3 Expanded Understanding

Noise and Vibration Control
3. Expanded understanding of Vibration isolation

Two types of passive vibration control: (i) vibration isolation and (ii) vibration absorption. Vibration isolation requires tuning the natural frequency and damping ratio of a single-DOF system to reduce the "transmissibility ratio" between input and output. Vibration absorption is a method of adding a tuned massspring absorber to a system to create an anti-resonance at a resonance of the original system.
Indian Institute of Technology Roorkee
Noise and Vibration Control Strategy to reduce noise and vibrations:
Interrupt the propagation path between the source and the receiver. Elastic mounting-effective and an inexpensive approach ExamplesStrongly vibrating machines in factories, dwellings, and office buildings can be placed on elastic elements. The passenger compartments in vehicles are isolated from wheel-generated vibrations by incorporating springs between the wheel axles and the chassis.
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Noise and Vibration Control 3.1 Where transmissibility is and is not useful Undesirable effects of vibration are reduced by inserting a resilient member (isolator) between the vibrating mass and the source of vibration so that a reduction in the dynamic response of the system is achieved Isolation Systems Active or Passive Whether or not external power is required for isolator to perform its function. Passive Isolator Consists of a resilient member (stiffness and an energy dissipater (damping)) . Eg. Metal springs, corle, felt, pneumatic Active Isolator Consists of a servo mechanism with a sensor , signal processor and an actuator.
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Two types of situations:

1. The foundation of a machine is protected against large
unbalanced forces or impulsive forces. Modeling the system as a single d.o.f. system the force is transmitted to the foundation through spring and damper . The force transmitted to the base (Ft) is given by Ft(t)=kx(t)+cx(t)
m
x(t)
dv
Figure 1. Single d.o.f. system To achieve isolation, the force transmitted to the foundation should be less than excitation force. This can be possible if the forcing frequency is greater than (21/2) times the natural frequency of the system.
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2. In the second type, the system is protected against the
motion of its foundation (as in the case of protection of a delicate instrument from the motion of its container). Modeling the delicate instrument as a single d.o.f. system , the force transmitted to the instrument (mass m) is given by:
x(t)
m m
Ft(t)=m x(t)=k[x(t)-y(t)]+c[x(t)-y(t)]
dv
y(t)
where (x-y) and (x-y) denote the relative displacement and relative velocity of the spring and damper respectively.
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3.2 Some common misconceptions regarding inertia bases, damping, and machine speed
Vibration source
Lp
Receiver
Vibration isolation
Wi Wr
Wt
Propagation path
Figure 1. A situation in which the vibrations emanating from a machine are reduced by isolation. - power Wi impinges on the isolators, - power Wr is reflected back towards the source, - and power Wt is transmitted to the floor.
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source isolation & receiver isolation
a)
b)
Figure 2 Two different strategies for vibration isolation: a) source isolation of machines; and, b) shielding isolation of sensitive equipment.
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Principle of vibration isolation

