NOISE & VIBRATION

Topic 6 :
Vibration Control

Ir Dr Zainal Fitri B Zainal Abidin

Sept 2016
 Chapter Outline

Introduction
Vibration Nomograph and Vibration Criteria
Reduction of Vibration at the source
Balancing of Rotating Machines
Whirling of Rotating Shafts
Balancing of Reciprocating Engines
Control of Vibration
Control of Natural Frequencies
Introduction of Damping
Vibration Isolation
Vibration Absorbers
2011 Mechanical Vibrations
Fifth Edition in SI Units
2
 Introduction

Vibration leads to wear of machinery and

discomfort of humans, thus we want to eliminate
vibration

Designer must compromise between acceptable

amount of vibration and manufacturing cost

We shall consider various techniques of

vibration control in this chapter.
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Fifth Edition in SI Units
 Chapter Outline

Introduction
Vibration Nomograph and Vibration Criteria
Reduction of Vibration at the source
Balancing of Rotating Machines
Whirling of Rotating Shafts
Balancing of Reciprocating Engines
Control of Vibration
Control of Natural Frequencies
Introduction of Damping
Vibration Isolation
Vibration Absorbers
2011 Mechanical Vibrations
Fifth Edition in SI Units
4
 Vibration Nomograph and Vibration Criteria

Vibration nomograph displays the variations of displacement,

velocity and acceleration amplitudes wrt frequency of vibration

Harmonic motion: x (t ) = X sin t

Velocity:v (t ) = x (t ) = X cos t = 2fX cos t
Acceleration: a(t ) = x(t ) = 2 X sin t = 4 2 f 2 X sin t

Amplitude of velocity: vmax = 2fX (9.4)

Amplitude of acceleration: amax = 4 f X = 2fvmax

2 2
(9.5)
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 Vibration Nomograph and Vibration Criteria

Taking log of Eq. 9.3 and Eq. 9.4:

ln vmax = ln(2f ) + ln X
ln vmax = ln amax ln(2f )
When X is constant, ln vmax varies linearly with ln(2f)

When amax is constant, ln vmax varies linearly with ln(2f)

This is shown as a nomograph in the next slide.

Every pt on the nomograph denotes a specific sinusoidal vibration.

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 Vibration Nomograph and Vibration Criteria

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 Vibration Nomograph and Vibration Criteria

Ranges of Vibration

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 Vibration Nomograph and Vibration Criteria

Frequency sensitivity of
different parts of human
body

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 Vibration Nomograph and Vibration Criteria

Vibration severity of machinery is defined in

terms of the root mean square (rms) value of
vibration velocity. (ISO 2372)

Vibration severity of whole building vibration

(ISO DP 4866)

Vibration limits for human (ISO 2631)

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 Vibration Nomograph and Vibration Criteria

Example 9.1
Helicopter Seat Vibration Reduction

The seat of a helicopter, with the pilot, weights 1000N and is

found to have a static deflection of 10 mm under self-weight.
The vibration of the rotor is transmitted to the base of the
seat as harmonic motion with frequency 4 Hz and amplitude
0.2 mm.
a) What is the level of vibration felt by the pilot?
b) How can the seat be redesigned to reduce the effect of
vibration?

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Fifth Edition in SI Units
 Vibration Nomograph and Vibration Criteria

Example 9.1
Helicopter Seat Vibration Reduction
Solution

Mass = m = 1000/9.81 = 101.9368 kg

Stiffness = k = W/st = 1000/0.01 = 105N/m

Natural frequency = n = k 105

= = 31.3209 rad/s = 4.9849 Hz
m 101.9368

Frequency ratio = r = = 4.9849 = 1.2462

n 4.0
Y
Amplitude of vibration felt by pilot: X =
1 r 2

where Y is the amplitude of

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 Vibration Nomograph and Vibration Criteria

