fi mx  a cos t i  y  a sin t  j 
  
Fe  k xi  yj where k is the stiffness of the shaft
  
Fdi  ci x  y i  y  x  j 
where ci is the internal or rotary damping coefficient
  
Fde  cx i  y j 
where c is the external damping coefficient

台灣師範大學機電科技學系 -41-
 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

• Equations of Motion
   
Substitute Fi , Fe , Fdi , Finto
de Eq. 9.26:
mx  ci  c x  kx  ciy m 2 a cos t Eq 9.32
my  ci  c y  ky  cix m 2 a sin t Eq 9.33
These equations are coupled.

Define w as w=x+iy
Add Eq 9.32 to Eq 9.33 and multiply by i:

  ci  c w  kw  ici w m 2 aeit

mw

台灣師範大學機電科技學系 -42-
 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

• Critical Speeds

When frequency of rotation of shaft = one of the natural

frequencies of the shaft, critical speed of undamped system:

k
n 
m
When ω = ωn, rotor undergoes large deflections.

Slow transition of rotating shaft through the critical speed aids

development of large amplitudes.

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9.5 Whirling of Rotating Shafts

• Response of the System

Assuming ci=0, mw   cw  kw m 2

ae it
Solution: wt  Ce  t     Ae i t   
transient  steady - state whirl

Substituting the steady-state part into equation of motion, we can

find amplitude of whirl:
m 2 a ar 2
A 
k  m    c
2 2 2 2
1  r   2r 
2 2 2

Phase angle
 c   1  2 r   k c
 tan  1  2 
 tan  2 
r  , n  ,  
 k  m   1  r  n m 2 km
台灣師範大學機電科技學系 -44-
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9.5 Whirling of Rotating Shafts

• Response of the System

Φ=0° for small ω

Phase lag is 90° at resonance

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9.5 Whirling of Rotating Shafts

• Stability Analysis

Assume w(t)=est, characteristic equation: ms2 + (ci + c)s + k – iωci=0

With s=iλ, -mλ2 + (ci + c)s + k – iωci=0

This is a particular case of (p2+iq2)λ2+ (p1+iq1)λ+ (p0+iq0)=0
p2 p1 p0 0
For this system to be stable, p2 p1 q2 q1 q0 0
  0 and 0
q2 q1 0 p2 p1 p0
0 q2 q1 q0

p2 = -m, p1 = q2 = 0, q1 = ci + c, p0 = k, q0 = -ωci

Therefore m(ci + c)>0 and km(ci + c)2 – m2ω2ci2

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 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

• Stability Analysis

k c
 1      0
m  ci 
Internal and external friction can cause instability at rotating speeds
above the 1st critical speed.

台灣師範大學機電科技學系 -47-
 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

Example 9.3
Whirl Amplitude of a Shaft Carrying an Unbalanced Rotor

A shaft, carrying a rotor of mass 50kg and eccentricity 2mm, rotates at

12000 rpm. Determine (a) the steady-state whirl amplitude and (b) the
maximum whirl amplitude during start-up conditions of the system.
Assume the stiffness of the shaft as 40MN/m and the external damping
ratio as 0.1.

台灣師範大學機電科技學系 -48-
 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

Example 9.3
Whirl Amplitude of a Shaft Carrying an Unbalanced Rotor
Solution

12000 2
Forcing frequency of rotor:   400 1256.6371 rad/s
60

k 40 10 6
Natural frequency: n   894.4272 rad/s
m 50

 1256.6371
Frequency ratio: r   1.4049
n 894.4272

台灣師範大學機電科技學系 -49-
 C. R. Yang, NTNU MT

9.5 Whirling of Rotating Shafts

Example 9.3
Whirl Amplitude of a Shaft Carrying an Unbalanced Rotor
Solution

a) Steady-state amplitude: A 
ar 2

0.0021.40492
1  r   2r 
2 2 2
1  1.40492 2  2 0.11.40492
3.8950 10  3 m 3.8950mm

b) During start-up conditions, ω passes through ωn. Using r=1, we

obtain whirl amplitude:
a 0.002
A r 1   0.01 m 10 mm
2 20.1

台灣師範大學機電科技學系 -50-
 C. R. Yang, NTNU MT

9.6
Balancing of Reciprocating Engines

9.6 台灣師範大學機電科技學系 -51-

 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Moving elements: Piston, crank, connecting rod

• Vibrations due to
 Periodic variations of gas pressure in cylinder
 Inertia forces associated with moving parts

台灣師範大學機電科技學系 -52-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Unbalanced Forces Due to Fluctuations in Gas Pressure

Expanding gas in cylinder exerts force F on piston

F can be resolved into F/cos Φ and F tan Φ.

