ME22457 Chapter2 012303 MACL

1
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
22.457 Mechanical Vibrations - Chapter 2
Mechanical Vibrations
Chapter 2
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
2
Dr. Peter Avitabile
SDOF Definitions
lumped mass
stiffness proportional
to displacement
damping proportional to
velocity
linear time invariant
2nd order differential
equations
Assumptions
m
k
c
x(t)
3
Dr. Peter Avitabile
Equation of Motion - Natural Frequency
Newtons Second Law:
(written about static equilibrium position)
Circular
frequency
given as:
= + = ) t ( f kx x m ma f & &
(2.2.2)
m
k
n
=
(2.2.3)
4
Dr. Peter Avitabile
Equation of Motion written in standard form
has the general solution
where A and B are two necessary constants
determined from the initial conditions of
displacement and velocity
(2.2.4)
(2.2.5)
t cos B t sin A x
n n
+ =
0 x x
2
n
= + & &
5
Dr. Peter Avitabile
This results in
and the frequency can be shown in relation to
mass and stiffness or the static displacement of
the system as
(2.2.6)
(2.2.8)
t cos ) 0 ( x t sin
) 0 ( x
x
n n
n
+
=
&
=

=
g
2
1
m
k
2
1 1
f
Do Example 2.2.1 and 2.2.2
6
Dr. Peter Avitabile
Energy Method
In a conservative system, the total energy is
constant. Kinetic energy is stored in the mass in
terms of velocity and potential energy is stored as
strain energy in the spring
From conservation of energy, an equilibrium on
state 1 and state 2 exists - and at the extremes
the maximums result in
(2.3.1)
Do Example 2.3.1
t tan cons U T = +
( ) 0 U T
dt
d
= +
2 2 1 1
U T U T + = +
MAX MAX
U T =
(2.3.2)
(2.3.3)
(2.3.5)
7
Dr. Peter Avitabile
Rayleigh Method: Effective Mass
The kinetic energy can be written in terms of
velocity for a specific point in the system as
where the effective mass is at some point
If the stiffness is known at that point then the
natural frequency can be calculated as
(2.4.1)
(2.4.2)
2
eff
2
1
x m T & =
eff
n
m
k
=
8
Dr. Peter Avitabile
Virtual Work - Equilibrium of Bodies
If a system is in equilibrium under the action of a
set of forces is given a virtual displacement, the
virtual work done by the foces will be zero
Do Example 2.5.1
(1) a virtual displacement is a small variation
of the coordinate (must be compatible
with constraints of the system)
(2) virtual work is work done by all active
forces in avirtual displacement (no
geometry change which implies forces on
system remain unchanged)
9
Dr. Peter Avitabile
Viscously Damped Free Vibration
The equation of motion for the SDOF with viscous
damping included is
both a homogeneous and particular solution exist
(2.6.2)
= + + = ) t ( f kx x c x m ma f & & &

10
Dr. Peter Avitabile
Homogenous Solution
Homogenous equation is
and assuming an exponential solution form gives
which results in
which yields the characteristic equation
(2.6.3)
(2.6.4)
0 kx x c x m = + + & & &
(2.6.4)
(2. 6.5)
( ) 0 e k cs ms
st 2
= + +
0
m
k
s
m
c
s
2
= + +
m
k
m 2
c
m 2
c
s
2
2 , 1

=
11
Dr. Peter Avitabile
Homogenous Solution
This results in a general solution given as
Three distinct solutions result from this general
solution.
(2.6.7)
t s t s
2 1
Be Ae x + =
(1) underdamped
(2) overdamped
(3) critically damped
1 <
1 >
1 =
12
Dr. Peter Avitabile
Homogenous Solution
Some general definitions are:
Critical Damping
% Critical Damping
Roots
(2.6.9)
(2.6.10)
(2.6.11)
km 2 m 2
m
k
m 2 c
n c
= = =
c
c
c
=
1 s
2
n n 2 , 1
=
13
Dr. Peter Avitabile
The general solution can be rewritten as
and with adjusting
some terms
the poles can be
observed as seen
in the figure upon
changing damping
(2.6.12)
(2.6.13)
Homogenous Solution
) t ( f
m
1
x x 2 x
2
n n
= + + & & &
2
n
2 , 1
1 i
s
=
14
Dr. Peter Avitabile
Oscillatory Solution (3 different forms)
and the general homogeneous solution becomes
(2.6.14)
(2.6.16)
(2.6.17)
(2. 6.18)
Homogenous Solution - Underdamped 1 <
( )
t 1 i t 1 i t
n
2
n
2
n
Be Ae e x