Example 9.1
Helicopter Seat Vibration Reduction
Solution 0.2
X= = 0.3616 mm
1 1.2462 2

vmax = 2fX = 2 (5)(0.3616) = 9.0887 mm/s

amax = (2f ) X = 228.4074 mm/s2 = 0.2284 m/s 2
2

At 4 Hz, the amplitude of 0.3616 mm may not cause much

discomfort.
However the velocity and acceleration at 4 Hz are not
acceptable for a comfortable ride.
Try to bring amax down to 0.01 m/s2

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 Vibration Nomograph and Vibration Criteria

Example 9.1
Helicopter Seat Vibration Reduction
Solution
amax = 10 mm/s = (2f ) X = (8 )
2 2 2

X = 0.01583 mm
X 0.01583 1
= = or r = 3.6923
Y 0.2 1 r 2
8 k
n = = = 6.8068 rad/s =
3.6923 3.6923 m
m = 101.9368 kg k = 4722.9837 N/m

Either use softer material for seat or increase mass of seat.

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 Chapter Outline

Introduction
Vibration Nomograph and Vibration Criteria
Reduction of Vibration at the source
Balancing of Rotating Machines
Whirling of Rotating Shafts
Balancing of Reciprocating Engines
Control of Vibration
Control of Natural Frequencies
Introduction of Damping
Vibration Isolation
Vibration Absorbers
2011 Mechanical Vibrations
Fifth Edition in SI Units
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 Control of Vibration
Some import methods to control vibrations:
Control n and avoid resonance under external
excitations.
Introduce damping mechanism to prevent
excessive response of system
Use vibration isolators to reduce transmission
of excitation forces from one part of the
machine to another
Add an auxiliary mass neutralizer or vibration
absorber to reduce response of system
2011 Mechanical Vibrations 16
Fifth Edition in SI Units
 Chapter Outline

Introduction
Vibration Nomograph and Vibration Criteria
Reduction of Vibration at the source
Balancing of Rotating Machines
Whirling of Rotating Shafts
Balancing of Reciprocating Engines
Control of Vibration
Control of Natural Frequencies
Introduction of Damping
Vibration Isolation
Vibration Absorbers
2011 Mechanical Vibrations
Fifth Edition in SI Units
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 Control of Natural Frequencies
Resonance Large displacements large strains and
stresses failure of system

Often the excitation frequency cannot be controlled.

Hence must control natural frequency by varying mass m

or stiffness k to avoid resonance.

Practically mass cannot be changed easily.

Hence we change stiffness k by altering the material or

number and location of bearings.
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 Chapter Outline

Introduction
Vibration Nomograph and Vibration Criteria
Reduction of Vibration at the source
Balancing of Rotating Machines
Whirling of Rotating Shafts
Balancing of Reciprocating Engines
Control of Vibration
Control of Natural Frequencies
Introduction of Damping
Vibration Isolation
Vibration Absorbers
2011 Mechanical Vibrations
Fifth Edition in SI Units
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 Introduction of Damping
System may be required to operate over a range of speed, hence
cannot avoid resonance

Can use material with high internal damping to control the response.

Can also use bolted or riveted joints to increase damping.

Bolted or riveted joints permit slip between surfaces and dissipate

more energy compared to welded joints.

However they also reduce stiffness of structure, produce debris and

cause fretting corrosion.

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 Introduction of Damping

mx + k (1 + i )x = F0 eit

where loss factor =

(W / 2 )
W
Energy dissipated during 1 cycle of harmonic displacement/radian
=
Maximum strain energy in cycle

F0 F
= 0 , a = constant
k aE

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 Introduction of Damping
Viscoelastic materials have larger values of and are
used to provide internal damping.

Disadvantage is their properties change with temperature,

frequency and strain.

Sandwich viscoelastic material between elastic layers

Constrained layer damping

Material with largest will be subjected to the smallest

stresses.

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 Chapter Outline

Introduction
Vibration Nomograph and Vibration Criteria
Reduction of Vibration at the source
Balancing of Rotating Machines
Whirling of Rotating Shafts
Balancing of Reciprocating Engines
Control of Vibration
Control of Natural Frequencies
Introduction of Damping
Vibration Isolation
Vibration Absorbers
2011 Mechanical Vibrations
Fifth Edition in SI Units
23
 Vibration Isolation
Insert isolator between vibrating mass and vibration source to reduce
response

Passive isolators: springs, cork, felt etc.