When a wave propagating in an elastic medium falls upon an abrupt change (discontinuity) in the properties of the medium, only a portion of the wave passes through that discontinuity. The remaining portion of the wave is reflected back towards the direction from which the incident wave arrives. The magnitude of the reflected portion of the wave depends on the magnitude of the change in properties.
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Noise and Vibration Control vibration isolator & blocking masses
a)
Wi
Wt
b)
Wi
Wt
m
Wr
Wr
Figure 3 Two different vibration isolation methods. a) Reflection against a soft element. b) Reflection against a mass. Wi = incident power,Wr = reflected power and Wt = transmitted power.
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Measures Of Transmission Isolation
Without isolator With isolator
F before
F after
Figure 4. The insertion loss can be defined as the difference in the force level acting on the foundation before and after the implementation of isolation.
insertion loss DIL :v DIL = Lbefore Lafter v v
[dB] [dB]
(1a) (1b)
F DIL = Lbefore Lafter F F
Where velocity and force levels Lv and LF are defined as: ~ ~ F2 v2 L F = 10 log Lv = 10 log 2 2 Fref v
ref
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Conclusions: The vibration isolators must be designed such that the machines mounting frequency does not coincide with any important excitation frequency. A positive effect is obtained from the isolators at frequencies above the mounting frequency. The mounting resonance frequency should be as low as possible. In practice, machine mounting is often designed so that the mounting resonance frequency falls in the 2-10 Hz band.
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3.3 Design of vibration isolators
rule of thumb: (i) The isolators static stiffness must be chosen so low that the highest mounting resonance falls far below the lowest interesting excitation frequency. (ii) The mounting positions on the foundation should be as stiff as possible. (iii) The points at which the machine is coupled to the isolators should also be as stiff as possible. (iv) The isolator should, if possible, be designed so that its first internal anti-resonance falls well above the highest excitation frequency of interest.
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If that rule cannot be followed due to practical reasons, then one should ascertain by measurements or computations that at least the following alternative rules are fulfilled: (v) The isolator must be designed so that its internal resonances do not coincide with strong components of the excitation spectrum. (vi) The isolator must, furthermore, be designed so that its antiresonance frequencies do not coincide with the resonance frequencies of the foundation.
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methods to improve vibration isolation
double layered isolation : A combination of elastic elements and a blocking mass (figure 3-16). In practice, a double layered isolation is realized by interposing a large mass between the machine and the foundation. The blocking mass should behave as a rigid body up to frequencies that are as high as possible.
Wi
m
Wt
Wr
dyn
dyn
Figure 5. Schematic illustration of double layered isolation with two compliant elements and one stiff element.
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Example - Passenger railway wagons. The vibration source, i.e., the wheel-rail contact zone, is isolated first by a primary suspension between the bearings and the frame of the bogies. To further improve passenger comfort and obtain smooth ride characteristics, a secondary suspension, or comfort suspension, is interposed between the bogies and the body of the wagon
Secondary suspension
Primary suspension
Figure 6. An example of double elastic mounting : Attachment of a railway wagon chassis to a bogie. The primary suspension between the bearings and the frame is commonly built up of stiff chevron elements, (rubber). The secondary suspension, which connects the bogie to the chassis of the railcar consists of very compliant air springs or spiral springs.
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Noise and Vibration Control 3.4 Accounting for support and machine frame flexibility, isolator mass and wave effects, source reaction Some Vibration Isolation Computational Models
