Kuwait University College of Engineering & Petroleum Mechanical Engineering Department Lab C1 ME-474 Experiment #1 Free and Forced Vibration with Damping for a 1-DOF System Conducted On: September 7, 2015 By Asilah Alshatti 209117171 Salma Al-Fahhad 2111113048 Taiba Al-Baloul 210111776 September 28, 2015 On my honor, I pledge that this work of mine does not violate the University provisions on academic misconduct. By signing below, I certify that I understand the University Policies on academic misconduct and that when an act of academic misconduct is committed, all parties involved are in violation. SignatureAbstract Free undamped and damped vibration: This experiment was conducted in order to study undamped free vibration, damped vibration, and forced vibration. For the purpose of studying the undamped free vibration, a setup with no damping current was used. For different masses, the motion of the vibrating mass was recorded on a strip of teledeltos paper. Afterwards, the natural frequencies corresponding to the masses were calculated, and the squared values of the natural frequencies were plotted against the reciprocal of the masses. The slope of the graph represents the value of the experimental spring constant, which equals (54.19 N/m). This value was compared to the theoretical value of the spring constant, which equals (54 N/m). [erronbstWeen theltheorsticalivalUetsnal thie experimental value of the spring constant was found tobe ( In order to study the damped vibration, the same setup was used with an electromagnet to provide a damping current. For different damping currents, the damping ratios were calculated, and then plotted against the damping current. In addition, the values of the damping coefficients were calculated, and then plotted against the damping currents. It was concluded that the increase in the mass results in a decrease in the damping ratios, but provides a higher damping coefficient Forced vibration: In order to study the forced vibration, a motor was used to oscillate the setup-base, that resulted in a forced vibration of the mass which is called an oscillation motion. The purpose of the experiment was to get the theoretical and the experimental values of the transmissibility ratio. The theoretical and the experimental transmissibility ratios were then plotted against the frequency ratio. After that, the half-power-point method was used in order to plot the transmissibility ratio against thefrequency ratio for the case of applying a damping current of (0-74) to the system. The damping ratio corresponding to this damping FSRIOWESTTOUPGIESIDETEGUAIIEONN).t was concluded that the increase in the damping current results in a decrease in the transmissibility ratio. In addition, it was found that the theoretical values of the transmissibility ratios were greater than the experimental values.Table of Contents Abstract. Table of Contents List of Figures and Tables. Introduction: Tabulated Data: ii iti 14Figure Y Table 1 Table 2: kg) Table 3: kg) Table 4 Table 5 Table 6 Table 7: Table 8 Table 9: kg) Table 1 kg) Table 1 Table 1 Table 1 List of Figures and Tab] 1: The experimental setup for 1-DOF. MW Measured data resulting from the variation of time period with vibrating mass...1 Measured data of the variation of damping ratio with damping current (m=1.35 1 Measured data of the variation of damping ratio with damping current (m=4.85 Measured data of the damping ratio for a value of damping current ([=0.7 A).....1 Measured data of the damping ratio for a value of damping current ([=0.9 A).....1 Measured data of the damping ratio for a value of damping current (I=1.1 A).....1 Measured data of the damping ratio for a value of damping current (I=1.3 A).....1 Calculated data of the variation of time period with vibrating mass. 1 Calculated data of the variation of damping ratio with damping current ( 0: Calculated data of the variation of damping ratio with damping current (m=4.85 1 1: Calculated data of the damping ratio for a value of damping current (I=0.7 A)..1 2: Calculated data of the damping ratio for a value of damping current ([=0.9 A)..1 3: Calculated data of the damping ratio for a value of damping current ([=1.1 A)..1 Table 14: Calculated data of the damping ratio for a value of damping current (I=1.3 A)..1 Nomenclature AB constants determined by initial conditions c damping coefficient. F® extemal impressed time dependent force k spring stiffness. m vibrating mass r frequency ratio. t time a natural frequency of the system. 