E.g. Mounting of high-speed punch press

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 Vibration Isolation

Exhaust Hangers Design

Engine mounting

Bad example Exhaust Hangers

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 Vibration Isolation
Active isolator comprised of servomechanism with sensor,
signal processor and actuator.

Effectiveness given in terms of transmissibility Tr which is

the ratio of amplitude of the transmitted force to that of the
exciting force

2 types of isolation situations:

Protect base of vibrating machine against large unbalanced or
impulsive forces
Protect system against motion of its foundation

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 Vibration Isolation
Protect base of vibrating machine against large unbalanced or
impulsive forces

Fi (t ) = kx(t ) + cx (t )

Protect system against motion of its foundation

Fi (t ) = mx(t ) = k [x(t ) y (t )] + c[x (t ) y (t )]

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 Vibration Isolation
Vibration Isolation System with Rigid Foundation

Resilient member placed between vibrating machine and rigid

foundation

Member is modeled as a spring k and a dashpot c as shown:

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 Vibration Isolation
Vibration Isolation System with Rigid Foundation

Reduction of force transmitted to foundation:

Equation of motion: mx + cx + kx = F0 cos t
Steady state solution: x(t ) = X cos(t )
F0 c
where X = and = tan 1 2
2
(k m ) 2
+ c
2 2 k m

Force Ft transmitted to the foundation:

Ft (t ) = kx(t ) + cx (t ) = kX cos(t ) cX sin (t )
Magnitude of total transmitted force FT:
F0 k 2 + 2 c 2
FT = (kx ) + (cx )
2 2
= X k + c =
2 2 2

(k m ) + c
2 2 2 2

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 Vibration Isolation
Vibration Isolation System with Rigid Foundation

Reduction of force transmitted to foundation:

FT k 2 + 2c 2
Transmissibility Tr = =
F0 (k m ) + c
2 2 2 2

1 + (2r )
2
= where r =
(1 r ) + (2r )
2 2 2
n

Following graphs shows the variation of Tr with r.

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 Vibration Isolation
Vibration Isolation System with Rigid Foundation

Reduction of force transmitted to foundation:

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 Vibration Isolation
Vibration Isolation System with Rigid Foundation

Reduction of force transmitted to mass:

mz + cz + kz = my where z = x y

Displacement transmissibility
1 + (2r )
2
X
Td = =
Y (1 r ) + (2r )
2 2 2

Td is also the ratio of the maximum steady-state accelerations of

the mass and the base.

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 Vibration Isolation
Isolation of Source of Vibration from Surroundings
1
Tr = 2 for r > 2 and small
r 1

By defining 2N st 2R
r= = = where R = 1 Tr
n 60 g 1 R
30 g 2 R 2R
N= = 29.9092
st 1 R st (1 R )

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 Vibration Isolation
Isolation of Source of Vibration from
Surroundings (Isolation efficiency)

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 Vibration Isolation
Example 9.4
Spring Support for Exhaust Fan

An exhaust fan, rotating at 1000rpm, is to be

supported by 4 springs, each having a stiffness of
K. If only 10% of the unbalanced force of the fan is
to be transmitted to the base, what should the value
of K? Assume the mass of the exhaust fan to be
40kg.

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 Vibration Isolation
Example 9.4
Spring Support for Exhaust Fan
Solution

Transmissibility = 0.1
2

1 + 2
n
0.1 = 2
2 2
1 + 2
n n

1000 2
= = 104.72 rad/s
Forcing frequency 60

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 Vibration Isolation
Example 9.4
Spring Support for Exhaust Fan
Solution

Natural frequency: k 4K K
n = = =
m 40 3.1623
Assuming =0, 1
0.1 =
104.72 3.1623 2
1
K
To avoid imaginary values, 331.1561
= 3.3166 or K = 9969.6365 N/m
K

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 Vibration Isolation
Example 9.8
Isolation from Vibrating Base

A vibrating system is to be isolated from its

supporting base. Find the required damping ratio
that must be achieve by the isolator to limit the
transmissibility at resonance to Tr=4. Assume the
system to have a single degree of freedom.

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 Vibration Isolation
Example 9.8
Isolation from Vibrating Base
Solution

1 + (2 )
2
Setting =n, 1 1
Tr = or = = = 0.1291
2 2 Tr 1 2 15
2

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 Vibration Isolation
Example 9.11
Isolation Under Shock

An electronic instrument of mass 20kg is subjected to a

shock in the form of a step velocity of 2m/s. If the maximum
allowable values of deflection (due to clearance limit) and
acceleration are specified as 20mm and 25g respectively,
determine the spring constant of an undamped shock
isolator.

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 Vibration Isolation
Example 9.11
Isolation Under Shock
Solution

Magnitude of velocity of mass: xmax = Xn

Magnitude of acceleration of mass: xmax = Xn where X is the
displacement amplitude

xmax x 2
X= < 0.02 or n > max = = 100 rad/s
n X 0.02
xmax
Xn2 25(9.81) = 245.25m/s 2 or n
245.25
= = 110.7362 rad/s
X 0.02
100 rad/s n 110.7362 rad/s
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 Vibration Isolation
Example 9.11
Isolation Under Shock
Solution

Selecting the value of n as 105.3681,

k = mn2 = 20(105.3681) = 2.2205 105 N/m
2

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 Vibration Isolation
Active Vibration Control

An active vibration isolation system is shown below.

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 Vibration Isolation
Active Vibration Control

System maintains a constant distant between

vibrating mass and referee

Depending on the types of sensor, signal

processor and actuator used, the system can be
electromechanical, electrofluidic, electromagnetic,
piezoelectric or fluidic.

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 Chapter Outline

Introduction
Vibration Nomograph and Vibration Criteria
Reduction of Vibration at the source
Balancing of Rotating Machines
Whirling of Rotating Shafts
Balancing of Reciprocating Engines
Control of Vibration
Control of Natural Frequencies
Introduction of Damping
Vibration Isolation
Vibration Absorbers
2011 Mechanical Vibrations
Fifth Edition in SI Units
45
 Vibration Absorbers
When the excitation freq coincides with the
n, the system may experience excessive
vibration.

Dynamic vibration absorber is another

spring mass system designed to shift n of
the resulting system away from the
excitation freq.

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 Vibration Absorbers
Undamped Dynamic Vibration Absorber

m1x1 + k1 x1 + k 2 (x1 x2 ) = F0 sin t

m2 x2 + k 2 (x2 x1 ) = 0

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 Vibration Absorbers
Undamped Dynamic Vibration Absorber

Assuming ()
x j t = X j sin t , j = 1,2

Amplitude of masses:
X1 = 2 (k
m 2 2
F0 )
( )( )
k1 + k 2 m1 2 k 2 m2 2 k 22
k 2 F0
X2 =
( )( )
k1 + k 2 m1 2 k 2 m2 2 k 22
We want to reduce X1. Thus set numerator of X1 to zero.

k2 k
2 = , 2 12 = 1
m2 m1

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 Vibration Absorbers
Undamped Dynamic Vibration Absorber

X1 and X2 can be rewritten as:

2

1
X1 2
=
st k 2 2 k
1 + 2 1 2
k1 2 2 k1
X2 1
=
st k 2 2 k
1 + 2 1 2
k1 2 2 k1
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 Vibration Absorbers
Undamped Dynamic Vibration Absorber

2 peaks correspond to 2 n of composite sys.

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 Vibration Absorbers
Undamped Dynamic Vibration Absorber

k1 F0
At X1=0, = 1, X 2 = st =
k2 k2

Size of absorber can be found from: k 2 X 2 = m2 2 X 2 = F0

Absorber introduces 2 resonant frequencies 1 and 2, at which

the amplitudes are infinite.

Values of 1 and 2 can be found by noting

2
k 2 k 2 m2 m1 m2 2
= =
k1 m2 m1 k1 m1 1
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 Vibration Absorbers
Undamped Dynamic Vibration Absorber

X1
Setting denominator of = 0,
st

4 2
2
2
m 2
1 + 1 + 2 2 + 1 = 0
2 1 2 m1 1

2 roots of the equation:

2 2
1
2 m 2
m 2
2

1 + 1 + 2 2 1 + 1 + 2 2 4
2 m1 1 m1 1 1
2
= 2
2
2 2
2 1
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 Vibration Absorbers
Example 9.15
Vibration Absorber for Diesel Engine

A diesel engine, weighing 3000 N, is supported on a

pedestal mount. It has been observed that the engine
induces vibration into the surrounding area through its
pedestal at an operating speed of 6000 rpm. Determine the
parameters of the vibration absorber that will reduce the
vibration when mounted on the pedestal. The magnitude of
the exciting force is 250 N, and the amplitude of motion of
the auxiliary mass is to be limited to 2 mm.

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 Vibration Absorbers
Example 9.15
Vibration Absorber for Diesel Engine
Solution

6000
We have f = = 100Hz or = 628.32 rad/s
60

Amplitude of motion of auxiliary mass is equal and opposite to that of

the exciting force.
F0 = m2 2 X 2
250 = m2 (628.32) (0.002)
2

m2 = 0.31665 kg
k 2 = 2 m2 = (628.32) (0.31665) = 125009 N/m
2

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 Vibration Absorbers
Damped Dynamic Vibration Absorber

Amplitude of machine can be reduced by adding a damped

vibration absorber as shown.

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 Vibration Absorbers
Damped Dynamic Vibration Absorber

Equations of motion

m1x1 + k1 x1 + k 2 (x1 x2 ) + c2 (x1 x2 ) = F0 sin t

m2 x2 + k 2 (x2 x1 ) + c2 (x2 x1 ) = 0

Assume solution: x j (t ) = X j e , j = 1,2

i t

Steady-state solutions:

X1 =
(
F0 k 2 m2 2 + ic2 )
[( )( ) ]
k1 m1 2 k 2 m2 2 m2 k 2 2 + ic2 k1 m1 2 m2 2( )
X 1 (k 2 + ic2 )
X2 =
(k 2 m2 2 + ic2 )
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 Vibration Absorbers
Damped Dynamic Vibration Absorber
= m2 / m1 = Mass ratio = Absorber mass/main mass
st = F0 / k1 = Static deflection of the system
a2 = k 2 / m2 = Square of natural frequency of absorber
n2 = k1 / m1 = Square of natural frequency of main mass
f = a / n = Ratio of natural frequencies
g = / n = Forced frequency ratio
cc = 2m2n = Critcial damping constant
= c2 / cc = Damping ratio

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 Vibration Absorbers
Damped Dynamic Vibration Absorber
X1
=
(2g ) + (g f )
2 2 2 2

st (2g )2 (g 2 1 + g 2 )2 + [f 2 g 2 (g 2 1)(g 2 f 2 )]2

X2
=
(2g ) + f 4
2

st (2g )2 (g 2 1 + g 2 )2 + [f 2 g 2 (g 2 1)(g 2 f 2 )]2

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 Vibration Absorbers
Damped Dynamic Vibration Absorber

If c2==0, resonance occurs at 2 undamped resonant

frequencies

If =, m2 and m1 are clamped together and system behaves as

1-DOF system. Resonance occurs at
1
g= = = 0.9759
n 1+

All curves intersect at pt A and B which can be located by

1 + f 2 + f 2 2 f 2
g 2 g
4 2
+ =0
2+ 2+
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 Vibration Absorbers
Damped Dynamic Vibration Absorber

The most efficient absorber (tuned vibration absorber) is one

where pts A and B coincides.

Make curve horizontal at either A or B.

Set slope =0 at A and B:

3
+ 2
2= for point A
8(1 + )
3

3 +
+2
=
2
for point A
8(1 + )
3

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 Vibration Absorbers
Damped Dynamic Vibration Absorber

Average value of 2 used in design:

3
optimal =
2

8(1 + )
3

X1 X1 2

= = 1+
st optimal st max

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THE END