 F 
F/cos Φ induces torque Mt which rotates the crank shaft t  cos   r cos 
M 
 

Figure shows equilibrium forces on stationary parts of the engine

Total resultant force =0

台灣師範大學機電科技學系 -53-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Unbalanced Forces Due to Fluctuations in Gas Pressure

r cos 
Resultant torque MQ=FhtanΦ where h 
sin 
Fr cos 
MQ 
cos 
Torque induced at crank shaft is felt at engine support.

台灣師範大學機電科技學系 -54-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Unbalanced Forces Due to Fluctuations in Gas Pressure

台灣師範大學機電科技學系 -55-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Unbalanced Forces Due to Inertia of Moving Parts

Acceleration of Piston
xP r  l  r cos  l cos
r  l  r cos t  l 1  sin 2 
But l sin  r sin  r sin t
r2
Hence cos   1  2 sin 2 t
l
Substituting into xP ,
r2
xP r  l  r cos t  l 1  2 sin 2 t
l
台灣師範大學機電科技學系 -56-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Unbalanced Forces Due to Inertia of Moving Parts

Acceleration of Piston
r 1 
In general,  and 1   1 
l 4 2
r2
Hence xP r 1  cos t  sin 2 t
2l
 r   r 
or xP r  1    r  cos t  cos 2t 
 2l   4l 
 r 
x P r  sin t  sin 2t 
 2l 
 r 
xP r 2  cos t  cos 2t 
 l 

台灣師範大學機電科技學系 -57-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Unbalanced Forces Due to Inertia of Moving Parts

Acceleration of the Crankpin

Vertical and horizontal displacements of crankpin C:
xC OA  AB l  r 1  cos t 
yC CB r sin t
x C r sin t
y C r cos t
xC r 2 cos t
yC  r 2 sin t

台灣師範大學機電科技學系 -58-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Unbalanced Forces Due to Inertia of Moving Parts

Acceleration of the Crankpin

Vertical component of inertia force for one cylinder:
Fx m p x p  mc xc
r 
2 2
 
 m p  mc r cos t  m p
2
cos 2t
l
Primary part Secondary part
Fy m p x p  mc xc
Vertical component of inertia force for one cylinder:
 mc r 2 sin t
Primary part
台灣師範大學機電科技學系 -59-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Balancing of Reciprocating Engines

mc can be made zero by counterbalancing the crank. Hence Fy can

be reduced to zero.

mp always positive hence vertical unbalanced force Fx always exists.

Thus single cylinder engine is inherently unbalanced.

In multi-cylinder engine, can balance inertia forces by proper

arrangement of cranks

台灣師範大學機電科技學系 -60-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Balancing of Reciprocating Engines

Following figure shows arrange of 6-cylinder engine.

台灣師範大學機電科技學系 -61-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Balancing of Reciprocating Engines

For force balance,

N
Fx total  Fx i 0
i 1
N
F 
y total  Fy i 0
i 1
r 2 2
Fx i  m p  mc i r 2
cost   i  m p i cos2t  2 i 
l
F   m  r
y i c i
2
sin t   i 

Assume (mp)i = mp and (mc)i = mc for i=1,2,…,N

台灣師範大學機電科技學系 -62-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Balancing of Reciprocating Engines

Assume (mp)i = mp and (mc)i = mc for i=1,2,…,N

When t=0, conditions for total force balance:

N N N
 cos  i 0,  cos 2 i 0,  sin  i 0 9.78, 9.79
i 1 i 1 i 1

Moments about the z and x-axes:

N N
M z  Fx i li 0, M z  Fy i li
i 2 i 2

Necessary conditions for balancing of moments:

N N N
 li cos  i 0,  li cos 2 i 0,  li sin  i 0 9.82, 9.83
i 2 i 2 i 2

台灣師範大學機電科技學系 -63-
 C. R. Yang, NTNU MT

9.6 Balancing of Reciprocating Engines

• Balancing of Reciprocating Engines

Thus we can arrange the cylinders of a multicylinder reciprocating

engine to satisfy Eq 9.78, 9.79, 9.82 and 9.83

The engine will be completely balanced against the inertia forces

and moments.