44 damped natural frequency of the system x displacement in x-direction at time t. y displacement of the support in x-direction at time t K velocity inx - direction at time t k acceleration inx -direction at time t x steady state amplitude of forced vibration in x-direction amplitude ratio (Amplifca tion Factor or Transmissi bilty) ss amplitude of frame oscillation in x-direction. aa ratio of successive maxima x al ratio of successive maxima to minima damping ratio Introduction: Vibration dampers are used in many application where dissipation of energy is required, Mostly, mechanical energy is converted into heat. When the dissipation is due to intemal friction or hysteresis characteristics of to the molecular structure, it is called material damping When the dissipation is generated by friction, snapping, rubbing, slapping or impacting at the joints and interfaces of structural assemblies, it is called structural damping Dampers are used for increasing life, reducing noise, and preventing premature failures. Dampers have become more popular recently for vibration control of structures, because of their safe, effective and economical design. In addition, anotherapplication is in cars where the damper protects components from premature wear, therefore increasing life. It also isolates vibration and oscillation noise so that it is not transmitted to the vehicle structure. Many other uses of dampers exist in the industry where machinery is involved. Vibration is divided into (1) Free Vibration: The free vibration results from an initial impact energy that is changes continually from potential energy to kinetic energy. Ifa mechanical system was displaced by an initial impact energy from its equilibrium position and then released, the restoring force will retum the system towards its equilibrium position. This initial impact energy can be an initial velocity, or an initial displacement through an applied force. In this type of vibration, the system vibrates at its natural frequency. However, due to various reasons, some mechanical energy will be dissipated during each cycle of vibration, and this effect is called damping In the first part of the experiment, the system is allowed to vibrate freely, without damping, in order to study the effect of varying the mass on the natural frequency. In the second part of the experiment, the mass is fixed while the current damping is increased in order to study its effect on the system, After that, the readings are collected and used to determine the damping coefficient ‘The logarithmic decrement is the natural log of the ratio of the amplitudes of any two successive peaks. This method states that the displacement of an underdamped system is a sinusoidal oscillation with decaying amplitude. This method method is used in order to find the damping ratio of the system. (2) Forced Vibration: When an extemal excitation input is added to the system, the resulting vibration is called forced vibration. In the third part of the experiment, the setup-base is oscillated using a motor that oscillates at a set angular speed in order to cause an oscillation motion. In this case, the transmissibility ratio (X/Y), which is the ratio of the amplitude of the response X to that of the base Y, is obtained. To estimate the damping ratio from the frequency domain, the half-power bandwidth method is used. The halfpower point damping method is defined as the ratio of the frequency range between the two half power points to the natural frequency at this modeIn this method, the amplitude of the frequency response