In order for computational models to serve as practical tools for the comparison of different vibration isolation alternatives, simplified models must inevitably be used. 1. Rigid body ideal spring rigid foundation At much lower excitation frequencies, considerably simplified models of the components are used. Example: a machine mounted at four points on a system of concrete joists. >The machine has an axle that generates sinusoidal bearing forces at the rotational frequency. >At very low disturbance frequencies (i.e., low rotational speeds), the deformations of the machine itself are negligible, i.e., the machine acts as a rigid body. Mathematically, the machines movements can be described by means of equations from rigid body mechanics.
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Fstr
b) a)
Fstr
c) m
x 4F1 F 1
Single isolator
m
x
4
4F 1
F 1
Figure 5 a) Electric motor elastically mounted to a large steel plate via four vibration isolators. b) Simplified model of the system in a. c) The system in b represented by its separated subsystems.
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Noise and Vibration Control As the rotational speed of the axle increases force changes so rapidly that not all parts of the machine have time to react wave propagation in the machine. With further increase in rotational speed - amplitude of the machine deformations has a strong peak resonance occurs. machine no longer regarded as a rigid body. Thumb rule: the rigid body assumption valid up to frequencies of 1/3 of the first resonance frequency, i.e., for low Helmholtz numbers. At very low excitation frequencies - the joists can be regarded as a rigid foundation only at low frequencies, say up to 1/3 of the first resonance frequency, i.e., once again at low Helmholtz numbers.
Noise and Vibration Control To reduce the vibrations transmitted from the machine into the system of joists incorporating soft vibration isolators at the mounting positions between the machine and the joists. Under the influence of forces from the machine, the springs are deformed. At low excitation frequencies, no considerable wave propagation. Yet another consequence - isolator can be considered massless. In contrast to the joists, the isolator is compliant. The isolator can be regarded as an ideal massless spring. As the frequency increases, the motion in the spring takes on the character of wave propagation more and more. Once again, at a certain point, the situation becomes resonant. Same thumb rule: spring idealization applies up to about 1/3 of the first resonance frequency. Indian Institute of Technology Roorkee
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DIL [dB]
100 80 60
40 20 0
-20 -40
f0
10
Figure 7 The insertion loss for a rigid body mounted elastically to a rigid foundation. The mounting resonance is tuned to f0 = 3.18 Hz. Note the deep trough in the insertion loss at the mounting resonance, and its negative values elsewhere at low frequencies. The vibration isolation system is therefore counterproductive at low frequencies; it is essential that the excitation frequency not fall in the vicinity of the machines mounting resonance frequency.
Frequency [Hz]
100
1000
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Noise and Vibration Control conclusion the vibration isolators must be designed to prevent the coincidence of the machines mounting frequency with any important excitation frequency. a positive effect is obtained from the isolators at frequencies above the mounting frequency. a mounting resonance frequency must be as low as possible In practice, machine mounting is often designed so that the mounting resonance frequency falls in the 2-10 Hz band.
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Noise and Vibration Control 2. Flexible foundation As the excitation frequency increases, the deformation of the foundation due to the excitation force soon becomes too large to ignore. Use a model with flexible foundation A number of different models available infinite plate model - if the foundation is a system of joists with considerable dimensions, mass-damper system - If the foundation exhibits a resonance,
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a)
Fr
b)
Fs
Single isolator F 1
m
x1
x1
m
x1
4F1
4F1
F 1
x2
x2
x2
Figure 8 Simple model of a machine mounted to a flexible foundation. The equation of motion, Hookes law, and the mobility of a plate yield the following system of equations:
d 2 x1 m 2 = Fexc 4F1 dt F1 = (x1 x 2 )

