Ch.02 Modeling of Vibratory Systems

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Modeling of Vibratory Systems
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02. Modeling of Vibratory System
Chapter Objectives Compute the mass moment of inertia of rotational systems Determine the stiffness of various linear and nonlinear elastic components in translation and torsion and the equivalent stiffness when many individual linear components are combined Determine the stiffness of fluid, gas, and pendulum elements Determine the potential energy of stiffness elements Determine the damping for systems that have different sources of dissipation: viscosity, dry friction, fluid, and material Construct models of vibratory systems
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Nguyen Tan Tien
Nguyen Tan Tien
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1.Introduction - Three elements that comprise a vibrating system Inertia elements: stores and releases kinetic energy Stiffness elements: stores and releases potential energy Dissipation elements: express energy loss in a system - Components comprising a vibrating mechanical system Translational motion Rotational motion Mass, () Mass moment of inertia, (2 ) Stiffness, (/) Stiffness, (/) Damping, (/) Damping, (/) External force, ( ) External moment, ()
2.Inertia Elements - Translational motion - Rotational motion Slender bar Circular disk Sphere Circular cylinder
=
1 12 1 2 2 5
= 2 = 2 = =
1 1 12 2
(32 + 2 )
= 2 - Parallel-axes theorem = + 2 , : distance from the center of gravity to point

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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2.Inertia Elements - For a mass translating with a velocity of magnitude in the plane under the driving force
2.Inertia Elements - For a rigid body undergoing only rotation in the plane with an angular speed
The equation governing the motion of the mass = () when and are independent of time = The kinetic energy, , of mass 1 1 = = 2 2 2
The equation governing the rotation of the mass of inertia = (2.6) : the moment acting about the center of mass or a fixed point along the direction normal to the plane of motion : the associated mass moment of inertia The kinetic energy of the system 1 = 2 2
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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Nguyen Tan Tien
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2.Inertia Elements - Ex.2.1 Determination of mass moments of inertia Illustrate how the mass moments of inertia of several different rigid body distributions are determined Solution Uniform Disk The mass moment of inertia about the point , which is located a distance from point 1 1 3 = 2 2 = + 2 = 2 + 2 = 2 2 2 Uniform Bar The mass moment of inertia about the point 2 1 1 1 = + = 2 + 2 = 2 2 12 4 3 1
= 12 2
2.Inertia Elements - Ex.2.2 Slider mechanism: system with varying inertia property A slider of mass slides along a uniform bar of mass with a pivot at point . Another bar, which is pivoted at point , has a portion of length that has a mass and another portion of length that has a mass . Determine the rotary inertia of this system and show its dependence on the angular displacement coordinate Solution From geometry, , , can be described in terms of 2 = 2 + 2 2 2 = (/2)2 +2 2 = (/2)2 +2 ( ) : the distance from the midpoint of bar of mass to : the distance from the midpoint of bar of mass to
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2.Inertia Elements 2 = 2 + 2 2 2 = (/2)2 +2 2 = (/2)2 +2 ( ) The rotary inertia of this system = + () + () + ()
where
1 = 2 3 () = 2 () 2 2 2 = + = + 2 12 3 2 2 2 = + = + 2 ( ) 12 3
3.Stiffness Elements 1.Introduction - Stiffness elements are manufactured from different materials and they have many different shapes - Application to minimize vibration transmission from machinery to the supporting structure to isolate a building from earthquakes to absorb energy from systems subjected to impacts
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3.Stiffness Elements - Some representative types of stiffness elements that are commercially available along with their typical application
Building or highway base isolation for lateral motion using cylindrical rubber bearings
3.Stiffness Elements - The stiffness elements store and release the potential energy of a system - Consider a spring under acting force of magnitude is directed along the direction of the unit vector
Steel cable springs used in a chimney tuned mass damper to suppress lateral motions
Wire rope isolators to isolate vertical motions of machinery
Air springs used in suspension systems to isolate vertical motions
Typical steel coil springs for isolation of vertical motions

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Stiffness element with a force acting on it
Free-body diagram
tries to restore the stiffness element to its undeformed configuration, it is referred to as a restoring force
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3.Stiffness Elements - As the stiffness element is deformed, energy is stored in this element, and as the stiffness element is undeformed, energy is released - The potential energy is defined as the work done to take the stiffness element from the deformed position to the undeformed position; that is, the work needed to undeform the element to its original shape

=
0 0
3.Stiffness Elements 2.Linear Springs - Translation Spring Deformation = : the applied force : the spring constant : the spring deflection The potential energy stored in the spring