function of the system is obtained first. Corresponding to each natural frequency, there is a peak in the amplitude of the frequency response function. The half-power points are the frequencies at which the value of response amplitude drops 3 decibels, or 70.7%, in relation to the amplitude of the response at the center. The more the damping, the more the frequency range between these two pointsObjectives The objectives of this experiment were 1) To investigate the variation of the undamped natural frequency with the vibrating mass 2) To study damped free vibration and to determine the damping ratio 3) To study the forced vibration excited by an oscillating supportTheoretical Background Mathematical Model In an ideal, 1-DOF system a rigid mass, m, is connected to a fixed, rigid support by @ light spring of stiffness k and a viscous damper with damping coefficient c, and is constrained to move in the x-direction only. An extemal force F(t) acts on the mass. The resulting equation of motion of the system is maxtextkx=F() an Case 1: Free Vibra’ mxrextkx=0 aay Ifa system, after an initial disturbance, is left to vibrate on its own, the ensuing vibration is known as free vibration. When all extemelly applied forces F(t) are zero Equation 1.1 becomes maxtkx=0 a3) In the case of un-damped free vibration, a4) with a circular frequency, where , Oy is the natural frequency of the system and Equation 1.4 is a second order homogeneous, linear differential equation. It has a solution of the form x= Asin @ , or x= Acos Oyt Introducing the damping ratio (14a)x=e(Acos(a, J1—27 t+ Bsin((@, y) a6) x+ 260, 1+ @,”. (5) ‘The Equation 1.2 becomes: rae (A+ Bt) an ‘The solution of Equation 1.5 depends on the value of thus for <1 for =1 and for >1 *{Acosh(@, JE? —1)t + Bsinh(( w, fE? —1)t} (18) where A and B are constants determined by the initial conditions. Ifx= Xq and for <1 cos(0, fi )t + anl(o, fI-F) as) i- (1.10) and for >1 cost a, (Et + Pon =D) aan V Note that for <1 the free motion is oscillatory with damped natural frequency oy = (1 12) and the ratio of successive maxima for 1 Yan =“ OXq expl (Ee, (sm > J aay Case 2: Forced rations x4 26, 1+. 0,°'x=260,Y cos wt+,Ysin wt (1s) If the support is oscillated such that its motion in the x-direction is y = Y sin t the equation of motion for the system becomes ‘The steady-state solution of Equation 1.18 is X_ fd+4er) 2. (ig) Fo fa-P P4877] x=Xcos(o t+6) where the amplitude of the forced vibration, X, is given by the amplification factor: M1where, (1.20) Experimental Deta set up and procedure Experimental set up: 1) Vibrating Mass: Constrained in an extemelly pressurized air bearing guide (2) 2) Air-Bearing Guide 3) Frame. 4) Springs 5) Copper Plate: It moves in the air gap of an electromagnet (6) attached to the frame 6) Electromagnet: It gives eddy current damping. 7) Stylus: Itis fixed to the mass and records its motion on a strip of teledeltos paper. 8) Teledeltos Paper. 9) Paper Drive. 10) Base Plate. 11) Driving Motor. 12) Gear Box: Its 1 : 20 speed reduction gear. Correct your RPM accordingly. 13) Eccentric: For providing oscillations to the frame (3) 14) Air Pressure Regulator and Filter: For air bearing 15) Out-of Balance Force: It may be fitted to the vibrating mass to force the system via motor. 16) Control Unit. Figure 1: The experimental setup for 1-DOFExperimental procedure: Part 1: Variation of undamped natural frequency with vibrating mass: 1) Prepare the setup for free un-damped vibrations by setting the eccentric to zero radius and zero damping current, Adjust the air bearing pressure so that the mass floats. Set up the recorder and time it for mm/sec of paper speed 2) Fora given value of vibrating mass make three measurements of the time taken for 10 n cycles of free vibration, where n is chosen to give atime of between 35 and 50 seconds. From the average time for one cycle, Tx the un-damped natural frequency, @, can be computed from = 2/Ta, 3) Repeat for different values of the vibrating mass, m, chosen to give approximately equal intervals for 1/m. 4) Plot a graph of ay? against m™! which should be a straight line with slope equal to. the spring stiffness, k. Be consistent in units (if the unit of mis kg and Tnis sec, then the unit of Onis rad/sec and of k is N/m) Part 2: Damped free vibration and determination of the damping ratio 1) Set a given value of the damping current and hold it constant throughout the test. Remember the safety precaution. 