台灣師範大學機電科技學系 -64-
 C. R. Yang, NTNU MT

9.7
Control of Vibration

9.7
台灣師範大學機電科技學系 -65-
 C. R. Yang, NTNU MT

9.7 Control of Vibration

• Some import methods to control vibrations:

 Control ωn and avoid resonance under external excitations.
 Introduce damping mechanism to prevent excessive response of
system
 Use vibration isolators to reduce transmission of excitation
forces from one part of the machine to another
 Add an auxiliary mass neutralizer or vibration absorber to reduce
response of system

台灣師範大學機電科技學系 -66-
 C. R. Yang, NTNU MT

9.8
Control of Natural Frequencies

9.8 台灣師範大學機電科技學系 -67-

 C. R. Yang, NTNU MT

9.8 Control of Natural Frequencies

• Resonance Large displacements large strains and stresses

failure of system

• Often the excitation frequency cannot be controlled.

• Hence must control natural frequency by varying mass m or

stiffness k to avoid resonance.

• Practically mass cannot be changed easily.

• Hence we change stiffness k by altering the material or number and

location of bearings.

台灣師範大學機電科技學系 -68-
 C. R. Yang, NTNU MT

9.9
Introduction of Damping

9.9
台灣師範大學機電科技學系 -69-
 C. R. Yang, NTNU MT

9.9 Introduction of Damping

• System may be required to operate over a range of speed, hence

cannot avoid resonance

• Can use material with high internal damping to control the

response.

• Can also use bolted or riveted joints to increase damping.

• Bolted or riveted joints permit slip between surfaces and dissipate

more energy compared to welded joints.

• However they also reduce stiffness of structure, produce debris and

cause fretting corrosion.

台灣師範大學機電科技學系 -70-
 C. R. Yang, NTNU MT

9.9 Introduction of Damping

• Equation of motion of 1-DOF system with internal damping under

excitation:
mx  k 1  i x F0 e it

where loss factor  

W / 2 
W
Energy dissipated during 1 cycle of harmonic displacement/radian

Maximum strain energy in cycle

• Amplitude of response at resonance:

F0 F
 0 , a constant
k aE

台灣師範大學機電科技學系 -71-
 C. R. Yang, NTNU MT

9.9 Introduction of Damping

• Viscoelastic materials have larger values of η and are used to

provide internal damping.

• Disadvantage is their properties change with temperature,

frequency and strain.

• Sandwich viscoelastic material between elastic layers – Constrained

layer damping

• Material with largest η will be subjected to the smallest stresses.

台灣師範大學機電科技學系 -72-
 C. R. Yang, NTNU MT

9.10
Vibration Isolation

9.10
台灣師範大學機電科技學系 -73-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Insert isolator between vibrating mass and vibration source to

reduce response

• Passive isolators: springs, cork, felt etc.

• E.g. Mounting of high-speed punch press

台灣師範大學機電科技學系 -74-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Active isolator comprised of servomechanism with sensor, signal

processor and actuator.

• Effectiveness given in terms of transmissibility Tr which is the ratio

of amplitude of the transmitted force to that of the exciting force

• 2 types of isolation situations:

 Protect base of vibrating machine against large unbalanced or

impulsive forces
 Protect system against motion of its foundation

台灣師範大學機電科技學系 -75-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Protect base of vibrating machine against large unbalanced or

impulsive forces

Fi t  kxt  cx t 

• Protect system against motion of its foundation

Fi t  mxt  k  xt  y t   c x t  y t 

台灣師範大學機電科技學系 -76-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Rigid Foundation

Resilient member placed between vibrating machine and rigid

foundation

Member is modeled as a spring k and a dashpot c as shown:

台灣師範大學機電科技學系 -77-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Rigid Foundation

Reduction of force transmitted to foundation:

Equation of motion: mx  cx  kx F0 cos t

Steady state solution: xt   X cost   

F0  c 
where X  and  tan  1  2 
k  m    c
2 2 2 2  k  m 

Force Ft transmitted to the foundation:

Ft t  kxt  cx t  kX cost    cX sin t   
Magnitude of total transmitted force FT:
F0 k 2   2 c 2
FT  kx   cx   X k   c 
2 2 2 2 2

k  m    c
2 2 2 2

台灣師範大學機電科技學系 -78-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Rigid Foundation

Reduction of force transmitted to foundation:

FT k 2   2c 2
Transmissibility Tr  
F0 k  m    c
2 2 2 2

1  2r 
2

 where r 
1  r   2r 
2 2 2
n

Following graphs shows the variation of Tr with r.