(2.9)
=
0
=
0
=
0
1 = 2 2
(2.10)
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3.Stiffness Elements - Torsion Spring Deformation = : the applied moment : the spring constant : the spring deflection The potential energy stored in the spring

(2.11)
=
0
=
0
1 = 2 2
(2.12)
3.Stiffness Elements - Combinations of Linear Springs Parallel Springs Translation springs Total force = 1 + 1 = 1 +2 = 1 +2 = Equivalent spring = 1 + 2 Torsion springs Total moment = 1 + 2 = 1 + 2 = 1 + 2 = Equivalent spring = 1 + 2
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3.Stiffness Elements Series Springs Translation springs Displacement 1 1 = 1 + 2 = + = + = 1 2 1 2 Equivalent spring 1 1 1 1 2 = + = 1 2 1 + 2 Torsion springs Displacement 1 1 = 1 + 2 = + = + = 1 2 1 2 Equivalent spring 1 1 2 1 1 = + = 1 2 1 + 2
3.Stiffness Elements - Spring Constants for Some Common Elastic Elements

1. Axially loaded rod or cable = : cross-sectional area, 2 : Youngs modulus of elasticity, /2 : length of the rod, 2. Axially loaded tapered rod 1 2 = 4 : Youngs modulus of elasticity, /2
1 : rod diameter,
2 : rod diameter, : length of the rod,
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3.Stiffness Elements
3. Hollow circular rod in torsion = : shear modulus of elasticity, /2 : the torsion constant (polar moment of inertia), 4 For the concentric circular tubes, 4 4 ) ( = 32 : length of the rod, : outside rod diameter, : inside rod diameter, 4. Cantilever beam 3 = 3 , 0 < : Youngs modulus of elasticity, /2 : the area moment of inertia about the bending axis, 4 : position of applied force, : length of the beam,
5. Pinned-pinned beam (Hinged, simply supported) 3( + ) = 2 2 : Youngs modulus of elasticity, /2
: the area moment of inertia about the bending axis, 4 ,: position of applied force, 6. Clamped-clamped beam (Fixed-fixed beam) 3( + )3 = 3 3 : Youngs modulus of elasticity, /2 : the area moment of inertia about the bending axis, 4 ,: position of applied force,
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7. Two circular rods in torsion = 1 + 2 , =
9. Coil springs 4 = 83 : modulus of elasticity, /2 : wire diameter, : number of active coil : mean coil diameter, 10. Clamped rectangular plate, constant thickness, force at center 3 = / 12 2 (1 2 ) 1.0 : Youngs modulus of elasticity, /2 1.2 1.4 : thickness of plate, 1.6 : coefficient 1.8 : width of the plate, 2.0 : poison ratio
Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering
: modulus of elasticity, /2 : the torsion constant (polar moment of inertia), 4 : position of applied force, 8. Two circular rods in torsion = 1 1 + 1 2
1
: modulus of elasticity, /2 : the torsion constant (polar moment of inertia), 4 : position of applied force,
0.00560 0.00647 0.00691 0.00712 0.00720 0.00722
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3.Stiffness Elements - Force-displacement relationships may also be used to determine parameters such as that characterize a stiffness element
3.Stiffness Elements - Ex.2.3 Equivalent stiffness of a beam-spring combination Consider a cantilever beam that has a spring attached at its free end The force is applied to the free end of the spring parrallel =
1 1
3 3 The force is applied simultaneously to the free end of the cantilever beam series = + 1 =
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3.Stiffness Elements - Ex.2.4 Equivalent stiffness of a cantilever beam with a transverse end load A cantilever beam: = 72 109/2, = 750, = 110, = 120. Determine the equivalent stiffness of this beam Solution The area moment of inertia about the bending axis 4 = 4 32 = 120 103 4 110 103 4 32 = 5.98 106 4 The equivalent stiffness of the cantilever beam 3 3 72 109 5.98 106 = 3 = = 3.06 106 / 750 103 3
3.Stiffness Elements - Ex.2.5 Equivalent stiffness of a beam with a fixed end and a translating support at the other end Consider a uniform beam of length with flexural rigidity . When the beam is subjected to a transverse loading at the translating support end, determine the equivalent stiffness of this beam Solution By observation
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3.Stiffness Elements To this end, we use Case 6 of Table 2.3 and set = = and obtain 3 + 3 3 + 3 24 = = = 3 3 3 3 3
==
Recognizing that the equivalent stiffness of a fixed-fixed beam of length 2 loaded at its middle is equal to the total equivalent stiffness of a parallel spring combination of two end loaded beams, we obtain that 1 1 24 12 = = = 3 2 2 3
3.Stiffness Elements - Ex.2.6 Equivalent stiffness of a micro-electromechanical system (MEMS) fixed-fixed flexure A micro-electromechanical sensor system (MEMS) consisting of four flexures. Each of these flexures is fixed at one end and connected to a mass at the other end. The length of each flexure is = 100 , the thickness of each flexure is = 2 , and the width of each flexure is = 2. A transverse loading acts on the mass along the -direction, which is normal to the plane. Each flexure is fabricated from a poly-silicon material, which has a Youngs modulus of elasticity = 150 Determine the equivalent stiffness of the system
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3.Stiffness Elements Solution Each of the four flexures can be treated as a beam that is fixed at one end and free to translate only at the other end, similar to the system in Ex.2.5 The equivalent stiffness of each flexure is given by 12 3 = 3 , = 12 The equivalent stiffness of the system 3 3 12 12 = 4 = 4 = 4 3 3 150 109 2 106 2 106 =4 = 9.6/ 6 100 10
3.Stiffness Elements - Ex.2.7 Equivalent stiffness of springs in parallel: removal of a restriction Determine of the equivalence spring constant for the parallel springs subjected to unequal forces Solution From similar triangles = 2 + 2 = + + 1 + 1 + 2 Consider the bar = 1 + 2 1 = , = + 2 + 2 = 1
Therefore
1 = 1 2 = , = = 1 1 + 2 2 2 +
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3.Stiffness Elements + + 1 + 2 = + + 1 + + 2 + 12 + 2 2 = + 2 12 For the equivalent system = = The equivalence spring constant for the parallel springs subjected to unequal forces 12 + 2 = 1 2 + 2 2
3.Stiffness Elements 3.Nonlinear Springs - Nonlinear stiffness elements appear in many applications, including leaf springs in vehicle suspensions and uniaxial micro-electromechanical devices in the presence of electrostatic actuation - The spring force () = + 3 (2.23)

