Vibrations Chapter 2 2013 Post

2/4/2013
1
Chapter 2 Modeling of Vibratory Systems
1 ENME 361, Spring 2013
ENME361
Vibrations, Control, and Optimization I
Spring 2013
Chapter 2
Modeling of Vibratory Systems
Acknowledgement: Professors B. Balachandran and E. B. Magrab
Assignment 2 (due on 2/12/13): 2.3, 2.8, 2.11, 2.20, and 2.27
In Chapter 2, we shall show how to do the following:
Compute the mass moment of inertia of rotational
systems
Determine the stiffness of various elastic components
in translation and torsion and the equivalent stiffness
when many individual linear components are combined
Determine the stiffness of fluid and pendulum elements
Determine the potential energy of stiffness elements
Determine the damping for systems that have different
sources of dissipation
Construct models of vibratory systems
2/4/2013
2
Two examples from mechanical engineering
A Microelectromechanical System

x
Electrostatic
force Fe

Base acceleration y
End mass m
Equivalent structure
stiffness k
Modeled as a single
degree-of-freedom
system
The Human Body
Multi-degree-of-freedom system
2/4/2013
3
2.1: Introduction
There are, in general, three elements that
comprise a vibrating system
Inertia element
Stores and releases kinetic energy
Stiffness element
Stores and releases potential energy
Dissipation element
Used to express energy loss in a system
x
e
k
e
c
e
m
Inertia Element
Stiffness Element
Dissipation Element
Generalized Coordinate
Model Construction
2/4/2013
4
Each of these elements has different
excitation-response characteristics.
The excitation is in the form of a force or a
moment and the corresponding response of
the element is in the formof a displacement,
velocity, or acceleration.
Inertia Elements:
Inertia
Element
Kinetic
Energy
Inertia elements are characterized by a relationship

between an applied force (or moment) and the
corresponding acceleration response
Inertia
Element
Inertia
Element

Force
and/or
moment
Acceleration
2/4/2013
5
Stiffness Elements:
Stiffness
Element
Potential
Energy
Stiffness elements are characterized by a relationship

corresponding displacement (or rotation) response
Stiffness
Element
Stiffness
Element

Force
and/or
moment
Displacement
Dissipation Elements:
Dissipation
Element
Energy
Loss
Dissipation elements are characterized by a relationship

corresponding translational or rotational velocity
response
Dissipation
Element
Dissipation
Element

Force
and/or
moment
Velocity
2/4/2013
6
Table 2.1: Units of components comprising a vibrating
mechanical system and their customary symbols
Quantity Units
Translational motion
Mass, m
Stiffness, k
Damping, c
External force, F
Rotational motion
Massmoment of inertia, J
Stiffness, k
t
Damping, c
t
External moment, M
kg
N/m
Ns/m
N
kgm
2
Nm/rad
Nms/rad
Nm
k
c
m
u
O
a
b
l
?
?
?
e
e
e
m
k
c
=
=
=
? x=
2/4/2013
7
2.2: Inertia Elements
Translational motion of a mass:
Is described as motion along the path followed
by the center of mass
The associated inertia property depends only
on the total mass of the system and is
independent of the geometry of the mass
distribution of the system
Consider a mass translating with a velocity of
magnitude in the plane.
k
j
O
i
Y
X
Z
F i
x i
m
m
x
- X Y
,
d
m
dt
= = F p p r
Principleof Linear Momentum:
( )
d
F mx
dt
F x m
=
=
i i
1
2
T m = r r
KineticEnergy:
( )
2
1
2
1
2
T m x x
m T x
=
=

i i
2/4/2013
8
Rotational motions of a mass:
The inertia property is a function of the mass
distribution as described by its mass moment of inertia
about its center of mass or a fixed point O.
2
O G
J J md = +
where
m is the mass of the element
J
G
is the mass moment of inertia
about the center of mass
d is the distance from the center
of gravity to the point O
When the mass oscillates about a fixed point O or a
pivot point O, the rotary inertia J
O
is given by the
parallel-axes theorem
z
G
O
d
,
G
J m
Table 2.2: Mass moments of inertia about axis z normal
to the x-y plane and passing through the center of mass
L
z
L/2
2
1
12
G
J mL =
R
z
G
2
1
2
G
J mR =