台灣師範大學機電科技學系 -79-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Rigid Foundation

Reduction of force transmitted to foundation:

台灣師範大學機電科技學系 -80-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Rigid Foundation

Reduction of force transmitted to mass:

mz  cz  kz  my where z  x  y

Displacement transmissibility
1  2r 
2
X
Td  
Y  2 2

1  r  2r 
2

Td is also the ratio of the maximum steady-state accelerations of the

mass and the base.

台灣師範大學機電科技學系 -81-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Isolation of Source of Vibration from Surroundings

1
Tr  2 for r  2 and small 
r 1
 2N  st 2 R
By defining r    where R 1  Tr
n 60 g 1 R
30 g  2 R 2 R
N   29 . 9092
  st  1  R   st 1  R 

台灣師範大學機電科技學系 -82-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Isolation of Source of Vibration from Surroundings

台灣師範大學機電科技學系 -83-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Isolation of Source of Vibration from Surroundings

Reduction of force transmitted to foundation due to rotating

unbalance

Excitation force: F t  F0 sin t me 2 sin t

FT F FT
Force transmissibility: Tr   T 2 
F0 me mer 2n2
1  2r 
2
FT 2
r
men2 1  r   2r 
2 2 2

台灣師範大學機電科技學系 -84-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Flexible Foundation

If the foundation moves, the system has 2 DOF

Equations of motion: m1 x1  k x1  x2  F0 cos t

m2 x2  k x2  x1  0
Assuming solution of the form xj=Xjcosωt, j=1,2

 
X 1 k  m1 2  X 2 k F0
 
 X 1k  X 2 k  m2 2 0

台灣師範大學機電科技學系 -85-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Flexible Foundation

Natural frequencies given by roots of

k  m  
1
2
k
0
k k  m  2
2

 0,  
2 m1  m2 k
2
1 2
m1m2
Amplitude of m1 at steady-state:

X1 
k  m  F 2
2
0
k  m  k  m   k 
1
2
2
2 2

台灣師範大學機電科技學系 -86-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Flexible Foundation

Amplitude of m2 at steady-state:
kF0
X2 

k  m1 2 k  m2 2  k 2 
Force transmitted to structure:
 m k 2
F0
Ft  m 2  X 2 
2 2
  
k  m1 2 k  m2 2  k 2 

台灣師範大學機電科技學系 -87-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Flexible Foundation

Transmissibility of isolator:
Ft  m2 k 2
Tr  

F0 k  m1 2 k  m2 2  k 2 
 
 
1 m2  1 
 
 m1  m2 m1 2  m1  m2   2 
    1 2 
 m2 k   2 
where ω2 is the natural frequency of the system

Ft decrease as ω2 decrease

台灣師範大學機電科技學系 -88-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.4
Spring Support for Exhaust Fan

An exhaust fan, rotating at 1000rpm, is to be supported by 4 springs,

each having a stiffness of K. If only 10% of the unbalanced force of the
fan is to be transmitted to the base, what should the value of K?
Assume the mass of the exhaust fan to be 40kg.

台灣師範大學機電科技學系 -89-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.4
Spring Support for Exhaust Fan
Solution

Transmissibility = 0.1
2
 
1   2 
  n 
0.1  2
    2   
2

1       2 
  n    n 

1000 2
Forcing frequency   104.72 rad/s
60

台灣師範大學機電科技學系 -90-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.4
Spring Support for Exhaust Fan
Solution

k 4K K
Natural frequency: n   
m 40 3.1623

Assuming ζ=0, 0.1  1

  104.72 3.1623 
2

1    
  K  
331.1561
To avoid imaginary values, 3.3166 or K 9969.6365 N/m
K

台灣師範大學機電科技學系 -91-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.6
Isolator for Stereo Turntable

A stereo turntable, of mass 1kg, generates an excitation force at a

frequency of 3Hz. If it is supported on a base through a rubber mount,
determine the stiffness of the rubber mount to reduce the vibration
transmitted to the baes by 80%.

