SARDAR PATEL INSTITUTE OF TECHNOLOGY,PILUDARA

SUB: D.O.M BRANCH: 6 th MECH.

Isolation, Control and BY: H.A.PATEL Introduction to Vibration Measuring Instruments

VIBRATION MEASURING INSTRUMENTS

Structure
1 Introduction
Objectives

2 Vibration due to the Base Excitation 3 Vibration Measuring Instruments

3.1 3.2 3.3 Principle of Design of Seismometer Principle of Design of Accelerometer Domain of Operation of Seismometer and Accelerometer

4 Force Transmitted to the Ground 5 Transmissibility and Vibration Isolation

17.1 INTRODUCTION
In the last unit, you were explained forced vibration of mechanical systems. Systems have forced vibration due to an exciting force. The force of excitation may acting due to either external agency or may be developed in the system due to unbalance. The system may also be excited due vibration of the base. The base may be having vibrations due to neighbouring machine which is transmitting large amount of force to the ground. This results in disturbance of other machines. To measure vibrations, suitable instruments are required. The design principle can be evolved by analyzing this type of vibration. It is always desirable that least force is transmitted to the ground so that neighbourhood machines are not disturbed. Therefore, there is necessity to control and isolate vibration.

Objectives
After studying this unit, you should be able to analyse the vibration due to base excitation, understand principles of design of vibration instruments, control vibrations transmitted to the ground, and isolate vibration.

17.2 VIBRATION DUE TO THE BASE EXCITATION

A spring mass system is shown in Figure 17.1 in which the base of suspension is vibrating with the function.
y = y0 sin t

. . . (17.1)

The equation of forces can be written as

y  ) + k ( x y) = 0 m  x + c (x or  + kx =cy +ky m  x + cx

. . . (17.2)
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Static and Dynamic Force Analysis and Mechanical Vibration

or or where

cw  + k x = k y0 sin t + y0 m  x + cx cos t

 + k x = { y0 m  x + cx

k 2 + (c) 2 } sin (t + )

. . . (17.3) . . . (17.4)

c = tan 1 k

is phase angle between base excitation and force. Let

y0 k 2 + (c) 2 = F0

 + k x = F0 sin (t + ) m  x + cx

. . . (17.5)

y=yo sint k c

m x

Figure 17.1

As explained in the last unit, steady state the solution of the above equation is given by x = X sin (t + ) is phase angle between force F0 and displacement where

X = DM

F0 c = DM y0 1 + k k
2

or

2 X = DM y0 1 + n

. . . (17.6)

The angle ( ) is the phase difference between the base excitation and vibration of mass m.
= 0.1 =0 increasing x/yo 0.2

0.3 1.0 /2 1.0

=0 1.0 2 /n increasing /n

Figure 17.2

90

The response of mass m and phase angle have been plotted in Figure 17.2. The following points may be noted.

(a)

The response is either equal to the excitation or greater than it for

2. n

(b)

At

= 1 , the response is very large for small amount of damping. n

Isolation, Control and Introduction to Vibration Measuring Instruments

(c)

> 2 , the response is smaller than the excitation and damping has n very little effect. Damping increases response.
For

SAQ 1
When the damping is most effective and when it is disadvantageous?

17.3 VIBRATION MEASURING INSTRUMENTS

The vibration response can be expressed in terms of various parameters, e.g. displacement, velocity, acceleration and induced stress. The selection of the parameter depends on the objective and the field of application. For a vehicle designer the comfort of the passenger is important, therefore, vibration in a vehicle is normally expressed in terms of acceleration. To measure vibration a transducer is used which generates voltage proportional to the magnitude of parameter. A vibration equipment can be thought of a spring mass system enclosed in a box type of a thing. It is shown in Figure 17.3. The box is fitted on the vibrating base. The dynamical differential equation is represented by
m  x + k ( x y) = 0 z=xy x = z + y or  x =  z +  y m (  z +  y) + k z = 0
m  z + k z = m y0 z 2 sin t

Let or

. . . (17.7)

k x m Scale Pointer

y=yo sint

Figure 17.3

The solution of this differential equation is given by

z = Z sin (t )

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Static and Dynamic Force Analysis and Mechanical Vibration

where

y0 n Z= 2 1 n
y0 n
2 2

. . . (17.8)

If damping is also considered

Z =

. . . (17.9)

2 2 2 1 + 2 n n

17.3.1 Principle of Design of Seismometer

This instrument is used to measure the displacement. Considering expression of Z given in Eq. (17.8), if

> >1 n
Z  y0

This means the seismometer has very low natural frequency so that this condition is truly followed for operating lower value of . The value of is generally greater than 2.5 n. It is evident from the Figure 17.4 that the range of frequency for displacement y can be approximated by z is maximum for j = 0.707. Therefore, in actual transducer also damping factor is kept near this value. To satisfy the necessary condition the natural frequency should be very low, hence mass should be fairly heavy and springs should be of very low stiffness. Therefore, seismometer is a heavy transducer and may cause loading of the system whose displacement is to be measured. Due to this reason seismometer is not used mechanical applications.

