MODULE3- TORSIONAL VIBRATIONS- SINGLE ROTOR SYSTEM

Consider a heavy rotor attached to the end of a light flexible shaft as shown in the figure. The
rotor receives an instantaneous torque, on removal of which executes twisting and untwisting
motion about longitudinal axis, called torsional vibrations.

The natural frequency of free torsional vibrations is given by fnA = √ Hz = √ Hz

Where IA is the mass moment of inertia of rotor A, LA is the distance of

the node(nodes are points of zero vibration) from Rotor A’s end. Here
node occur at fixed end. [Also IA = mA KA 2 kgm2 and J = m4 ]

is called the torsional stiffness which is the torque required to produce

unit twist at rotor A.

TWO ROTOR SYSTEM

In a two rotor system the two rotors receives equal and opposite momentarily torques , on
removal of which executes free torsional vibrations. As the rotors twist in opposite directions we
expect a node (zero vibration point) in between rotors A and B at a distance LA from A’s end (or
LB from B’s end). The behavioural aspect of the node is to separate the original shaft into two
separate single rotor systems fixed at one end as shown in the figures (fig c and d). Therefore
either the shaft shown in figure c or d can be used to find the frequency(using the expression for
a single rotor system) and both the frequencies should be the same as they belong to the same
parent shaft. Frequencies of the two split portions which are same will be
 √ = √ Hz which yields an important relation connecting the end rotors in a
two rotor system given by = . Thus we require either LA or LB to be found out for
evaluating the frequency as =L or =L where L is the total length of the parent
shaft.

THREE ROTOR SYSTEM

We expect two nodes N1 and N2 respectively in between the two opposite twisting rotors A&B
and B&C respectively. The nodes are assumed to split the shaft portions into three as shown. For
the split Figures a and c we get a single rotor system for which the below expression may be
applied.

√ = √ Hz yields the important relation connecting the two end rotors A and C
in a three rotor system which is = . For the middle split portion and the end split portion
the expression applied is
Which yiedls the important expression connecting the Middle rotor and end rotor as:

TORSIONALLY EQUIVALENT SHAFT

If a stepped shaft of different diameters and length is given, we have to convert it into a
torsionally equivalent shaft which can be defined as a shaft of uniform diameter and length
which exhibits the same torsional behavior as that of the stepped shaft of different diameters
and lengths when equal and opposite torques are applied at the rotors.

The length L of the torsionally equivalent shaft is derives as:

If we choose to select the diameter d of the equivalent shaft as d1 , the diameter of the first step
TWO ROTOR SYSTEM PROBLEM

The stepped shaft (fig 1) is first converted into a torsionally equivalent shaft of uniform diameter
(95 mm) and length L (fig 2) as:

L= 0.6 + 0.5( ) + 0.4 ( ) = 8.95 m

IA = mA KA 2 = 900 X (0.85)2 = 650.25 kgm2 and IB = mB KB 2 = 700 X (0.55)2 = 211.75 kgm2

=L = 8.95( = 2.198m
THREE ROTOR SYSTEM PROBLEM

Problem2. A three rotor system is as shown in the figure. Find the natural frequency of free
torsional vibrations. Take Modulus of Rigidity as 84 X 10 9 N/m2 and IA= 30 kgm2, IB= 90 kgm2
and IC = 50 kgm2

There will not be any change in the first portion length L1 of the shaft. The second portion will
be changed to new length L2 in the equivalent shaft. The torsionally equivalent shaft of Length L
and uniform diameter 45 mm is obtained as: L= 2.0 + 4.0( ) = 8.407 m

= . substituting the values of IA= 30 kgm2 and IC = 50 kgm2 we get LA = 1.67 LC

5.68 (Lc)2-31.27LC+23.07=0

Lc = 0.88m and LA=1.47 m which gives the two node frequency and Lc = 4.63m and LA=7.73 m
gives the single node frequency(as the length LA=7.73 m cannot be accepted since it runs out of
the space between rotors A and B ;see fig c below)

Single node frequency = 1.92 Hz

Two node frequency= 4.4 Hz For Detailed evaluation of frequencies see problem 4
GEARED SYSTEM

If a geared system will be given, first it is converted either into an equivalent two rotor system or
a three rotor system (as required in the question) before applying respectively the expressions of
a two rotor system or a three rotor system as the case may be: (see the problems 3 and 4)

The inertia of the gear pairs are neglected . Therefore we get an equivalent two rotor system

Gear Ratio (GR) = = =3

Therefore the total length L of the equivalent shaft = 1050 mm + 500 mm = 1550 mm = 1.55 m
Gear Ratio (GR) = = = = 0.25