台灣師範大學機電科技學系 -92-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.6
Isolator for Stereo Turntable
Solution

Using N=3x60=180 cpm and R=0.8,

2  0.80
180 29.9092 or  st 0.1657 m
 st 1  0.80 
mg
 st 
k
19.81
0.1657  or k 59.2179 N/m
k

台灣師範大學機電科技學系 -93-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.8
Isolation from Vibrating Base

A vibrating system is to be isolated from its supporting base. Find the

required damping ratio that must be achieve by the isolator to limit
the transmissibility at resonance to Tr=4. Assume the system to have
a single degree of freedom.

台灣師範大學機電科技學系 -94-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.8
Isolation from Vibrating Base
Solution

1  2 
2
1 1
T
Setting ω=ωn, r  or    0.1291
2 2 Tr  1 2 15
2

台灣師範大學機電科技學系 -95-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Partially Flexible Foundation

Base of isolator is partially flexible is as shown.

Mechanical impedance of base:

Applied force of frequency 

Z   
Displacement

台灣師範大學機電科技學系 -96-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Partially Flexible Foundation

Equations of motion: m1 x1  k x1  x2  F0 cost

k x2  x1   x2 Z  

Harmonic solution: x j t   X j cost , j 1,2

X1 
k  Z  X 2

k  Z  F0
k Z  k  m   km  
1
2
1
2

kF0
X2 
 
Z   k  m1 2  km1 2 
台灣師範大學機電科技學系 -97-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Vibration Isolation System with Partially Flexible Foundation

kZ  F0
Amplitude of transmitted force: Ft  X 2 Z   
Z  k  m1 2  km1 2 
Ft kZ  
Transmissibility of isolator Tr  
F0   
Z   k  m1 2  km1 2 

Z(ω) can be found experimentally by measuring the displacement

produced by a vibrator.

台灣師範大學機電科技學系 -98-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Shock Isolation

Shock load is a force load applied for less than one natural time
period of the system
T
Impulse: F  F t dt
0

F
Velocity imparted to the mass, v 
m
i.e. application of shock load is equivalent to giving an initial
velocity to the system

Initial conditions: x0   x0 0, x 0   x 0 v

台灣師範大學機電科技學系 -99-
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9.10 Vibration Isolation

• Shock Isolation

ve   nt
Free vibration solution: xt   sin d t where d  1   2 n
d

Force transmitted to the foundation due to spring and damper:

Ft t  kxt  cx t 
v
Ft t  2 k  c n 2  cd 2 e   t sin d t   
n

d
 cd 
1
where  tan  
 k  c n 

台灣師範大學機電科技學系 -100-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.11
Isolation Under Shock

An electronic instrument of mass 20kg is subjected to a shock in the

form of a step velocity of 2m/s. If the maximum allowable values of
deflection (due to clearance limit) and acceleration are specified as
20mm and 25g respectively, determine the spring constant of an
undamped shock isolator.

台灣師範大學機電科技學系 -101-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.11
Isolation Under Shock
Solution

Magnitude of velocity of mass: x max  Xn

Magnitude of acceleration of mass: x max  Xn where X is the
displacement amplitude
x x 2
X  max  0.02 or n  max  100 rad/s
n X 0.02
xmax 245.25
Xn2 259.81 245.25m/s 2 or n   110 .7362 rad/s
X 0.02
100 rad/s n 110 .7362 rad/s

台灣師範大學機電科技學系 -102-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.11
Isolation Under Shock
Solution

Selecting the value of ωn as 105.3681,

k mn2 20105.3681 2.2205 105 N/m
2

台灣師範大學機電科技學系 -103-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.12
Isolation Under Step Load

A sensitive electronic instrument of mass 100 kg is supported on

springs and packaged for shipment. During shipping, the package is
dropped from a height that effectively applied a shock load of intensity
F0 to the instrument, as shown below.

台灣師範大學機電科技學系 -104-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.12
Isolation Under Step Load

Determine the stiffness of the springs used in the package if the

maximum deflection of the instrument is required to be less than 2
mm. the response spectrum of the shock load is shown below with F0
=1000 N and t0 = 0.1s.