2) Measurement of the damping ratio,, is from a record of the free vibration in which the vibration mass is displaced to one of the stops limiting its motion and released from rest. The equilibrium position of the mass should be recorded before and after the free vibration and the initial position of the mass (x = Xg) should be recorded before the mass is released. 3) For < 0,05: determine the mean value of the ratio of successive maxima, and calculate the value of from Equation 1.13. 4) For 0.05<=<0.1: determine the mean value of the ratio of successive maxima and obtain the value of 5) For 0.1<= ,0.3: determine the mean value of the ratio of successive maxima and minima and obtain the value of 136) For 0.3<= <0.6: determine the ratio of the amplitude of the first XIX E minimum to the initial displacement 2 ° and obtain 7) Plot a graph of against damping current to use as a calibration curve to guide in setting in other experiments. Note that the graph will apply for particular values of m and k, but it can be adjusted for other values using V1.4a Part Forced vibration excited by oscillating the support 1) Using the results of Part 2, set the damping current to give the required value of and hold it constant throughout the test. 2) Set the eccentric to give a suitable amplitude of frame oscillation, Y, and measure it using a ruler. If ¥ is made too large with low values of the motion of the vibrating mass will be limited by the stops for that part of the forced vibration response in the region of resonance 3) Switch on the frame drive (selector D in Figure (1)) 4) Select the appropriate forcing frequency by controlling knob C of Figure (1). Count the RPS using the photoelectric probe assembly 5) Set up the recorder as before to record several cycles of steady-state forced vibration for values of the forcing frequency, @, from approximately 05a, to 2.5%, with close spacing of the readings in the region of resonance. 6) Measure the amplitude of vibration of the vibrating mass, X, from the recorded traces and plot X/Y against /o, Compare this graph with the theoretical response given by Equation 1.19, evaluated for the appropriate value of Tabulated Data: 14Measured: (A) Free Vibration Table (1) below displays the data obtained for a free, undamped vibration of a single degree of freedom system. The first column represents the serial number of the runs, while the second column represents the mass of the cradle in (kg). The third column lists the reciprocal of the mass in (kg), while the fourth column lists the number of cycles taken for each run. The fifth column displays the length of the record in (mm).The sixth column represents the average time period in (sec) ‘Table 1: Measured data from the variation of the time peried with vibrating mass. Seria | Mass | 1/m No. of Length of the Average 1 | Im, | kg | cycles Record r No. | kgl y In] [L, mm] Period Z [sec] 1 1.35 0.74 2 94.5 1.00 2 1.85 0.54 2 lil 1.17 3 2.35 0.43 15 94.5 1.33 4 2.85 0.35 1 70 1.48 5 3.35 0.30 15 114 1.61 6 3.85 0.26 15 121.5 71 7 4.35 0.23 1 86 1.82 8 4.85, 0.21 15 136 1.92 Tables (2) and (3) below displays the data obtained for an undamped vibration of a single degree of freedom system. The mass is fixed at (1.35 kg) in table (2) and at (4.85 cg) in table (3). The first column represents the serial number of the runs taken, while the second column represents the damping current in (A). The third column lists the amplitude of vibration in (mm) for the first maximum or minimum amplitude, while columns four and five list the second and third maximum or minimum amplitude of vibration in (mm), respectively. Serial % Xe Xaes 15No. IL Al [mm] {mm] from) 1 0.0 215 20.0 19.0 2 O.1 20.5 19.0 18.5 3 0.2 19.5 18.5 18.0 4 0.3 19.5 17.0 175 5 0.4 19.0 15.0 17.0 6 05) 18.0 14.0 15.0 1 0.6 17.0 12.0 14.0 8 O7 16.5) 10.5) 13.0 9 08 16.5) 10.0 12.0 10 og 14.5) 8.0 10.0 nL 1.0 14.0 6.0 85 12 li 13.0 45) 75 13 12 12.0 4.0 65 4 13 11.0 3.0 5.0 Table 3: Measured data of the variation of damping ratio with damping current (m=4.85 kg). Serial Damping Current Xe Xoo Xnro5 No. 1, Al [mm] [mm] [mm] 1 0.0 24.0 20.0 23.0 2 0.1 23.5 19.0 215 3 0.2 22.5 18.0 20.5 4 03 215 17.0 18.5) 5 0.4 21.0 16.0 17.0 6 05) 19.0 14.0 15.0 7 0.6 175 125 125 8 07 17.0 10.5 10.0 9 0.8 145) 9.0 8.0 10 0g 13.0 7.0 6.0 1 1.0 11.0 55) 45) 12 11 9.0) 45) 3.0) 13 12 8.0 35) 25) 14 13 65 3.0 1.0 (B) Forced Vibration Tables (4), (5), (6), and (7) display the data obtained for a damped, forced vibration of a single degree of freedom system. The damping current is fixed to (0.7 A) in table (4), to (0.9 A) in table (5), to (1.1 A) in table (6), and to (1.3 A) in table (7). The mass is fixed at (3.35 kg) for tables (4) through (7). The first column represents the serial number of runs taken, while the second column represents the desired frequency ratio. The third column 16lists the desired motor speed in (cpm), while the fourth column lists the actual motor speed in (rpm). The fifth column displays the doubled amplitude of vibration in (mm) while the sixth column displays the amplitude of vibration is listed in (mm) ‘Table 4: Measured data of the damping ratio for a value of damping current (10.7 A). Seri Desired Desired Motor | Actual Motor 2x x al_| Frequency Ratio Speed Speed Im | Imm No. | [rl In, rpm] In, rpm] ml | 1 2 3 4 5 6 7 8 9 | 10 il 12 13 ‘Table 5: Measured data of the damping ratio for a value of damping current (0.9 A). Seri | Desired Desired Motor | Actual Motor | 2x | x al | Frequency Ratio Speed Speed Im | [mm No. tr In, rpm] Ln, rpm] ml | J 1 2 3 4 5 6 7 8 710 11 12 | 13 | ‘Table 6: Measured data of the damping ratio for a value of damping current 1A). Desired Frequency Ratio tr Seri al No. Actual Motor Speed In, rpm] Desired Motor Speed In, rpm] ‘Table 7: Measured data of the damp: Desired Frequency Ratio tr Seri | al No. ing ratio for a value of damping current (I=1.3 A). ‘Actual Motor Speed In, rpm] Desired Motor | Speed In, rpm] 2x Im ml 1813 Calculated: (A) Free Vibration Table (8) below displays the data obtained for a free, undamped vibration of a single degree of freedom system. The first column represents the serial number of the runs, while the second column represents the mass of the cradle in (kg). The third column lists the reciprocal of the mass in (kg”), while the fourth column lists the number of cycles taken for each run. The fifth column displays the length of the record in (mm).The sixth column represents the average time period in (sec), The seventh column shows the square of the natural frequency of the system in (rad/s?) ‘Table 8: Calculated data of the variation of time period with vibrating mass. ser|™25| 17m | No.of | Length of | average Freely ial | tm, | (kg | Cycles the Record | Time Period Tw, No. | igi | 2 | inl [L, mm] U7, sec] rade] 1 [1.35 /0.74[ 2.00 94.50 1.00 39.60 2 |185[054[ 2.00 | 111.00 117 28.70 3 |235|043] 150 94.50 1.33 22.27 4 [285 [035] 1.00 70.00 1.48 18.04 5 [335/030] 150 114.00 161 15.30 6 | 385 [026] 150 121.50 171 13.47 7 [435 | 023, 1.00 86.00 1.82 11.95 8 [45 [021] 150 136.00 1.92 10.75 Tables (9) and (10) displays the data obtained for an undamped vibration of a single degree of freedom system. The mass is fixed at (1.35 kg) in table (2) and at (4.85 kg) in table (3). The first column represents the serial number of the runs taken, while the second column represents the damping current in (A). The third column lists the 19amplitude of vibration in (mm) for the first maximum or minimum amplitude, while columns four and five list the second and third maximum or minimum amplitude of vibration in (mm), respectively The sixth and seventh columns list the logarithmic decrement