+ =
( ) + =

t 1 sin Xe x
n
2 t
n
( ) ( ) ( ) t 1 cos C t 1 sin C e x
n
2
2 n
2
1
t
n
+ =

( ) ( )
+

+
=

t 1 cos ) 0 ( x t 1 sin
1
) 0 ( x ) 0 ( x
e x
n
2
n
2
2
n
n
t
n
&
(2.6.15)
2
n d
1 =
15
Dr. Peter Avitabile
The damped exponential response
( ) ( )
+

+
=

t 1 cos ) 0 ( x t 1 sin
1
) 0 ( x ) 0 ( x
e x
n
2
n
2
2
n
n
t
n
&
Homogenous Solution - Underdamped 1 <
16
Dr. Peter Avitabile
Overdamped solution is
with coefficients A and B as
(2.6.19)
(2.6.20)
(2.6.21)
Homogenous Solution - Overdamped
1 >
( ) ( ) t 1 t 1
n
2
n
2
Be Ae x
+
+ =
( )
1 2
) 0 ( x 1 ) 0 ( x
A
2
n
n
2

+ +
=
&
( )
1 2
) 0 ( x 1 ) 0 ( x
B
2
n
n
2

=
&
17
Dr. Peter Avitabile
The critically damped solution is
and the solution becomes
(2.6.22)
(2.6.23)
Homogenous Solution - Critically Damped
1 =
( )
t
n
e Bt A x

+ =
( )
t
n
t
n
n
e t ) 0 ( x ) 0 ( x
e ) 0 ( x x

+
+ =
&
18
Dr. Peter Avitabile
Logarithmic Decrement
From the damped vibration solution, the amount of
damping in the system can be expressed as
and the log decrement becomes
and for small damping
(2.7.2)
(2.7.3)
d n
) t (
t
d n
d 1 n
1 n
e ln
e
e
ln = = =

+

2
1
2

=
(2.7.4)
2
19
Dr. Peter Avitabile
Logarithmic Decrement
Plot of Damping Estimates
Log Decrement
20
Dr. Peter Avitabile
Coulomb Damping
Sliding or dry friction produces a force which is
opposite to the velocity and its direction changes
with each half cycle
or
the decay in amplitude
per cycle is therefore
( ) 0 ) X X ( F X X k
2
1
1 1 d
2
1
2
1
= +

( )
d
1 1
F X X k
2
1
=

( )
d
2 1
F 4 X X k =
(2.8.1)
21
Dr. Peter Avitabile
Laplace Approach
TIME DOMAIN
FREQUENCY
DOMAIN
LAPLACE
DOMAIN
TRANSFORMATION TRANSFORMATION
PARAMETER ESTIMATION SUBSET
22
Dr. Peter Avitabile
Review - SDOF Definitions
lumped mass
stiffness proportional
to displacement
damping proportional to
velocity
linear time invariant
2nd order differential
equations
Assumptions
m
k
c
x(t)
23
Dr. Peter Avitabile
Review - SDOF Equations
Equation of Motion
) t ( f x k
dt
dx
c
dt
x d
m
2
2
= + +
) t ( f x k x c x m = + + & & &
Characteristic Equation
Roots or poles of the characteristic equation
0 k s c s m
2
= + +
m
k
m 2
c
m 2
c
s
2
2 , 1
+
=
or
24
Dr. Peter Avitabile
Review - SDOF Definitions
Poles expressed as
Damping Factor
Natural Frequency
% Critical Damping
Critical Damping
Damped Natural
Frequency
POLE
CONJUGATE
j
d
( )
d
2
n
2
n n 2 , 1
j s = =
n
=
m
k
n
=
c
c
c
=
n c
m 2 c =
2
n d
1 =
25
Dr. Peter Avitabile
SDOF - Laplace Domain
Equation of Motion
Laplace Transform
) t ( f x k x c x m = + + & & &
0 0
2
x x s ) s ( x s ) x ( & & & =
0
x ) s ( x s ) x ( = &
) s ( x ) x ( =
) s ( f )) t ( f ( =
26
Dr. Peter Avitabile
Laplace Domain Equation of Motion
Assuming that initial conditions are zero
) s ( f ) s ( x ) k s c s m (
2
= + +
0 0
2
x m x ) c ms ( ) s ( f ) s ( x ) k s c s m ( & + + + = + +
Characteristic
Portion
Applied
Force
Initial
Displacement
Initial
Velocity
27
Dr. Peter Avitabile
System Characteristic Equation is
The solution is then
( ) ) k s c s m ( s b
2
+ + =
where ) s ( f ) s ( x ) s ( b =
) s ( f ) s ( h ) s ( f ) s ( b ) s ( x
1
= =