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x 2 = (i ) 1 Y plate 4F1
Eliminate x1 and x2 ,
4F1with 4 m 2 = = 2 Fexc 1 4 m + 4 (i )Y plate

1 im = Ym Ym = = i 4 = YI Ym + YI + Yplate
Without isolators, the force on the foundation can be determined by excluding the second of the equations from the system given above, and setting x1 equal to x2. The system then has the solution Ym 4F1without 1 i m = = Fexc 1 im + Y plate Ym + Y plate The insertion loss is therefore
DIL = 20 log Ym + YI + Y plate Ym + Y plate
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D IL [dB]
100 80 60 Compliant foundation Rigid foundation
40 20 0
-20 -40
f0
10
Frequency [Hz]
100
1000
Figure 9 Insertion loss for a rigid body elastically mounted to an infinite steel plate. Compared to an ideal, rigid foundation, the amplification peak at the mounting resonance frequency is reduced and the rate of increase of the insertion loss falls off.
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3. Wave propagation in the isolator When the excitation frequency has increased so much that the deformation field in the isolator is a wave motion, the ideal spring model becomes less and less tenable. Depending on the isolator design, different models for wave propagation in the isolator may be appropriate.
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D IL [d B ]
100
80 60
O e fte rgfoundation g Rigid iv lig t u n d e rla E fte rg iv lig t u n d e rla g Compliant foundation
40 20 0
1 3 0 H z Wave propagation V g isolator in theu tb re d n in g i is o la to rn 64 H z
-2 0 -4 0
f0
10
Frequency [Hz]
F re k v e n s [H z ]
100
1000
Figure 10 Insertion loss of isolators.
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Deformable machine So far, the machine is assumed as a rigid point mass. The insertion loss is then very low at excitation frequencies near the mounting frequency. Considering model with several of the machines six rigid body d.o.f. into account, several mounting resonance frequencies will be exhibited. The most general case will therefore have critical frequencies at six different mounting resonances. Every real machine also exhibits internal resonances at certain frequencies. Typically, the first resonance frequency of a compact machine with a 100-kg mass, e.g., a small internal combustion engine, falls in the 100 Hz - 500 Hz range.
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Noise and Vibration Control The possibility of wave propagation in the machine also effects the isolation insertion loss obtained from elastic mounting. If the machine stiffness varies significantly, due to resonances and antiresonances, then even the insertion loss will vary. the isolation performance is degraded above the machines first resonance frequency. Figure 11 shows the insertion loss of a simple system consisting of a machine with internal resonances. The foundation is rigid and the isolator is the same.
the machine has resonances at 185, 345 and 535 Hz, and antiresonances at 160, 205 and 495 Hz. at the resonance frequencies, at which the machine is compliant, there are insertion loss minima, i.e., frequencies at which the isolation is poor. extra isolation is obtained at the antiresonances, at which the machine is very stiff.
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DIL [dB]
100 80 60 40 20 0 -20 -40 1 10 Frequency [Hz] 100 1000
Machine structure with internal resonances Rigid machine structure
50kg
25kg
50(1+0,1i)M N/m
15kg
Fext
10kg
Machine with Internal Resonances
f0
Figure 11 Insertion loss of a simple system consisting of a machine with internal resonances. The right side of the figure shows a mechanical model of the machine, and the input data used.
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General formula for insertion loss
YM + YI + YF DIL = 20 log YM + YF
Vibration isolator(s)
Machine
Foundation
YM
YI
YF
Figure 12 General vibration isolation problem. Every element of the system is dynamically and acoustically characterized by its mobility.
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3.5 Commercial vibration isolators and dynamic stiffness
Various types of Vibration isolators:steel coil springs, rubber isolators, and gas springs. The two fundamental properties of an isolator are its dynamic stiffness and loss factor. The stiffness is the property that largely determines the suitability of an isolator. The loss factor is significant as an amplitude-limiting parameter at resonances.
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Figure 13 Examples of commerciallyavailable vibration isolators
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Noise and Vibration Control Isolator dynamic stiffness
The performance of an isolator is largely determined by the transfer stiffness. That stiffness is the inverse ratio of a fixed deformation applied to one end, and the resulting force obtained at the other, blocked, end. Reliable dynamic stiffness data is obtained by separate measurements for every individual isolator.
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The dynamic stiffnesses given in manufacturers tables are usually only corrected static stiffnesses. At high frequencies, the deviations between the true dynamic stiffnesses, and the corrected static stiffnesses, are very large. That is illustrated in figure 9, in which the measured dynamic stiffness of a common circular cylindrical rubber isolator is shown. The relative deviation between the corrected static stiffness and the true dynamic stiffness can reach several hundred percent.

[MN/m]
2,0 1,8 1,6 1,4 1,2
Static stiffness
Dynamic stffness
Corrected static stiffness
1,0 0,8 0,6 0,4 0,2 0,0 0 100 200 300 400 500 600 700
Frequency [Hz]
Figure 14. Measured dynamic stiffness of a circular cylindrical rubber isolator, compared to the static stiffness from the manufacturers catalog data, and the corrected static stiffness. Apparently, the corrected static stiffness is only in agreement with the true, measured dynamic stiffness at relatively low frequencies.
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Noise and Vibration Control 3.6 Role of Active Isolation Systems and methods to improve vibration isolation
primary mass
Passive Vibration Control System: fundamental system examples buildings low end automobiles
damper
passive mount z disturbance
2 & x 2 wn s + wn = 2 & z s + 2 wn s + wn 2
Fig.15
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Noise and Vibration Control Application of active techniques to problems in vibration isolation.
Two classes of problem: (i) instances where we wish to isolate a vibrating body (such as a machine of some kind) from a 'receiving structure' (such as a car body, ship hull, aircraft fuselage or building) and (ii) instances where we wish to isolate a body (such as sensitive equipment or a railway car) from vibrations imposed by another source (such as ground vibrations or railway track unevenness).
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Noise and Vibration Control In both classes of problem, the source of the vibrations may be either deterministic (i.e. having a perfectly predictable waveform) or random (i.e. having a waveform that is not perfectly predictable). Most problems of the first kind, have a deterministic source of vibrations. E.g.: whenever the source of vibrations is a rotating or reciprocating machine. In these cases we can adopt a feedforward control approach to the problem. Knowing the frequency of the vibration source , the necessary control forces can be synthesised using the adaptive feedforward techniques Indian Institute of Technology Roorkee
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Noise and Vibration Control The second class of problem, is mostly dealt with using feedback techniques. e.g., design of active vehicle suspension systems. Thus the body to be isolated is the passenger cabin of the vehicle and the source of vibrations is the variable height of the road surface, the latter being a random process.
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Isolation of periodic vibrations of an SDOF system
Consider the isolation of an SDOF system from a flexible substructure. Assume that the single d.o.f. system is harmonically excited, such that in practice, an adaptive feedforward control system could be used. This in turn assumes that the primary excitation forces in the machine are deterministic (perfectly predictable) e.g., the isolation of machines such as engines, pumps and compressors from flexible structures such as the hulls of ships and submarines or the bodies of automobiles.
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Ref. Fig.16, a secondary force can be applied at three possible locations associated with the mass-spring-damper system. Assumption: the primary complex excitation force fe is applied to the mass M of the system. (i) secondary force is also applied to the mass and that to achieve zero response of the system we require simply that fs = -fp.
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Fig. 16. Active isolation of a harmonically excited SDOF system from a receiving structure. Three arrangements are shown for the application of a secondary force (a) directly to the mass of the system, (b) directly to the receiver
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Noise and Vibration Control (ii) Fig. 16 (b). : Here the secondary force is applied directly to the receiving structure with the objective of reducing the response of the receiving structure to zero. Assume that the receiver can be characterised by complex input receptance R (j), such that its complex displacement wR is related to the applied force f by wR= R(j)f. The force applied to the receiver is the sum of the secondary force and the forces applied via the spring and viscous damper. Thus we can write WR = R(j)[fs + K(ws- wR) + j C(ws- wR)], Indian Institute of Technology Roorkee
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where ws the complex displacement of the mass M, subscript s - the displacement of the 'source'. For wR = 0
fs = - (K + jC)ws
For wR = 0
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or where
n =(K/M)1/2 and damping ratio =C/2Mn
where
Non- dimensional frequency
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Fig.12. The magnitude of the secondary force required relative to that of the primary force for the three arrangements shown in Fig. 11:
(a) cancellation of the force applied to the mass; (b) cancellation at the receiver; (c) cancellation at the receiver with reaction against the mass. Indian Institute of Technology Roorkee
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Fig. 16. Active isolation of a harmonically excited SDOF system from a receiving structure. (c) directly to the receiver with reaction against the mass of the system
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Noise and Vibration Control (iii) Fig.11 c.: Here the secondary force is applied in parallel with the spring and damper such that it acts on the receiver with a reaction against the source. Example, an electrodynamic exciter were used with the body of the exciter rigidly fixed to the source and the excitation applied to the receiver; Such an arrangement generates equal and opposite forces applied to both source and receiver.
For wR = 0
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Noise and Vibration Control shows that the displacement of the mass is exactly as if it were freely suspended; the dynamic displacement of the mass is determined only by its inertia.
Non- dimensionally
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Noise and Vibration Control Active Vibration Control System:

primary mass
M
u
Base
controller
passive mount z
disturbance
advantages: performance disadvantages: cost, complexity examples: luxury cars

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THANK YOU
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Noise and Vibration Control