R
z
2
2
5
G
J mR =
Slender
bar
Circular
disk
Sphere
2/4/2013
9
Example 2.1: Determination of mass moments of inertia
Uniform disk
m, J
G
R
O
G
2
O G
J J mR = +
From Table 2.2
2
1
2
G
J mR =
Therefore,
2 2 2
1 3
2 2
O
J mR mR mR = + =
2
O G
J J md = +
kgm
2
kgm
2
kgm
2
From the parallel-axes theorem

c.g.
L
L/2
m
O
G
Uniform bar
From Table 2.2, we have that
2
1
12
G
J mL =
From the parallel-axes theorem,
we find
2
2 2 2
1 1
2 12 4 3
O G
L m
J J m mL L mL
| |
= + = + =
|
\ .
2
O G
J J md = +
2/4/2013
10
Example 2.2: Slider mechanism: system with varying inertia
property

|

r
l
a
m
s
b
e
m
b
m
e
m
l
O
O'
2
O G
J J md = +
We will use the parallel-axes
theorem. Hence, we need the
distances from each moving
members c.g. to point O.

a
a
e
e/2
b/2
r
|

c.g.
c.g.
t
b/2
a
b
O
( )
( )
2 2 2
2
2 2
2
2 2
( ) 2 cos
( ) 2 cos
( ) 2 cos( )
b
e
r a b ab
a b a ab
a e a ae

t
= +
= +
= +
Law of cosines
The rotary inertia J
O
of this system is given by
( ) ( ) ( )
l s b e
O m m m m
J J J J J = + + +
|

r
l
a
m
s
b
e
m
b
m
e
m
l
O
O'
( )
2
2 2 2
2 2
2 2
2 2
2 2
1

3
( ) ( ) 2 cos
( ) cos
12 3
( ) cos( )
12 3
l
s
b
e
m l
m s s
m b b b b
m e e e e
J ml
J mr m a b ab
b b
J m ma m a ab
e e
J m ma m a ae

t
=
= = +
(
= + = +
(

(
= + = +
(

where
2
O G
J J md = +
kgm
2
2/4/2013
11
Example: Equivalent Mass of a System
Rigid link 1: rotates
withpulleyabout O
?
eq
m =
2
1
2
eq
m T x =
2
l
1
l
1
m
c
r
Rigid link 2
Cylinder
No slip
2
m
2
k
c
m
c
J
( ) y t
Pulley
m
p
J
O
1
k
p
r
( ) x t
2
l
1
l
1
m
c
r
Rigid link 2
Cylinder
No slip
2
m
2
k
c
m
c
J
( ) y t
2
l
1
l
1
m
c
r
Rigid link 2
Cylinder
No slip
2
m
2
k
c
m
c
J
( ) y t
Pulley
m
p
J
O
1
k
p
r
( ) x t
Pulley
m
p
J
O
1
k
p
r
( ) x t
( ) is "small" x t
( ) is "small" x t
( )
( )
p
x t
t
r
u =
2
1
1
,
2
T mx =
2
2
2
1 1
,
2 2
p p
p
x
T J J
r
u
| |
= =
|
|
\ .
2
2
2
11
3 1
1 1
2 2 3
p
ml x
T J
r
u
| |
| |
= =
|
|
|
\ .
\ .
1
1
( ) ( ) ( )
p
l
y t t l x t
r
u = =
m
1
k
( ) x t
1
l
1
m
p
J
O
p
r
( ) t u
( ) y t
2/4/2013
12
2
l
c
r
2
m
2
k
c
m
c
J
( ) y t
( ) y t
( ) t |
1 1
( ) ( ) ( )
c c p
l l
t t x t
r r r
| u = =
1
1
( ) ( ) ( )
p
l
y t t l x t
r
u = =
2
2
1
4 2 2
1 1
,
2 2
p
l x
T my m
r
| |
= =
|
|
\ .
2
2
1
5
1 1
,
2 2
c c
p
l x
T my m
r
| |
= =
|
|
\ .
2
2
1
6
1 1
2 2
c c
c p
l x
T J J
r r
|
| |
= =
|
|
\ .