: the stiffness coefficient of the nonlinear term > 0 hardening spring < 0 softening spring : the linear spring constant - The potential energy 1 1 = = 2 + 4 (2.24) 2 2 0
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3.Stiffness Elements - For a nonlinear stiffness element described by Eq. (2.23), the graph is no longer a straight line. The slope of this graph at a location = is given by (2.25) = + 3 2 = + 32 = =
3.Stiffness Elements - Experimentally obtained data used to determine the nonlinear spring constant
in the vicinity of displacements in a neighborhood of = , the cubic nonlinear stiffness element may be replaced by a linear stiffness element with a stiffness constant (2.25) - The constant of proportionality for the nonlinear cubic spring is determined experimentally
= + 3
(2.23)
Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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3.Stiffness Elements - Ex.2.8 Nonlinear stiffness due to geometry a. Nonlinear stiffness due to geometry The initial tension force
3.Stiffness Elements Cubic Springs and Linear Springs Assume that |/| 1, using binomial expansion
0 =
=0
= 0
2 + 2
1+
= 1+
2 1/2
=1+
1 2
1 8
2
The force in the spring = 0 + = 0 The force in the -direction is obtained 0 2 + 2 = + = = 2 + 2 2 + 2 2 + 2 the spring force opposing the motion is a nonlinear function of the displacement . Hence, this vibratory model of the system will have nonlinear stiffness
/ 1 + /
2
1 + / 2 1 2 1 + 1 / 2 = 0 + 1 2 1 2 1+ 1+ 2 2 3 = 0 + 2
1 +
1 + /
Binomial expansion
= 1 + + 2 ( 1) 2 +
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3.Stiffness Elements 3 = 0 + 2 When the nonlinear term is negligible = 0 = 0 and the spring constant is proportional to the initial tension in the spring b. Nonlinear spring composed of a set of linear springs Another example of a nonlinear spring is one that is piecewise linear as shown in figure
3.Stiffness Elements 4.Other Forms of Potential Energy Elements Consider other stiffness elements in which there is a mechanism for storing and releasing potential energy. The source of the restoring force is a fluid element or a gravitational loading - Fluid Element The magnitude of the total force of the displaced fluid acting on the rest of the fluid = 20 : the mass density of the fluid, /3 Manometer : gravitational constant, / 2 0 : the manometer cross-sectional area, 2 : the fluid displacement,
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3.Stiffness Elements The equivalent spring constant of this fluid system = = 20 The potential energy 1 = 2 = 0 2 2 Alternatively, the potential energy can also be obtained directly from the work done
=
0
= 20 = 0
2 0
3.Stiffness Elements - Compressed Gas When the piston moves by an amount along the axis of the piston, 0 decreases to a volume = 0 0 = 0 0 1 /0 = 0 1 /0 Gas compression 0 : the piston cross-sectional area, 2 with a piston The equation of state for the gas = 0 0 = 0 = = 0 : gas pressure, /2 : gas volume, 3 : the ratio of specific heats of the gas, when compressed - slowly, the compression is isothermal, = 1 - rapidly, the compression is adiabatic, = / = 1.4
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3.Stiffness Elements The magnitude of the force on the piston = 0 = 0 0 = 0 0 0 1 /0 = 0 0 1 /0 (2.33) The Eq. (2.33) describes a nonlinear force versus displacement relationship At the vicinity of = , the stiffness of an equivalent linear stiffness element 0 0 = = 1 /0 1 = 0 0 0 For /0 1, = 0
3.Stiffness Elements For arbitrary /0 , the potential energy
=
0
= 0 0
0
1 /0
= 1 1
0 0 0 1 /0 = 0 0 0 1 /0 1 1
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3.Stiffness Elements - Pendulum System Pendulum systems: bar with uniformly distributed mass At , the vertical distance through which the center of gravity of the bar moves up from the reference position = = 1 Pendulum systems: bar 2 2 2 with uniformly distributed mass The increase in the potential energy