台灣師範大學機電科技學系 -105-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

Example 9.12
Isolation Under Step Load
Solution

Response spectrum xmax k 1  1 21  cos 2nt0 

F0 nt0
k k
n   0.1 k
m 100
Making use of the known data, xmax k 1 
1000
1
0.1 k 0.1
   
2 1  cos 2 0.1 k 0.1 
2  k 
 
1000  1000 
100
k
 
2 1  cos 0.02 k  2 10 6 k  1 0

The root can be found by MATLAB.

台灣師範大學機電科技學系 -106-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Active Vibration Control

An active vibration isolation system is shown below.

台灣師範大學機電科技學系 -107-
 C. R. Yang, NTNU MT

9.10 Vibration Isolation

• Active Vibration Control

System maintains a constant distant between vibrating mass and

referee

Depending on the types of sensor, signal processor and actuator

used, the system can be electromechanical, electrofluidic,
electromagnetic, piezoelectric or fluidic.

台灣師範大學機電科技學系 -108-
 C. R. Yang, NTNU MT

9.11
Vibration Absorbers

9.11
台灣師範大學機電科技學系 -109-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• When the excitation freq coincides with the ωn, the system may
experience excessive vibration.

• Dynamic vibration absorber is another spring mass system

designed to shift ωn of the resulting system away from the
excitation freq.

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 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Undamped Dynamic Vibration Absorber

m1 x1 k1 x1  k 2 x1  x2  F0 sin t

m2 x 2 k 2 x2  x1  0

台灣師範大學機電科技學系 -111-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Undamped Dynamic Vibration Absorber

Assuming x j t   X j sin t , j 1,2

Amplitude of masses:

X1 
k2  m 2 2
F0
k1  k2  m1 2 k2  m2 2  k22
k 2 F0
X2 
k1  k2  m1 2 k2  m2 2  k22
We want to reduce X1. Thus set numerator of X1 to zero.
k2 k
2  ,  2 12  1
m2 m1
台灣師範大學機電科技學系 -112-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Undamped Dynamic Vibration Absorber

X1 and X2 can be rewritten as:

2
 
1   
X1  2 

 st  k   2     2  k2
1  2     1     
 k1  2     2   k1
X2 1

 st  k   2     2  k2
1  2     1     
 k1  2     2   k1

台灣師範大學機電科技學系 -113-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Undamped Dynamic Vibration Absorber

2 peaks correspond to 2 ωn of composite sys.

台灣師範大學機電科技學系 -114-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Undamped Dynamic Vibration Absorber

At X1=0, ω= ω1, k1 F0
X 2   st 
k2 k2

Size of absorber can be found from: k 2 X 2 m2 2 X 2  F0

Absorber introduces 2 resonant frequencies Ω1 and Ω2, at which the

amplitudes are infinite.
2
k 2 k 2 m2 m1 m2  2 
Values of Ω1 and Ω2 can be found by noting    
k1 m2 m1 k1 m1  1 

台灣師範大學機電科技學系 -115-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Undamped Dynamic Vibration Absorber

X1
Setting denominator of 0,
 st

 
4 2
 2    
2
  m    2 
       1   1  2   2    1 0
 2   1   2    m1   1  

2 roots of the equation:
2

 1   1   1  m2   2     m    
2 2 2 2
 2 
        1   1  2   2    4 

 2     m1  1     m1   1    1 
2
 2
 2    
   2 2 
 2    1 

台灣師範大學機電科技學系 -116-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

Example 9.15
Vibration Absorber for Diesel Engine

A diesel engine, weighing 3000 N, is supported on a pedestal mount. It

has been observed that the engine induces vibration into the
surrounding area through its pedestal at an operating speed of 6000
rpm. Determine the parameters of the vibration absorber that will
reduce the vibration when mounted on the pedestal. The magnitude of
the exciting force is 250 N, and the amplitude of motion of the
auxiliary mass is to be limited to 2 mm.

台灣師範大學機電科技學系 -117-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

Example 9.15
Vibration Absorber for Diesel Engine
Solution

6000
We have f  100Hz or  628.32 rad/s
60

Amplitude of motion of auxiliary mass is equal and opposite to that of

the exciting force. F0 m2 2 X 2

250 m2 628.32  0.002 

2

m2 0.31665 kg
k 2  2 m2 628.32  0.31665  125009 N/m
2

台灣師範大學機電科技學系 -118-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

Example 9.16
Absorber for Motor-Generator Set

A motor-generator set shown below is designed to operate in the speed range

of 2000 to 4000 rpm. However, the set is found to vibrate violently at a speed
of 3000 rpm due to a slight unbalance in the rotor. It is proposed to attached a
cantilever mounted lumped mass absorber system to eliminate the problem.
When a cantilever carrying a trial mass of 2 kg tuned to 3000 rpm is attached
to the set, the resulting natural frequencies of the system are found to be
2500 rpm and 3500 rpm. Design the absorber to be attached (by specifying its
mass and stiffness) so that the natural frequencies of the total system fall
outside the operating speed range of the motor-generator set.

台灣師範大學機電科技學系 -119-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

Example 9.16
Absorber for Motor-Generator Set

台灣師範大學機電科技學系 -120-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

Example 9.16
Absorber for Motor-Generator Set
Solution k1 k2 m2
1  , 2  , 
m1 m2 m1
1 261.80 rad/s,  2 366.52 rad/s
1 261.80
r1   0.8333
2 314.16
2 366.52
r2   1.1667
2 314.16
2
   
r12 , r22  1    1    1
 2  2
台灣師範大學機電科技學系 -121-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

Example 9.16
Absorber for Motor-Generator Set
Solution
 r14  1 
  2   2 0.1345
 r1 
m2
m1  14.8699 kg
0.1345
1 209.44 rad/s
1 209.44
r1   0.6667
2 314.16
台灣師範大學機電科技學系 -122-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

Example 9.16
Absorber for Motor-Generator Set
Solution

m2 m1 m1 0.6942 10.3227 kg

2
2    
r  1     1    1 2.2497
2
 2  2
 2 4499.4 rpm, larger than the specified upper limit
k 2 22 m2 314.16 10.3227  1.0188 106 N/m
2

台灣師範大學機電科技學系 -123-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Damped Dynamic Vibration Absorber

Amplitude of machine can be reduced by adding a damped

vibration absorber as shown.

台灣師範大學機電科技學系 -124-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Damped Dynamic Vibration Absorber

Equations of motion

m1 x1  k1 x1  k 2 x1  x2  c2 x 1  x 2  F0 sin t

m2 x2  k 2 x2  x1  c2 x 2  x 1  0

x
Assume solution: j t   X j e i t
, j 1,2

Steady-state solutions:
X1 

F0 k 2  m2 2  ic2 
k  m  
1 1
2
  
k 2  m2 2  m2 k 2 2  ic2 k1  m1 2  m2 2 
X 1 k 2  ic2 
X2 
k 2  m2 2  ic2 
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9.11 Vibration Absorbers

• Damped Dynamic Vibration Absorber

 m2 / m1 Mass ratio Absorber mass/main mass

 st F0 / k1 Static deflection of the system
a2 k 2 / m2 Square of natural frequency of absorber
n2 k1 / m1 Square of natural frequency of main mass
f a / n Ratio of natural frequencies
g  / n Forced frequency ratio
cc 2m2n Critcial damping constant
 c2 / cc Damping ratio

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 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Damped Dynamic Vibration Absorber

X1

2g  2
 2
 g  f 
2 2

 st 2g 2 g 2  1  g 2 2  f 2 g 2 2  1g 2 

 g f2 
2

X2

2g 2  f 4
 st 2g 2 g 2  1  g 2 2  f 2 g 2  g 2  1g 2  f2  2

台灣師範大學機電科技學系 -127-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Damped Dynamic Vibration Absorber

If c2=ζ=0, resonance occurs at 2 undamped resonant frequencies

If ζ=∞, m2 and m1 are clamped together and system behaves as 1-

DOF system. Resonance occurs at
 1
g  0.9759
n 1 

All curves intersect at pt A and B which can be located by

 1  f 2  f 2  2 f 2
g  2 g 
4 2
  0
 2  2
台灣師範大學機電科技學系 -128-
 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Damped Dynamic Vibration Absorber

The most efficient absorber (tuned vibration absorber) is one where

pts A and B coincides.

Make curve horizontal at either A or B.

Set slope =0 at A and B:

  
 3  
 2
2  for point A
81   
3

  
 3  
 2
  
2
for point A
81   
3

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 C. R. Yang, NTNU MT

9.11 Vibration Absorbers

• Damped Dynamic Vibration Absorber

Average value of ζ2 used in design:

3
 2

81   
optimal 3

 X1   X1  2
  
 
  1
  st  optimal   st  max 

台灣師範大學機電科技學系 -130-