The System Transfer Function is defined as
k cs ms
1
) s ( h
2
+ +
=
28
Dr. Peter Avitabile
SDOF - Transfer Function
System Transfer Function
k cs ms
1
) s ( h
2
+ +
=
Complex valued
function defines the
surface shown
Source: Vibrant Technology
29
Dr. Peter Avitabile
SDOF - Transfer Function
Polynomial Form
Pole-Zero Form
Partial Fraction Form
Exponential Form
k cs ms
1
) s ( h
2
+ +
=
) p s )( p s (
m / 1
) s ( h
*
1 1

=
) p s (
a
) p s (
a
) s ( h
*
1
*
1
1
1
=
t sin e
m
1
) t ( h
d
t
d

=

30
Dr. Peter Avitabile
SDOF - Damped Exponential Response
t sin e
m
1
) t ( h
d
t
d

=

A
m
p
l
i
t
u
d
e
Damping Decay
Period
31
Dr. Peter Avitabile
SDOF - Transfer Function & Residues
Residue
d
p s
1
1
jm 2
1
) p s )( s ( h
a
1
related to
mode shapes
Source: Vibrant Technology
32
Dr. Peter Avitabile
SDOF - Frequency Response Function
The Frequency Response Function (FRF) is the
Transfer Function evaluated at s=j
Partial Fraction Form
) p j (
a
) p j (
a
) s ( h ) j ( h
*
1
*
1
1
1
j s

+

= =
=
k cj ) j ( m
1
) s ( h ) j ( h
2 j s
+ +
= =
=
Polynomial Form
( ) ( ) +
=
c j m k
1
) j ( h
2
Complex Form
33
Dr. Peter Avitabile
Complex Frequency Response Function
The Complex FRF - real and imaginary parts
(3.1.15)
2
n
2
2
n
n
2
n
2
2
n
2
n
2 1
2
j
2 1
1
) j ( h
=
34
Dr. Peter Avitabile
Complex Frequency Response Function
The Complex FRF at resonance reduces to a
simple magnitude and phase as
(3.1.18)
2
n
n
1
2
tan ;
2
1
j ) j ( h
=
35
Dr. Peter Avitabile
MATLAB Examples - VTB1_1
=============================================
VIBRATION TOOLBOX EXAMPLE 1_1
Free response using VTB1_1
VTB1_1(m,c,k,x0,v0,tf)
Initial displacement
>> vtb1_1(1,.1,2,1,0,100)
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
D
i
s
p
l
a
c
e
m
e
n
t
Dis placement vers us Time
36
Dr. Peter Avitabile
-0.4
-0.2
0
0.2
0.4
0.6
0.8
D
i
s
p
l
a
c
e
m
e
n
t
Dis placement vers us Time
=============================================
VIBRATION TOOLBOX EXAMPLE 1_1
Free response using VTB1_1
VTB1_1(m,c,k,x0,v0,tf)
Initial velocity
>> vtb1_1(1,.1,2,0,1,100)
37
Dr. Peter Avitabile
=============================================
VIBRATION TOOLBOX EXAMPLE 1_2 Euler Method
>> n=10000;dt=.01;x0=1;v0=0;m=1;d=.1;k=2;
>> [x,v]=VTB1_2(n,dt,x0,v0,m,d,k);
>> t=0:dt:dt*n; % Creates time vector.
>> plot(t,x); % Plots displacement versus time.
Note that the time increment must be
small enough so that the solution converges.
If too large a dt is selected then the solution
will diverge.
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
38
Dr. Peter Avitabile
=============================================
VIBRATION TOOLBOX EXAMPLE 1_5 Damping
VISCOUS DAMPING
>> m=1; dcoef=.1; k=2; dt=.01; tott=100; x0=1; v0=0; dtype=1;
>> VTB1_5(m,k,dtype,dcoef,dt,tott,x0,v0)
>>
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
D
i
s
p
l
a
c
e
m
e
n
t
Dis placement vers us Time (c = 0.1
39
Dr. Peter Avitabile
=============================================
VIBRATION TOOLBOX EXAMPLE 1_5 Damping
VISCOUS DAMPING
>> m=1; dcoef=.1; k=2; dt=.01; tott=100; x0=1; v0=0; dtype=2;
>> VTB1_5(m,k,dtype,dcoef,dt,tott,x0,v0)
>>
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
D
i
s
p
l
a
c
e
m
e
n
t
Dis placement vers us Time ( = 0.1
40
Dr. Peter Avitabile
MATLAB Examples - J.White MODLDEMO
=============================================
JOHN WHITE MODLDEMO EXAMPLE
(modified damping for under damped to 0.2)
Scripts available on the web from
Dr. John White - UMASS Lowell
MODLDEMO.m
0 5 10 15
0
0.1
0.2
0.3
0.4
Critical Damping - Impuls e
Time
S
y
s
t
e
m