for su essive maxima and successive maxima to minima, respectively. The eighth column represents the damping ratio of the system, while the ninth column lists the damping coefficient of the system in (N-s/m) ‘Table 9: Calculated data of the variation of damping ratio with damping current (m=1.35 kz). | Damping Serial Xe | Xen | Xnsos Damping | Coefficie No. | Current | [mm] | [mm] | [mm] Ul, Al (1 Ic, N- 1» sim] 1 0.00 | 21.50 | 20.00 | 19.00 | 1.08 0.07 0.01 2 0.10 | 20.50 | 19.00 | 1850 | 1.08 0.08 0.01 3 020 | 19.50 | 1850 | 18.00 | 1.05 0.05 0.01 4 030 | 19.50 [17.00 [1750] 1.15 0.14 0.02 5 0.40 | 19.00 | 15.00 | 17.00 | 1.27 0.24 0.04 6 050 | 18.00 [14.00 | 15.00 | 1.29 0.25 0.04 7 0.60_| 17.00 | 12.00 | 14.00 | 1.42 0.35 0.06 8 0.70 | 1650 | 10.50 [13.00 | 157 0.45 0.07 9 0.80 | 1650 | 10.00 | 12.00 | 1.65 050 0.08 10 oso | 1450 | 8.00 | 1000] 181 059 0.09 i 100 | 14.00 | 600 | 850 | 2.33 0.85 0.13 12 110 | 13.00 | 450 | 750 | 2.89 1.06 0.17 13 120 | 12.00 | 400 | 650 | 3.00 1.10 0.17 14 130 [11.00 [3.00 [5.00 | 367 130 0.20‘Table 10: Calculated data of the variation of damping ratio with damping current (m=4.85 kg). Dampin serial pon Damping | coefficie erial |g xX | Xe | Xns0s amen a No. | Current | tmmI | [mm] | [mm] Xe a IdNe tal mt 5 sim] 1 0.00 24.00 20.00 | 23.00 1.20 0.18 0.03 2 0.10 23.50 19.00 | 21.50 1.24 0.21 0.03 3 0.20 22.50 18.00 | 20.50 1.25 0.22 0.04 4 0.30 21.50 17.00 | 18.50 1.26 0.23 0.04 5 0.40 21.00 16.00 | 17.00 1.31 0.27 0.04 6 0.50 19.00 14.00 | 15.00 1.36 0.31 0.05 7 0.60 17.50 12.50 | 12.50 1.40 0.34 0.05 8 0.70 17.00 10.50 | 10.00 1.62 0.48 0.08 9 0.80 14.50 9.00 8.00 1.61 0.48 0.08 10 0.90 13.00 7.00 6.00 1.86 0.62 0.10 11 1.00 11.00 5.50 4.50 2.00 0.69 0.11 12 1.10 9.00 4.50 3.00 2.00 0.69 0.11 13 1.20 8.00 3.50 2.50 2.29 0.83 0.13 14 1.30 6.50 3.00 1.00 2.17 0.77 0.12 (B) Forced Vibration Tables (11), (12), (13), (14) list the data obtained for a damped, forced vibration of a single degree of freedom system, The damping current is fixed to (0.7 A) in table (11), to (0.9 A) in table (12), to (1.1 A) in table (13), and to (1.3 A) in table (14). The mass is fixed at (3.35 ke) for tables (11) through (14). The first column represents the serial number of runs taken, while the second column represents the desired frequency ratio. The third column displays the desired motor speed in (cpm), while the fourth column displays the actual motor speed in (rpm). The fifth column lists the doubled amplitude of vibration in (mm), while the sixth column lists the amplitude of vibration in (mm). The seventh column shows the actual frequency ratio. The eighth and ninth columns represents the experimental and theoretical amplitude ratios, respectively. The first row of the table displays the damping coefficient in (N-s/m) and the damping ratio. ‘Table 11: Calculated data of the damping ratio fora value of damping current (I=0.7 A). Damping Damping Ratio Coefficient {@ a[c, N-s/m] Seria | Desired | Desired | Actual [> Actual] 1? | Frequen Motor | motor | 2%) x | Frequen| 7 No, | &YRatio | Speed | Speed |! | mm] | cy Ratio {rl [n, rpm] | _[n, rpm] {r 1 2 3 4 5 6 7 8 9 10 iL 12 13 ‘able 12: Caleulated data ofthe damping ratio fora value of damping current (1-09 A). Corie Damping Ratio [c, N-s/m] ;, | Desired | Desired | Actual Actual Serla'| Frequen | Motor Motor en x | Frequen 2 No, | &YRatio | Speed | Speed |! | [mm] | cy Ratio In In, rpm]_|_tn, rpm] In 1 2 3 4 5 6 7 8 9 10 iL 12 13 ‘able 13: Calculated data ofthe damping ratio fora value of damping current (1.1 A). Damping Damping Ratio Coefficient _| ta[c, N-s/m] Seria] Desired | Desired | Actual 7 5y Actual | x | x 1 Frequen Motor Motor |imm |, | Frequen | Y aco No, | CY Ratio | Speed Speed 7" | mm] | cy Ratio tr In, rpm1_|_tn, rpm] i 1 2 3 4 5 6 7 8 9 10 i 12 13 ‘Table 14: Calculated data of the damping ratio fora value of damping current (13 A). Damping Ratio (a Seria | Desired | Desired Actual | x x 1 Frequen | Motor Frequen | y Y avo No. | CYRatio | Speed cy Ratio tr In, rpm] tr 1 2 3 4 5 6 7 8 9 10 i 12 13