Domain for Accelerometer

=0

=0.2 =0.4

=0.707 =1.0

1.0

/n

Figure 17.4

17.3.2 Principle of Design of Accelerometer

When the frequency is very large than

< < 1 in that case n

Z  y0 n
92

Domain for Seismometer

or or

Z 2 y0

As n is constant

Z Acceleration

Isolation, Control and Introduction to Vibration Measuring Instruments

the value of Z in this case will correspond to the acceleration. In order to have high natural frequency of the transducer mass is very low if can have spring of high stiffness. A stiff spring has very small size. Therefore, accelerometers are very small in size and signal can be integrated to get velocity and displacement. Due to this reason accelerometers are very widely used for measuring mechanical systems. The domain of operation of accelerometer is shown in Figure 17.4.

17.3.3 Domain of Operation of Seismometer and Accelerometer

The accuracy of measurement by seismometer and accelerometer depends on the proper identification of the domains of operation. The accuracy of seismometer depends on its low natural frequency. The measuring frequency must be at least 2.5 times the natural frequency of the seismometer. The typical natural frequencies must be at least 2.5 Hz. Due to its large size seismometer are not used for mechanical applications.

=0.0 1.05

1.0 0.1 /n 0.95 =0.7 0.2 0.3 0.4 0.5 0.6

=0.75

Figure 17.5

Considering damping also in the system, the relative displacement z is given by Eq. (17.9). It can be written as
Z =

(2 y0 )
2 n

1
2 2 1 + 2 n n 2

Let

f =

1
2 2 1 + 2 n n 2

Z=

(2 y0 )
2 n

Since wn is constant, the linearity of response shall depend on

f =

1 1 + 2 n n
2 2 2

. . . (17.10)

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Static and Dynamic Force Analysis and Mechanical Vibration

to determine the useful range of an n accelerometer. In order to keep factor f closer to 1 for a fairly large range should be 0.7. For perfect linearity
The function f can be plotted in relation to

0.25 with n

j = 0.7

SAQ 2
(a) (b) Why seismometer is not used for measuring mechanical vibrations? Why accelerometer is used to measure displacement, velocity and acceleration?

17.4 FORCE TRANSMITTED TO THE GROUND

Consider a machine which is supported by foundation. The foundation can be replaced by a spring and damper. This system is shown in Figure 17.6. Since spring and damper are in contact with ground, the force is also transmitted through the spring and damper.
Fo sin wt x m

Figure 17.6

The force transmitted Ft is given by

 Ft = k x + c x

x = X sin (t )

Let

 = X w cos (t ) x
Ft = k X sin (t ) + c w X cos (t )

k = R cos and c w = R sin

tan =

c k c k
. . . (17.11)

= tan 1

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where is phase angle between response and force transmitted.

Ft = X R sin {(t ) + }

. . . (17.12)
2

c R = k 2 + (c)2 = k 1 + k
= k 1 + 2 n
2

Isolation, Control and Introduction to Vibration Measuring Instruments

Ft = X k . 1 + 2 sin {(t ) + } n X k = 1 + 2 + FT n
FT = DM
2

. . . (17.13)

Let

or

F0 k 1 + 2 n k
2

FT = DM F0 1 + 2 n
FT = FT sin {(t ) + }

. . . (17.14)

FT is the amplitude of force transmitted to the ground

. . . (17.15)
2

where

FT =

F0 k

1 + 2 n
2

. . . (17.16)

2 2 1 2 + + n n

FT is the amplitude of transmitted force and therefore, it is the maximum force transmitted.

17.5 TRANSMISSIBILITY AND VIBRATION ISOLATION

The transmissibility is the ratio of maximum force transmitted to the maximum impressed force. From Eq. (17.15)
1 + 2 n
2

FT = Transmissibility () =

2 2 1 + 2 n n

Graphs can be plotted between transmissibility and frequency ratio. Figure 17.7 shows these graphs. It may be noted that all the curves pass through (0, 1) and ( 2 , 1). The < 2 . During this range of transmissibility is more than 1 for frequency ration 0 < n frequencies damping is most effective in reducing the transmissibility. For frequency

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Static and Dynamic Force Analysis and Mechanical Vibration