Also IB = IBG1 + = 8 +(2/ 0.252) = 40 kg m2

Therefore the total length L of the eq. shaft =1.26 m

because

LC = 0.92m is not acceptable as the distance runs out of the shaft length between B and C (of
0.26 m). Therefore the acceptable length LA = 0.368m gives the single node frequency (Fig c) as
follows:
MODULE4: TRANSIENT VIBRATIONS

LAPALACE TRANSFORM

For Example Laplace Transform of 1 is found out as:

L(1)= 0-1] =

SOME BASIC FUNCTIONS

1.Unit Step Function

L[u(t)] = 1/S

2.Unit step function u[(t-a)]

3.Gate Function

Gate function is represented as the difference between two unit step functions discussed above

Laplace Transform of a gate function is given by

4.Rectangular pulse

Rectangular pulse is formed from gate function as F multiple of the gate function

5.Unit Impulse

The Laplace transform of Unit impulse ẟ(t) is given by: L[ẟ(t)] = 1

RESPONSE TO DIFFERENT SITUATIONS

Taking the Inverse Laplace Transform
RESPONSE TO A PULSE INPUT

for t > T the solution is given by

SI No: Function Laplace Transform

1 f(t) F(s)

2 x(t) + y(t) X(s) + Y(s)

3 k f(t) k F(s)

4 u(t) or 1 1/s
5 ẟ(t) 1

6 t

7 tn

8 sin ωt

9 cos ωt

10 e-at

11 e-at sin ωt

12 e-at cos ωt

13 e-at f(t) F(s+a)

14 u(t-a)

15 ẟ(t-a) e-as
16 ̇ sX(s)-x0(t)

17 ̈ s2X(s)-sx0(t)- ̇

18 [1- cos ω(t-a)] u(t-a)

19 [1- cos ωt]

20 [cos ω(t-a)]u(t-a)
MODULE 4- CRITICAL SPEED OF SHAFTS

When the rotor is mounted at midspan, the shaft at midspan deflects by a small amount ∆ such
that k∆ = mg; even then the shaft is assumed to be perfectly straight. When the shaft rotates, the
eccentricity of the rotor e causes to bend the shaft by distance s at midspan . s is called dynamic
deflection and keeps on changing until the equilibrium is reached given by:

m(s+e) ω2 = ks The value of s in this equation will be maximum and is called amplitude of
dynamic deflection

(k-m ω2)s = me ω2 dividing by m and arranging as s/e form we get

= = defining r= when r approaches 1 (ω equals ωn ), the shaft tends to blow at

violently and the corresponding rpm is called critical speed(or whirling speed or whipping speed)
Nc
 Note 1: Shaft on Long bearings are equivalent to fixed end beams. To calculate the static
deflection ∆= is used. For short bearings it is equivalent to simply

supported beams and static deflection in this case will be ∆=

Note 2: The bending moment quation is given by . For shaft on Long bearings It is

modified and used as

For short bearings it is used as

Note 3: The unsafe range of speed in the above problem is 839.5 rpm to 1208.05
rpm. Therefore the safe turning speed will be either to rotate the shaft far above
1208.05 rpm or far below 839.5 rpm
MODULE 5

Acoustic Impedance Filters

Acoustic filters functions based on impedance(effective resistance) mismatch between

interfaces/media through which sound passes. Filtration of sound plays an important part in the
design of air-handling systems. In order to attenuate the level of sound from blower motors and
other sources of vibration, regions of larger or smaller cross-sectional area are inserted into air
ducts, as illustrated in the Figure. The impedance mismatch introduced into a duct by a change in
the area of the duct or by the addition of a side branch reflects undesirable frequencies, as
determined by the size and shape of the variation. A region of either larger or smaller area will
function as a low-pass filter, reflecting high frequencies; an opening or series of openings will
function as a high-pass filter, removing low frequencies. Some automobile mufflers make use
of this type of filter.

Doppler Effect

A change in the frequency experienced by an observer due to motion of either the observer or the
source. Here V is the velocity of sound in air 343 m/s .

When the observer moves towards the source with velocity (V0 ), with source stationary.

When the observer moves away from the source with velocity (V0 ) , with source stationary.

Approaching source with velocity Vs and observer stationary.

Leaving source with velocity Vs and observer stationary.

THE FOURIER THEOREM

The Fouriers theorem states that:

THE SOUND SPECTRUM (FOURIER SPECTRUM)

A Complex tone has many pure tones like the ones shown above

LOUDNESS AND EQUAL LOUDNESS CONTOURS

Loudness is a subjective quantity and cannot be exactly measured physically, can be defined as
the auditory impression of the strength of the sound as perceived by the listener. Same
loudness(or auditory perception) can be created at various combinations of Sound pressure levels
(SPL) and frequency. A plot showing different loudness created at various SPL and frequency
combinations gives rise to equal loudness contours.