2 2
2
2
11
2 2 2
1 1 1
2
1 1 1
2 2 2 3
1 1 1
2 2 2
p
p p
c c
p p c p
x ml x
T mx J
r r
l x l x l x
m m J
r r r r
| | | |
| |
= + + +
| |
|
| |
\ .
\ . \ .
| | | | | |
+ + +
| | |
| | |
\ . \ . \ .

1 2 3 4 5 6
T T T T T T T = + + + + +
2
1
2
eq
m T x =
2 2 2
2
11 1 1 1
2 2 2
3
p
eq c c
p p p p c p
J
ml l l l
m m m m J
r r r r r r
| | | | | | | |
= + + + + +
| | | |
| | | |
\ . \ . \ . \ .
2/4/2013
13
Examples of springs
Spring
Motion
Highway base isolation
using cylindrical rubber
bearings
Wire rope isolators
Motion
Wire
Wire
Steel coil
springs
Additional Examples of springs
Air springs
Motion
Steel cable springs use in
a chimney tuned mass
damper
Motion
Cable
springs
2/4/2013
14
2.3: Stiffness Elements
F
s
is the internal
force acting within
the stiffness
element.
It is called the
restoring force.
As the stiffness element is deformed, energy
is stored in this element, and as the stiffness
element is un-deformed, energy is released.
This energy is called the potential energy.
F
F
S
F
O
O
-
S
= F F
StiffnessElement
Potential energy in a spring
The potential energy V is defined as the work done to
take the stiffness element from the deformed position
to the un-deformed position; that is, the work needed to
un-deform the element to its original shape.
( ) ( ) ( )
( ) ( ) ( )
0 0
0
0
-
-
S
x
x
x
x
d F x dx
F x dx
V x
F x dx
( =

= =
}
}
}
}
= F x i i
i i
F
x
i
j
F
x
i
j
2/4/2013
15
2.3.2 Linear Springs
Linear Translation Spring

x
F
k
Single
spring
( ) F x kx =
where
F is the force applied to a linear spring (N)
k is the spring constant (N/m)
0 0 0
2
( ) ( )
1
2
x x x
V x F x dx kxdx k xdx
kx
= = =
=
} } }
N
(Nm)
The potential energy in the spring is
Note:
The stiffness constant k is a static concept, and hence, a
static loading is sufficient to determine this parameter.
0.1 0.05 0 0.05 0.1
1500
1000
500
0
500
1000
1500
x (m)
F

(
N
)

k=10568 N/m
Fitted curve
Data
Experimentally obtained data used to determine the linear spring constant k
2/4/2013
16
Linear Torsion Spring
( )
t
k t u u =

k
t
u

where
t is the moment applied to a linear spring
(Nm)
k
t
is the torsion spring constant (Nm/rad)
The potential energy in the torsion spring is
0 0
2
( ) ( )
1
2
t
t
V d k d
k
u u
u t u u u u
u
= =
=
} }
(Nmrad)
Combinations of Linear Springs
Two springs in series
F
x
1
k
2
k
1
k
2
k
F
x
1
k
2
k
1
k
2
k
1
k
2
k
?
e
k =
1
k
2
k
1
k
2
k
?
e
k =
2/4/2013
17
1 1
1
1
F k x
F
x
k
=
=
2 2
2
2
F k x
F
x
k
=
=
F
1
k
2
k
F F F
The force on each spring is the same
1 2
1 2 1 2
1 1 F F
x x x F
k k k k
| |
= + = + = +
|
\ .
F
1
k
2
k
1 2
1 2
1 2
1 2
1
1 2
1 1
e
kk
k k
kk
k
k k
F x x
k k
| |
|
+
| |
= + =
|
\ . \ .
=
+
x
2/4/2013
18
1 2
1 2
e
kk
k
k k
=
+
1
k
2
k
e
k

N Springs in Series
e
k
1
k
2
k
1 N
k
N
k
1
1 2 1
1 1 1 1
e
N N
k
k k k k
| |
= + + + +
|
\ .
2/4/2013
19
The potential energy for two springs in series is
where V
1
(x
1
) is the potential energy associated with
the spring of stiffness k
1
and V
2
(x
2
) is the potential
energy associated with the spring of stiffness k
2
.
Then,
1 2 1 1 2 2
( , ) ( ) ( ) V x x V x V x = +
2 2
1 2 1 1 2 2
1 1
( , )
2 2
V x x kx k x = +
Two springs in parallel
The displacements of both springs are equal
F
x
1
k
2
k
1
k
2
k
F
x
1
k
2
k
1
k
2
k
1
k

2
k ?
e
k =
2/4/2013
20
1 1
k x = F
2 2
k x = F
2
k
F
1
F
2
F
1
F
2
F
1
k
2
k
F
1
F
2
F
1
F
2
F
1
k
( )
1 2
1 2
1 2
kx k x
k k x
= +
= +
= +
F F F
( )
1 2
1 2 e
x k k
k k k
=
+
= +
F
1 2 e
k k k = +
1
k
2
k
e
k
1
k
2
k
e
k
e
k
1
k
2
k
e
k
e
k
1 N
k
N
k
1 2 1 e N N
k k k k k
= + + + +
2/4/2013
21
Axially loaded rod or cable:
AE
k
L
=
: area of cross section
: Young's modulus
A
E
, F x
L
, A E
, F x
L
, A E
A Few Equivalent Spring Constants of Common Structural
Elements Used in Vibratory Models (from Table 2.3)
Axially loaded rod or cable:
1 2
4
Edd
k
L
t
=
: Young's modulus E
, F x
E
L
1
d
2
d
, F x
E
L
1
d
2
d
2/4/2013
22
Hollow circular rod in torsion:
, t u
t
GI
k
L
=
L
, G I
( )
4 4
out in
32
d d
I
t
=
: polar moment of inertia
: shear modulus
I
G
Cantilever Beam:
3
3
,
0
EI
k
a
a L
=
< s
, F x
L
a
: area moment of inertia
: Young's modulus
I
E
2/4/2013
23
Pinned-pinned Beam:
( )
2 2
3EI a b
k
a b
+
=
, F x
a
b
: Young's modulus
I
E
Clamped-clamped Beam:
( )
3
3 3
3EI a b
k
a b
+
=
, F x
a
b
: Young's modulus
I
E
2/4/2013
24
( )
( )
( ) ( )
1 2
,
i
t t t t
i
i
IG
k k k k
L
= = +
: polar moment of inertia; : shear modulus I G
, t u
1
L
2
L
( )
1
IG
( )
2
IG
( )
( )
( ) ( )
1
1 2
1 1
,
i
t t
i
i t t
IG
k k
L k k
(
= = +
(
(

, t u
1
L
2
L
( )
1
IG
( )
2
IG
: polar moment of inertia; : shear modulus I G
2/4/2013
25
L
AE
k =
3
3EI
k
a
=
t
GI
k
L
=
Engineering unit check:
N/m [(m
2
)(N/m
2
)/m]
N/m [(N/m
2
)(m
4
)/m
3
]
Nm [(N/m
2
)(m
4
)/m]
F
2
k
1
k
Example: Equivalent spring constant
F
2
k
1
k
Case 1 Case 2
1 2 e
k k k = +
1
1 2
1 1
e
k
k k
| |
= +
|
\ .
2/4/2013
26
Example: Equivalent spring constant
F
L
( )
1
EI
( )
2
EI
k
F
LL
( )
1
EI
( )
2
EI
k

F
k
1
k
2
k
F
k
1
k
2
k
k
1
k
2
Example: (Continuation)
F
k
1
k
2
k
( ) ( )
1 2
1 2
3 3
3 3
,
EI EI
k k
L L
= =
1
2
1
1 1
e
k k
k k
| |
= + +
|
\ .
2/4/2013
27
Example 2:
k
k
F
1
k
F
a
b
EI
Example 2: (Continuation)
1 e
k k k = +
k
F
1
k
( )
1
2 2
3EI a b
k
a b
+
=
2/4/2013
28
Linear Torsion Springs

t
k
t1
k
t2
k
t1
k
t2
t
Springs in
parallel
Springs in
series
1 2
1 2 1 2
( ) ( ) ( )
( )
t t t t
te
k k k k
k
t u t u t u
u u u
u
= +
= + = +
=
1 2
1 2
1 2
1 1
t t
t t te
k k
k k k
t t
u u u
t
t
= + = +
| |
= + =
|
\ .
Potential energy Potential energy
( )
1 2
2
1
( )
2
t t
V k k u u = +
1 2
2 2
1 2 1 2
1 1
( , )
2 2
t t
V k k u u u u = +

Example 2.7 Equivalent stiffness of springs in parallel:
removal of a restriction

k
1
k
2
b
a
F

b a
x
2
x
1
x
x
1
x
2

( )
2 1 2
1 2
b
x x x x
a b
b a
x x
a b a b
= +
+
= +
+ +
b
a
F
F
2
=k
2
x
2
F
1
=k
1
x
1
1 2
2 1
F F F
bF aF
= +
=
2/4/2013
29
1
2
bF
F
a b
aF
F
a b
=
+
=
+
From the force and moment balance equations, we obtain
) (
) (
2 2
2
2
1 1
1
1
b a k
aF
k
F
x
b a k
bF
k
F
x
+
= =
+
= =
Therefore
1 2
2 2
2 1
2
1 2
( ) ( ) ( ) ( )
( )
b bF a aF
x
a b k a b a b k a b
F k b ka
a b kk
( (
= +
( (
+ + + +

( +
=
(
+

and we obtain
1 2
b a
x x x
a b a b
= +
+ +
1 2
2 1
F F F
bF aF
= +
=
Comparing this result to the form
e
F
x
k
=
the equivalent spring constant k
e
is determined as
2
1
2
2
2
2 1
) (
a k b k
b a k k
k
e
+
+
=
2/4/2013
30
2.3.4: Other Forms of Potential Energy Elements
Fluid - Manometer (Ships at sea)
Compressed gas piston (Jackhammer)
Pendulums (Cranes, hoists on moving platforms)
The source of the restoring force is a fluid element or a
gravitational loading
Fluid Element - Manometer

x
x
g

A
o
The total displacement
of the fluid is 2x.
The total force of the
displaced fluid acting on
the rest of the fluid is
( ) 2
m o
F x gA x =
Engineering unit check:
3 2 2
2 2 3
(N) ~ (kg/m) (m/s ) (m) (m)
~(kg)(m/s )(mm/m)
~N
o
F g A x
The equivalent spring
constant of the system is
2
m
e
o
dF
k
dx
gA
=
=
2/4/2013
31
Pendulum System 1

L
L/2
c.g.
L/2
u
mg
x ) cos 1 (
2
cos
2 2
u u = =
L L L
x
Since F = mgj, the potential energy increase is
0
0
( ) ( )
i ni ti al posi ti on
deformed posi ti on x
x
V x x mg dx
mgdx mgx
= =
= =
} }
}
F dx j j
The change in height is given
by
i
j
( ) (1 cos )
2
mgL
V u u =
This can be written as
From the Taylor series approximation
...
2
1 cos
2
+ =
u
u
we obtain
2 2
( ) (1 cos ) 1 1
2 2 2 2 2
mgL mgL mgL
V
u u
u u
| | (
~ = =
|
(
\ .
from which we identify the equivalent spring constant
as
2
e
mgL
k =
2/4/2013
32

L
m
1
L
m
1
g
x
u
Pendulum System 2
Using the previous results by
replacing L/2 with L
(1 cos ) x L u =
The potential energy can be
approximated as
2
1
( )
2
e
V k u u ~
where we replace m with m
1
and L/2
with L to obtain
1 e
k mgL =

L
m
1
L
m
1
g
x
u
L/2
mg
Pendulum System 3
The potential energy of the bar
and the mass are obtained from
the previous results as
2 2
1
1 1
( )
4 2
V mgL mgL u u u ~ +
we find that the equivalent spring constant is
1
2
e
m
k m gL
| |
= +
|
\ .
2
1
( )
2
e
V k u u =
Comparing with
2/4/2013
33
Pendulum System 4

L
m
1
L
m
1
g
x
u

L u
O
Q
P
e
1
e
2
u
i
j
We see that
( )
2
1 cos
2
L
x L u u = =
The potential energy is
( )
1 1
1 1
2
1
( ) ( ) ( )
( )
1
( )
2
L L
L
L x
L x L x
V x mg dx mgx
mg L L x mgx
V mgL u u

= = =
=
=
} }
F dx j j
=
We see that when the pendulum is inverted there is a
decrease in potential energy, since V(u) is negative.
Therefore,
1 e
k mgL =

L
m
1
L
m
1
g
x
u
2/4/2013
34
2.4: Dissipation Elements
Damping elements are assumed to have neither
inertia nor the means to store or release potential
energy.
The mechanical motion imparted to these elements
is converted to heat or sound and, hence, they are
called non-conservative or dissipative because this
energy is not recoverable by the mechanical system.
London Millennium Footbridge and Dampers from Taylor Devices
Source: Taylor Devices, Damper Retrofit of The London Millennium
Footbridge: A case study in Biodynamic Design
Space Satellite Damper Adapted
for London Milliennium
Footbridge
2/4/2013
35
London Millennium Footbridge and Dampers from Taylor Devices
Source: Taylor Devices, Damper Retrofit of The London Millennium
Footbridge: A case study in Biodynamic Design
There are four common types of damping mechanisms
used to model vibratory systems.
(i) Viscous damping
(ii) Coulomb or dry friction damping
(iii) Material or solid or hysteretic damping
(iv) Fluid damping
In all these cases, the damping force is usually expressed
as a function of velocity.
2/4/2013
36
2.4.1 Viscous Damping
When a viscous fluid flows through a slot or around
a piston in a cylinder, the damping force generated is
proportional to the relative velocity between the two
boundaries confining the fluid.
F
x
Viscous Fluid
Piston Cylinder
( )
F x x c =
Damping Coefficient
(unit: N/(m/s )
Linear Case:
Energy Dissipation
The energy dissipated by a linear viscous damper
is given by
2 2
d
E Fdx Fxdt cx dt c x dt = = = =
} } } }

The symbol used to represent a viscous damper is

or c
c
2/4/2013
37
In the case of a nonlinear viscous damper described by
a function the equivalent linear viscous damping
around an operating speed is determined as
follows:
Linear viscous damping elements can be combined in
the same way that linear springs are, except that the
forces are proportional to velocity instead of
displacement.
( )
l
e
x x
dF x
c
dx
=
=

( ) F x
l
x x =
Two Linear Dampers in Series: The force on each
damper is the same
F
1
c
2
c
1
x
2
x
1
c
2
c
2/4/2013
38
?
e
c =
1
c
2
c
Two Linear Dampers in Series:
F F F F
1 1
1
1
F c x
F
x
c
=
=
( )
2 2 1
2 1
2
F c x x
F
x x
c
=
=

1
c
2
c
1
x
2
x
1
x
( )
2 1 2 1
x x x x = +
2
1 2 1 2
1 1 F F
x F
c c c c
| |
= + = +
|
\ .
2/4/2013
39
1 2
1
1
2
2
1 2
1
1 2
2
2
1 1
e
cc
c
F x x
c c
cc
c
c c
c
| |
|
+
| |
= + =
|
\ .
\ .
=
+

1
c
2
c
F
2
x
e
c
1
1 2 1
1 1 1 1
e
N N
c
c c c c
| |
= + + + +
|
\ .
1
c
2
c
1 N
c
N
c
N Linear Dampers in Series
2/4/2013
40
Two Linear Dampers in Parallel: The velocities of
both dampers are equal
1
c
2
c
F
2
c
1
c
x
1 2 e
c c c = +
1
c
2
c
e
c
Two Linear Dampers in Parallel: The velocities of
both dampers are equal
2/4/2013
41
N Linear Dampers in Parallel
1 2 1 e N N
c c c c c
= + + + +
1
c
2
c
e
c
1 N
c
N
c
Example: Equivalent Damping Coefficient. Assume u is small.
3
c
u
O
a
b
l
2
c
1
c
3
c
u
O
a
b
l
2
c
1
c
u
O
d
e
c
u
O
d
e
c
2/4/2013
42
is "small" u
3
c
, u u
O
a
b
l
2
c
1
c
1
x
2
x
3
x
3
c
, u u
O
a
b
l
2
c
1
c
1
x
1
x
2
x
3
x
Example: Equivalent Damping Coefficient
1 2 3
, , x a x b x l u u u = = =

Example: Equivalent Damping Coefficient
, u u
3
c
O
2
c
1
c
1
x
2
x
3
x
1
F
2
F
3
F
, u u
3
c
O
2
c
1
c
1
x
2
x
3
x
1
F
2
F
3
F
3
c
O
2
c
1
c
1
x
1
x
2
x
3
x
1
F
2
F
3
F
2/4/2013
43
1 1 1 1
2 2 2 2
3 3 3 3
F cx ca
F c x c b
F c x cl
u
u
u
= =
= =
= =
1 2 3 O
M F a F b F l = + +
O
1
F
2
F
3
F
, u u

O
1
F
2
F
3
F
( ) ( ) ( )
( )
2
1 2 3
1
2
2
2
1
3
2 3
O
F a F b F l
ca a c b
M
ca c b c
c
l
b l l u u u
u
= + +
=
+
+
= +
+
, u u
2/4/2013
44
O
d
e
c x
is "small" x d u u =

, u u

e e
F c x c du = =

( )
2
e
O
e
Fd
c d
d
d
M
c u
u
=
=
=
e
c
x
O
F
, u u
e
c
x
O
F
, u u
x x
O
F
, u u
O
F
, u u
2/4/2013
45
( )
2 2 2
1 2 3
2
e
ca c b l d c c u u = + +

O O
M M =

( )
2 2 2
1 2
2
3
e
c
d
ca c b cl + +
=
2.5 Model Construction
Discrete system or a lumped-parameter system
Only discrete elements are used to model a
physical system
mass, stiffness, and damping
These three types of elements appear as
parameters in the governing equations of the
system.
Distributed-parameter system or continuous system
No discrete elements are used to model the
system. One or more partial differential equations
are used to model the system. Equivalent to an
infinite number of discrete elements.
2/4/2013
46
The Human Body Revisited
Multi-degree-of-freedom system
Machine-tool Cutting Process

Work piece
Machinebed
Tool
Turret Tool slide

Beamfixed at each end
(machinebed)
Cantilever beam
(work piece)
Cutting force
Turret
J
u
, Mm
Tool
Physical system Vibratory model
Cutting force
Turret andslide
stiffness and
damping
Lb, mb, Eb, Ib
Lw, mw, Ew, Iw
c
Coupled discrete and distributed parameter model
2/4/2013
47
?
?
?
e
e
e
m
k
c
=
=
=
k
c
1
m
u
O
2
m
G
3
,
G
m J
a
b
l
g
Example:
r
2
r
1
Glossary Chapter 2
Coulomb damping a damping model for dry friction in
which the damping force has a constant magnitude and a
direction opposite to that of the motion
Dissipation element a device that provides resistance to
motion in the form of an irrecoverable loss of energy
Mass a measure of the amount of material a body
contains; its weight is the mass times the gravity force in a
gravitational field; for translational motions, the ratio of
force to acceleration
Mass moment of inertia a measure of the resistance of a
body to angular acceleration about a given axis; the ratio
of moment to angular acceleration
2/4/2013
48
Potential energy a scalar quantity that represents the
energy that is associated with elastic forces and
gravitational forces
Spring a device that recovers its original shape when
released after being distorted
Stiffness element a device that stores and releases
potential energy
Viscous damping a damping model in which the
damping force has a magnitude linearly proportional to
the system speed and a direction opposite to that of the
motion

Vibrations Chapter 2 2013 Post

Transféré par

Informations du document

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

Vibrations Chapter 2 2013 Post

Transféré par

Droits d'auteur :

Formats disponibles

2/4/2013

Inertia elements are characterized by a relationship

Stiffness elements are characterized by a relationship

Dissipation elements are characterized by a relationship

Chapter 2 Modeling of Vibratory Systems

Chapter 2 Modeling of Vibratory Systems

Chapter 2 Modeling of Vibratory Systems

Chapter 2 Modeling of Vibratory Systems

Vous aimerez peut-être aussi