2 transmissibility is always less than 1. For this frequency range < is very good for damping increases transmissibility. The frequency range 2 < n keeping transmissibility low but damping should be as low as possible.
=0

ratio more than

Increasing

1.0

Increasing 1.0 =0 /n

Figure 17.7

It is highly desirable for design of machine mounts so that vibration is properly isolated. The unbalanced forces is a machine are transmitted to the ground as a shaking force through its mount on the foundation. Therefore, proper isolators should be used to reduce or eliminate shaking forces transmitted to the ground. Such a design is called active isolation design. If machine mounts are designed to reduce or eliminate thee motion being transmitted from the ground to the machine, this is called passive isolation design. Considering Figure 17.7, the following points may kept in mind : (a) For > 2 n , output is smaller than the input. therefore, for effective isolation the natural frequency of the system should be less than 0.707 times the operational speed or harmonic frequency that is to be isolated. For > 2 n , damping increases transmissibility hence the damping should be kept as low as possible. If < 2 n , more and more damping should be used to keep transmissibility as low as possible.

(b) (c)

SAQ 3
For which frequency range, transmissibility is less than 1?

Example 17.1

A trailer weighs 1 tonne when fully loaded and 250 kg when empty. The stiffness of suspension spring is 350 kN/m. The damping factor is 0.5 when fully loaded. Find the amplitude ration when it is fully loaded and empty. The speed of trailer is 100 km/hr on a road having sinusoidal track with 5 m wavelength. 96
Solution

Given data : Mass of fully loaded trailer = 1000 kg Mass of empty trailer = 250 kg Velocity v = 100 km/hr = Wavelength = 5 m Stiffness of spring = 350 kN/m The sinusoidal function of road surface

Isolation, Control and Introduction to Vibration Measuring Instruments

100 = 27.78 m/s 3.6

= y0 sin
where

2 vt 5

v = 27.78 m/s

y = y0 sin =

27.78 2 t 5

2 27.78 = 34.9 r/s 5

When fully loaded

n =

350000 = 18.7 r/s 1000

r=

34.9 = = 1.865 n 18.7

Amplitude ratio = Transmissibility = 1 + (2 r ) 2 (1 r 2 )2 + (2 r )2 1 + (2 0.5 1.865) 2 (1 1.8652 )2 + (2 0.5 1.8652 )

2.12 = 0.68 3.10

When trailer is empty

n =

350000 = 37.4 r/s 250

The value of damping factor shall be different here because critical damping will be different now but damping coefficient of damper will be same when trailer was fully loaded = 0.5
Cc = 2m wn = 2 1000 18.7 = 37400 N sec/m

C = 0.5 Cc = 0.5 37400 = 18700 N sec/m

The critical damping for empty trailer

Cc = 2m n = 2 250 37.4 =18700

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Static and Dynamic Force Analysis and Mechanical Vibration

18700 =1 18700

It is a case of critical damping. For critical damping amplitude ration = 1.

Example 17.2

A machine weighing 1200 kg is mounted on springs of total stiffness 2 106 N/m. The machine is subjected to an external harmonic force of amplitude 490 N and frequency 180 rpm. Determine force transmitted to the foundation.
Solution

Given data : Mass = 120 kg Stiffness = 2 106 N/m

F0 = 490

2 180 = 6 r/s = 18.85 r/s 60

k = m 2 106 = 40.82 r/s 1200

n =
Frequency ratio r =

18.85 = = 0.4614 n 40.82

Force transmitted = F0 = 490 1 + (2 r )2 (1 r 2 ) 2 + 2 r 2

Since damping is negligible. Force transmitted = 490 1 r

2

490 1 (0.4614) 2

= 622.5 N
Example 17.3

A machine weighing 650 kg operates at 1500 rpm. It has an unbalance 0.1 kg m. The damping in the isolators is given by damping factor J = 0.1. Determine stiffness of isolators so that the transmissibility is less than or equal to 0.15. Determine the amplitude of force transmitted.
Solution

Given data : Mass of machine = 650 kg Speed = 1500 rpm Unbalance = 0.1 kg m = 0.1 98 = 0.15

1 + (2 J r )2 (1 r 2 ) 2 + (2 J r ) 2 1 + (2 0.1 r ) 2 (1 r 2 ) 2 + (2 0.1 r )2

Isolation, Control and Introduction to Vibration Measuring Instruments

0.15 =

0.0225 =

1 + 0.04 r 2 (1 r 2 )2 + 0.04 r 2

0.0225 {(1 2r 2 + r 4 ) + 0.04 r 2 } = 1 + 0.04 r 2

or It gives,

r 4 3.74 r 2 43.4 = 0

r = 2.95

= 2.95 n = 2 1500 = 157.1 r/s 60 157.1 = = 53.25 r/s 2.95 2.95

n =
or

k = 53.25 m
k = 650 (53.25) 2 = 1843409 N/m

= 1.84 mN/m Unbalance = 0.1 kg m Unbalanced force = 0.1 (157.1) 2 = 2468 N Force transmitted to the ground = 2468 1.5 = 370.2 N
Example 17.4