3.Stiffness Elements 1 = 1 2 1 2 2 2 1 2 = 2 where the equivalent spring constant = 2
Pendulum systems: bar with uniformly distributed mass
=
0
=
0
or in 1 = (1 ) 2
Taylor series approximation = 1
2 2
+
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3.Stiffness Elements Pendulum systems: mass on a weightless rod The increase in the potential energy 1 1 1 2 = 2 2 2 where the equivalent spring constant = 1 If the weightless bar is replaced by one that Pendulum systems: mass has a uniformly distributed mass , then the on a weightless rod total potential energy of the bar and the mass 1 1 1 1 2 + 1 2 = + 1 2 = 2 4 2 2 2 2 where the equivalent spring constant = + 1 2
3.Stiffness Elements Pendulum systems: inverted mass on a weightless rod The decrease in the potential energy 1 1 2 2
Pendulum systems: inverted mass on a weightless rod
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3.Stiffness Elements - Ex.2.9 Equivalent stiffness due to gravity loading For small rotations about the upright position = 0, the potential energy 1 1 = 1 2 2 2 2 2 1 = 1 2 2 2 There is a gain or loss in potential energy depending on whether 1 > 2 or vice versa When the bar has a uniformly distributed mass 1 = 1 /, 2 = 2 /, = 1 + 2 , = 1 /2, = 2 /2 2 2 1 1 + 2 1 1 2 = 2 = 2 = 2 4(1 + 2 ) 2 2 2 where the equivalent stiffness = 1 + 2 /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 nonconservative or dissipative because this energy is not recoverable by the mechanical system - There are four common types of damping mechanisms used to model vibratory systems Viscous damping Coulomb or dry friction damping Material or solid or hysteretic damping Fluid damping In all these cases, the damping force is expressed as a function of velocity
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4.Dissipation Elements 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
- A common representation of a viscous damper is a cylinder with a piston head
4.Dissipation Elements - In the linear case, the damper force is expressed as = (2.46) : the damping coefficient, /(/) Viscous damping of the form given by Eq. (2.46) is also called slow-fluid damping - 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 (2.47) = =
- Depending on the damper construction and the velocity range, the magnitude of the damper force () is a nonlinear function of velocity or can be approximated as a linear function of velocity
- 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
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4.Dissipation Elements Energy Dissipation The energy dissipated by a linear viscous damper = = = 2 = 2 (2.48)
Parallel-Plate Damper An example of a viscous damper is shown in the figure The shear force acting on the bottom plate = = (2.49) The damping coefficient for the parallel-plate construction (2.50) =
4.Dissipation Elements - Ex.2.10 Design of a parallel-plate damper A parallel-plate damper with a top plate of dimensions100 100 is to be pulled across an oil layer of thickness 0.2, which is confined between the moving plate and a fixed plate. We are given that this oil is SAE30 oil, which has a viscosity of 345 (345 103/2 ) Determine the viscous damping coefficient of this system Solution To this end, using Eq. (2.50) and substitute the given values into this expression and find that 345 103 100 103 100 103 = = = 17.25/ 0.2 103
=