R
e
s
p
o
n
s
e
0 5 10 15
0
0.1
0.2
0.3
0.4
Over Damping - Impuls e
Time
S
y
s
t
e
m

R
e
s
p
o
n
s
e
0 5 10 15
-1
-0.5
0
0.5
1
Under Damping - Impuls e
Time
S
y
s
t
e
m

R
e
s
p
o
n
s
e
0 5 10 15
-1
-0.5
0
0.5
1
No Damping - Impuls e
Time
S
y
s
t
e
m

R
e
s
p
o
n
s
e
41
Dr. Peter Avitabile
=============================================
MODLDEMO.m
0 5 10 15
0
0.2
0.4
0.6
0.8
1
Critical Damping - Step
Time
S
y
s
t
e
m

R
e
s
p
o
n
s
e
0 5 10 15
0
0.2
0.4
0.6
0.8
1
Over Damping - Step
Time
S
y
s
t
e
m

R
e
s
p
o
n
s
e
0 5 10 15
0
0.5
1
1.5
2
Under Damping - Step
Time
S
y
s
t
e
m

R
e
s
p
o
n
s
e
0 5 10 15
0
0.5
1
1.5
2
No Damping - Step
Time
S
y
s
t
e
m

R
e
s
p
o
n
s
e
42
Dr. Peter Avitabile
=============================================
MODLDEMO.m
10
-2
10
-1
10
0
10
1
10
2
-100
-80
-60
-40
-20
0
Critical Damping
frequency
|
G
(
j
w
)
|

i
n

d
b
10
-2
10
0
10
2
-100
-80
-60
-40
-20
0
Over Damping
frequency
|
G
(
j
w
)
|

i
n

d
b
10
-2
10
-1
10
0
10
1
10
2
-80
-60
-40
-20
0
20
Under Damping
frequency
|
G
(
j
w
)
|

i
n

d
b
10
-2
10
0
10
2
-80
-60
-40
-20
0
20
40
No Damping
frequency
|
G
(
j
w
)
|

i
n

d
b
43
Dr. Peter Avitabile
=============================================
MODLDEMO.m
10
-2
10
-1
10
0
10
1
10
2
-200
-150
-100
-50
0
Critical Damping
frequency
a
n
g
l
e
10
-2
10
0
10
2
-200
-150
-100
-50
0
Over Damping
frequency
a
n
g
l
e
10
-2
10
-1
10
0
10
1
10
2
-200
-150
-100
-50
0
Under Damping
frequency
a
n
g
l
e
10
-2
10
0
10
2
0
50
100
150
200
No Damping
frequency
a
n
g
l
e

ME22457 Chapter2 012303 MACL

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1

Dr. Peter Avitabile

= + + = ) t ( f kx x c x m ma f & & &

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