An accelerometer is made with a crystal of natural frequency 20 k Hz. The damping of the accelerometer is 0.6. Determine the highest frequency at which accelerometer can be used with 1% accuracy.
Solution

Given data : Natural frequency fn = 20 k Hz = 0.7 Accuracy = 1% The function given in Eq. (17.4) takes care of accuracy in the accelerometer
f = 1 0.01 = 0.99

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Static and Dynamic Force Analysis and Mechanical Vibration

0.99 =

1 (1 r 2 ) 2 + (2 r ) 2

0.9801 {(1 2r 2 + r 4 ) + 4 (0.7) 2 r 2 } = 1

or or It gives,

r 4 0.04r 2 + 1 = 1.02

r 4 0.04r 2 0.02 = 0

r = 0.428

r=

Example 17.5

f = fn n

f = 0.428 20 = 8.56 k Hz

Specify the lowest frequency for the seismometer with 1% error. The natural frequency is 4 Hz and damping factor is 0.2.
Solution

Given data : Error = 1%

fn = 4 Hz

and

= 0.2

Z = 1.01 = y0 1.0201 =

r2 (1 r 2 )2 + (2 r )2 r4

or

(1 2r 2 + r 4 ) + 4 0.22 r 2

or

1.0201 = {r 4 1.84 r 2 + 1} = r 4 0.0201 r 4 1.877 r 2 + 1.0201 = 0

or It gives

r 4 93.38 + 50.75 = 0

r = 9.63, 0.739

For seismometer
r 1

The lowest frequency which can be measured with 1% error is 9.63 4 = 38.54 Hz .

17.6 SUMMARY
The mechanical systems have rotating parts or reciprocating parts. Due these parts harmonic force is generated in the system due to unbalance. This harmonic force excites the system continuously to vibrate. The may have excitation from the support or ground also. Therefore, it is very important to control vibration so that it does not result in the

100

failure of parts, etc. To measure vibration instruments are required. These instruments measure displacement, velocity and acceleration depending on the requirement to measure displacement but because of its heavy mass and size, it is not used for mechanical measurements. Accelerometers are used to measure acceleration. They are small in size and have low mass. The velocity and displacement can be obtained by integrating the acceleration signal received from accelerometer. Vibration can be isolated by properly designing mountings. The force transmitted can be reduced or isolated by active isolation. It helps in controlling vibration by keeping transmissibility as low as possible.

Isolation, Control and Introduction to Vibration Measuring Instruments

17.7 KEY WORDS

Seismometer Accelerometer Transmissibility : It is a transducer in which signal is proportional to the displacement. : It is a transducer in which signals is proportional to the accelerator. : It is the ratio of maximum force transmitted to the excitation force amplitude.

17.8 ANSWERS TO SAQs

Please refer the preceding text for all the Answers to SAQs.

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Static and Dynamic Force Analysis and Mechanical Vibration

FURTHER READINGS
Ghosh, Amitabh and Mallik Ashok Kumar (1976), Theory of Mechanisms and Machines, Affiliated East-West Press Pvt. Ltd. V. P. Singh, Theory of Machines, Dhanpar Rai Co. (Pvt.) Ltd. J. S. Rao, R. V. Dukkipati, Mechanisms and Machine Theory, New Age International (P) Ltd. Publishers. Ambedkar, G. Ashok, Mechanisms and Machine Theory, Jain Brothers, New Delhi.

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STATIC AND DYNAMIC FORCE ANALYSIS AND MECHANICAL VIBRATION

In the last block power transmission devices were explained which are used very commonly. To design these devices and mechanisms a designer should know the forces which act on various links. Therefore, from the design point of view static and dynamic force analysis is very important and useful practically. In static force analysis mass and size of the components does not play any part but in dynamic force analysis inertia also has to be considered. Mechanical systems have inertia and elasticity. Because of these properties mechanical systems are prone to vibrations if they excited instantaneously or continuously. Therefore, study of vibrations becomes important to control vibrations and for vibration isolation. In Unit 13, static and dynamic force analysis of mechanisms has been done. It was explained in reference to some mechanisms. Gears are very commonly used. For designing gears it is important to know the various forces. In Unit 14, gear force analysis has been done for various type of gears. In Unit 15, mechanical vibration in mechanical systems for single degree of freedom and two degree of freedom systems was explained. All the types of vibration, viz. longitudinal, transverse and torsional were also explained in this unit. In Unit 16, the mechanical vibrations was explained when system is excited by a harmonic force. The frequency response of single degree freedom system was also explained in this unit. In Unit 17, vibration isolation and control was explained. This is important to isolate a vibrating machine from other machines and save them from vibration.

Isolation, Control and Introduction to Vibration Measuring Instruments

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