(2.50)
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4.Dissipation Elements - Ex.2.11 Equivalent damping coefficient and equivalent stiffness of a vibratory system Consider the vibratory system in which the motion of mass is restrained by a set of linear springs and linear viscous dampers. Determine and
Solution The equivalence system 2 3 = 1 + , 2 + 3
4.Dissipation Elements - Ex.2.12 Equivalent linear damping coefficient of a nonlinear damper It has been experimentally determined that the damper forcevelocity relationship is given by the function = 4/ + (0.3 3 /) 3 Determine the equivalent linear damping coefficient around an operating speed of 3/ Solution Using the Eq. (2.47) = = 4 + 0.9 2 = 4 + 0.9 32 =3/ =3/
= 12.1/
= 1 + 2
=
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=
(2.47)
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4.Dissipation Elements 2.Other Forms of Dissipation - Coulomb Damping or Dry Friction This type of damping is due to the force caused by friction between two solid surfaces
4.Dissipation Elements If the normal force is due to the system weight, then = = () (2.52) The energy dissipated in this case = = = (2.53) - Fluid Damping (Velocity-Squared Damping) This type of damping is associated with a system whose mass is vibrating in a fluid medium. The magnitude of the damping force = 2 = || (2.54) : friction coefficient, = /2 : drag coefficient : the mass density of the fluid : the projected area of the mass in a direction normal to Fluid damping of (2.54) is often referred to as fast-fluid damping
The friction force acting on the system = () : the kinetic coefficient of friction : the force compressing the surfaces, +1 > 0 : the signum function, = 1 < 0 0 = 0
(2.51)
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4.Dissipation Elements The energy dissipated = = = () 3 (2.54)
- Structural or Solid or Hysteretic Damping This type of damping describes the losses in materials due to internal friction. The damping force is a function of displacement and velocity and is of the form = || (2.57) : an empirically determined constant The energy dissipated = = = ()|| (2.58)
5.Model Construction 1.Introduction - In this section, four examples are provided to illustrate how the previously described inertia, stiffness, and damping elements are used to construct system models - Modeling is an art, and often experience serves as a guide in model construction - In this section, the examples are drawn from different areas, and are presented in a progressive order proceeding from the use of discrete inertia, stiffness, and damping elements in a model to distributed elements, and finally, to a combination of distributed and discrete elements - As discussed in the subsequent chapters, the mass, stiffness, and damping of a system appear as parameters in the governing equations of the system
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5.Model Construction 2.A Micro-electromechanical System Micro-electromechanical accelerometer and a vibratory model of this sensor
5.Model Construction 3.The Human Body Human body and a vibratory model
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5.Model Construction 4.A Ski Cross-country ski, which is a physical system with distributed stiffness and inertia properties, and its vibratory model
5.Model Construction 5.Cutting Process Work-piece-tool turning system and vibratory model of this system
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6.Design for Vibration
Exercises
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Ch.02 Modeling of Vibratory Systems

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Ch.02 Modeling of Vibratory Systems

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Modeling of Vibratory Systems

Modeling of Vibratory Systems

02. Modeling of Vibratory System

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Modeling of Vibratory Systems

Modeling of Vibratory Systems

= 2 - Parallel-axes theorem = + 2 , : distance from the center of gravity to point

Modeling of Vibratory Systems

Modeling of Vibratory Systems

Nguyen Tan Tien

Modeling of Vibratory Systems

Modeling of Vibratory Systems

Modeling of Vibratory Systems

Modeling of Vibratory Systems

2.Inertia Elements 2 = 2 + 2 2 2 = (/2)2 +2 2 = (/2)2 +2 ( ) The rotary inertia of this system = + () + () + ()

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Modeling of Vibratory Systems

Modeling of Vibratory Systems

Wire rope isolators to isolate vertical motions of machinery

Air springs used in suspension systems to isolate vertical motions

Typical steel coil springs for isolation of vertical motions

Stiffness element with a force acting on it

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Modeling of Vibratory Systems

Modeling of Vibratory Systems

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Modeling of Vibratory Systems

Modeling of Vibratory Systems

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Modeling of Vibratory Systems

Modeling of Vibratory Systems

3.Stiffness Elements - Spring Constants for Some Common Elastic Elements

Modeling of Vibratory Systems

Modeling of Vibratory Systems

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Modeling of Vibratory Systems

Modeling of Vibratory Systems

0.00560 0.00647 0.00691 0.00712 0.00720 0.00722

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Modeling of Vibratory Systems

Modeling of Vibratory Systems

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Modeling of Vibratory Systems

Modeling of Vibratory Systems

Modeling of Vibratory Systems

Modeling of Vibratory Systems

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien