Intro To Vibrn PDF

09-May-17
INTRODUCTION TO VIBRATION ANALYSIS AND BALANCING
INDEX
1. Aim of the Session 3
2. Introduction to Vibrations 5
3. Theory of Vibrations 9
4. SDOF 12
5. MDOF 47
6. Mode Shape, Phase Angle 57
7. Case Study 65
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1.AIM OF THE SESSION

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 AIM OF THIS SESSION

 To understand the Basic Theory of Vibrations
 To understand the Basic Theory of Balancing
 To go through some case studies to
understand the vibrations in rotating
machines in more details.

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2.INTRODUCTION TO
VIBRATIONS

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 VIBRATIONS
 Unless and until disturbed, objects are at state of
rest or uniform velocity.
 The causes of vibrations are disturbances like
Unbalance, misalignment or impact.
 To understand the vibration phenomenon, we will
go through some basic theory of vibration.

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• To understand the vibration phenomenon, we must start from
simplest system configuration and should go on increasing the
complexity.
• The vibrations can be studied in steps as
• Free Vibration Analysis of “Un-damped SDOF”
• Free Vibration Analysis of “Damped SDOF”
• Forced Vibration Analysis of “Un-damped SDOF”
• Forced Vibration Analysis of “Damped SDOF”

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 Theory of Vibrations
 The vibration in any system can be analyzed using most
simplistic approach.
 “SINGLE DEGREE OF FREEDOM SYSTEM” referred as “SDOF”.
 In this a single “Spring – Mass” system is considered and

analyzed for its various parameters like
• Natural Frequency
• Displacement
• Response Spectra

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 The Vibration Analysis can be roughly classified in to

 Natural / Free Vibration
 Forced Vibration
 Additionally the analysis is again divided in to
 Undamped Vibrations
 Damped Vibrations

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 The study of the vibrations is carried out as
• Free Vibration Analysis of “Un-damped SDOF”
• Free Vibration Analysis of “Damped SDOF”
• Forced Vibration Analysis of “Un-damped SDOF”
• Forced Vibration Analysis of “Damped SDOF”
 This is repeated for “Multi Degree of Freedom System
– MDOF System

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4.SDOF THEORY OF
VIBRATIONS

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 SDOF THEORY OF VIBRATIONS
 The SDOF is designated with one mass, one spring, one damper
and the displacement as shown.

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A. SINGLE DEGREE OF FREEDOM SYSTEM – UNDAMED AND FREE
o A single spring mass system, without
damping
o The legend
m = Mass
k = Spring
x(t) = Displacement of the mass
o The equation of motion an be written as
o The displacement can be expressed as
o The natural frequency can be expressed as

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A. SINGLE DEGREE OF FREEDOM SYSTEM – UNDAMED AND FREE
 The resultant vibration amplitude of the SDOF system

without damping will be a constant amplitude oscillation

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B. SINGLE DEGREE OF FREEDOM SYSTEM – DAMPED AND FREE
o A single spring mass system, without
damping
o The legend
m = Mass
k = Spring Stiffness
c = Damping Force
o The Free natural o The Damped natural frequency can be

frequency can be expressed as
expressed as

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B. SINGLE DEGREE OF FREEDOM SYSTEM – DAMPED AND FREE
 The resultant vibration amplitude of the SDOF system with

damping will be a decaying amplitude oscillation

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 FORCED VIBRATION
 The forced vibration analysis again is classified in to
 Undamped Vibrations
 Damped Vibrations
 Additionally, the type of forcing function can be
 Harmonic (including rotating eccentric mass)
 Periodic
 Transient
 Random
 We will see response of damped SDOF to Harmonic
force

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C. SINGLE DEGREE OF FREEDOM SYSTEM – DAMPED AND FORCED
o Now we will see the o A single spring mass system, without
damping
response of SDOF –
o The legend
damped and forced
m = Mass
k = Spring
f = Excitation Force
o The special case can be expressed as

o The natural frequency can
be expressed as

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C. SINGLE DEGREE OF FREEDOM SYSTEM – DAMPED AND FORCED
The frequency response of the SDOF system with different

levels of damping will be as shown.

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 The equation for SDOF with undamped and forced

vibration can be solved by making “c” value zero in
the above discussions.
 In such case the amplitude of vibration at resonance
is almost infinity!
 The response may look like as shown.

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D. SINGLE DEGREE OF FREEDOM SYSTEM – UNDAMPED AND FORCED
The frequency response of the SDOF system without damping .

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E. SINGLE DEGREE OF FREEDOM SYSTEM WITH EXTERNAL FORCING
FUNCTION - UNBALANCED MASS SYSTEM
 A typical “Harmonic Disturbing

Force Resulting from Rotating
Unbalance” is shown in the
figure.
 The equation of motion
becomes:
 The solution for the above
equation works as:

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E. SINGLE DEGREE OF FREEDOM SYSTEM WITH EXTERNAL FORCING
FUNCTION - UNBALANCED MASS SYSTEM
 The frequency response of the SDOF system to rotating

unbalanced mass with different levels of damping will be as shown.

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 Let us understand the following concepts before going to MDOF.

1. Resonance, Natural Frequency and Critical Speed
2. Stiffness & Rigidity
3. Springs Combination – Series and Parallel
4. Damping
5. Torsional Vibrations
6. Simple methods

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1. Resonance, Natural Frequency and Critical Speed

 Resonance
 It is a phenomenon when the vibration amplitude tends to
increase uncontrollably.

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 Resonance

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 Natural Frequency
 The frequency or frequencies at which an object tends to vibrate with
when hit, struck, plucked, strummed or somehow disturbed is known as
the natural frequency of the object.
 If the amplitudes of the vibrations are large enough and if natural
frequency is within the human frequency range, then the vibrating
object will produce sound waves that are audible.
 Mathematically it is written as
 Unit of the Natural Frequency is Hz or Cycles Per Second.

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 Critical Speed
 In the field of rotor dynamics, the critical speed is the theoretical
angular velocity that excites the natural frequency of a rotating object,
such as a shaft, propeller, leadscrew, or gear.
 As the speed of rotation approaches the object's natural frequency, the
object begins to resonate, which dramatically increases system
vibration.
 The resulting resonance occurs regardless of orientation.
 When the rotational speed is equal to the numerical value of the natural
vibration, then that speed is referred to as critical speed.
 It is generally referred in rpm.

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2. Stiffness and Rigidity:
 There is wafer thin difference between the two terms. Normally, rigidity
is referred as the resistance with which a body opposes change of form;
-- opposed to flexibility, ductility, malleability, and softness.
 A rigid system maintains a close-to-original dimensions despite
repeated stresses or smoothly goes over to a new dimension if the
stresses are of permanent nature.
 Material stiffness measures the deflection of a sample by a given load
per unit area.
 Steel is stiffer than rubber, a rubber object deflects more than similarly
shaped steel objects supporting the same load.
 As you know, hollow cylindrical steel pipe deflects significantly less
than a round solid steel shaft of the same area carrying the same load.
 Rigidity depends both on material and geometrical stiffness.

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 Stiffness is the rigidity of an object — the extent to which it resists
deformation in response to an applied force.
 The stiffness, k, of a body is a measure of the resistance offered by an
elastic body to deformation.
 For an elastic body with a single degree of freedom (DOF) (for example,
stretching or compression of a rod), the stiffness is defined as
where,
F is the force applied on the body
δ is the displacement produced by the force along the same degree
of freedom (for instance, the change in length of a stretched spring)

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3. Spring combinations
 The springs are used to absorb the load.
 They can be connected at different locations and in different sizes.
 In mechanics, two or more springs are said to be in series when they
are connected end-to-end, and in parallel when they are connected
side-by-side; in both cases, so as to act as a single spring.
 Typically they can be represented as shown.

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 Following formulae are used to combine different

arrangements of springs

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4. Damping

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5. Torsional vibrations
 The discussions so far was on the flexural vibrations.
 Similar to the flexural vibrations, there can be torsional vibrations also.
 The problem formulation, equations and solution procedure is similar
to the one discussed.
 A typical SDOF Torsional Vibratory system is shown below.
• Here
Kt = Torsional rigidity
Θ = Angle of Twist
Ip = Rotor Polar moment
of Inertia
J = Shaft second polar
second moment of area
l = Length of shaft
D = Shaft Dia
G = Modulus of Rigidity

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 From the equation of motion, we can calculate the natural frequency.
 We know
 And
 Solving the equations we get

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 Torsional Natural Frequency or Critical Speed Calculations (Nc)
 Holzer’s Method of finding natural frequency of a multi-degree of freedom
system
 Holzer's Method This method is an iterative method and can be used to
determine any number of frequencies for a MDOF system.
 Consider a typical multi-rotor system as shown in Fig.
Here
J – Mass Moment of
Inertia – kgm*m2
Typical multi-rotor
system Kt – Torsional
Rigidity (N*m/rad)

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 The equations of motion for free vibration can be readily written as
follows:
 For harmonic vibration, we assume
 Thus:
 Summing up all the equations of motion, we get

--- A
 This is a condition to be satisfied by the natural frequency of the

freely vibrating system.
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 Holzer's method consists of the following iterative steps:

1. Step 1: Assume a trial frequency
2. Step 2: Assume the first generalized coordinate say
3. Step 3: Compute the other d.o.f. using the equations of motion as
follows:
4. Step 4: Sum up and verify if Eq. A is satisfied to the prescribed degree

of accuracy.
5. If Yes, the trial frequency is a natural frequency of the system. If not,
redo the steps with a different trial frequency.
6. In order to reduce the computations, therefore one needs to start with
a good trial frequency and have a good method of choosing the next
trial frequency to converge fast.

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7 Two trial frequencies are found by trial and error such that
is a small positive and negative number respectively than the mean of
these two trial frequencies(i.e. bisection method) will give a good
estimate of for which
8 Holzer's method can be readily programmed for computer based
calculations.
 This method is used to find out the torsional critical speed of rotor
systems.
 This method is useful for finding out
 Torsional Critical speeds – 1st and higher of rotor systems
 Directly coupled as well as branched systems.
 This method also can be used for calculating forced torsional
response of rotor systems.
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6. Simple methods to find out rotor critical speed

 For a SDOF system there are many simple methods to calculate the
critical speed.
 Dunkerley and Rayleigh – Ritz method are some simple ones widely
used.
 Next slide explains these methods

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 Dunkerley Equation
 For one mass system – disc type rotor, the above formulae is
applicable.
 For multi mass system, the superimposition method is used as
shown.
 The whirling frequency of a symmetric cross section of a given length
between two points is given by:
RPM
 where
 E = young's modulus
 I = Second moment of area,
 m = mass of the shaft,
 L= length of the shaft between points
 This is a specific formula. Not a general formula.
 A shaft with weights added will have an angular velocity of N (rpm)
equivalent as follows:

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 Rayleigh-Ritz Method
 This is another simple method, proposed by Rayleigh based on the fact
that the maximum kinetic energy must be equal to the maximum
potential energy for a conservative system under a free vibration
condition.
 For a shaft carrying several components, we can use static deflection or
any other suitable function to represent the fundamental mode of the
shaft.
 The fundamental frequency can be obtained
 where M1, M2, M3, … are masses of different rotors and y1, y2, y3, …
are deflections of the shaft at the locations of these components.
 The variable g is the gravitational constant. Since the frequency is a
minimum, it is always an upper bound.

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 The critical speed of rotor
 One more simplified method to find the critical speed of rotating
shaft is explained next.
 This method is based on definition of critical speed of SDOF.
wn
 This method is used widely to get the first natural frequency of

system very widely.

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 Example 1:
 What would be the natural frequency of the system?

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45

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5.MDOF THEORY OF
VIBRATIONS

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 MDOF THEORY OF VIBRATIONS
 The MDOF is designated with no of masses, springs, dampers &
the displacements as shown.
 To start with we will see a 2 DOF system

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 The equations of motion are written as below, by using the force
equilibrium.
 The equation is written in matrix form for simplicity.
 If the damping is removed for undamped system, the equation

will be.
 Solving these equation we get the natural frequency and with

initial condition known the displacement can be plotted.

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 The solution yields the results
 A typical response of 2 DOF is shown next, that clearly shows 2

resonance peaks.
 This plot identifies the safe operating zones for a 2 DOF.

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 FREQUENCY OF A TYPICAL TWO DEGREE OF FREEDOM SYSTEM
The frequency response of a typical TWO - DOF system with

different levels of damping will be as shown. It has two peaks.

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 MULTI DEGREE OF FREEDOM SYSTEM
The above is a 3 DOF system. The system has

1) 3 masses – m1, m2, m3
2) 3 springs – k1, k2, k3
3) 3 displacements – x1,x2,x3
4) 3 Forces – P1, P2, P3
The system can be analyzed to obtain the
1) 3 Natural frequencies of the system – ω1, ω2, ω3
2) 3 Displacements - x1,x2,x3

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 MULTI DEGREE OF FREEDOM SYSTEM

 All systems consists of “n” number of DOF with
1) Masses – m1, m2 ..... mn
2) Springs – k1, k2 .... kn
3) Displacements – x1,x2 .... xn
4) Forces – P1, P2 .... Pn
associated with each DOF
 The equation of motion for all these DOF result in number of
simultaneous equations.
 The system can be analyzed to obtain the
1) “n” Natural frequencies of the system – ω1, ω2 ..... ωn
2) 3 Displacements - x1,x2 .... Xn

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 Extending the analysis procedure for 2 DOF to MDOF, the

equation of motion can be written in matrix form as
 The above equation of motion is generalized for “n” no of

masses.
 Here
 [M] = Mass matrix
 [C] = Damping matrix
 [K] = Stiffness matrix
 {U} = Displacement vector
 {F} = Force Vector
 The [K] is a square matrix and its eigen values give us the
natural frequencies of the system.

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• The analysis can tell us
1) Natural frequencies of the system
2) The possible displacements of masses
3) The possible mode shapes (deformations) of the system
4) The range of frequencies to be avoided
• The analysis of the system is necessary to
1) Have a trouble free running
2) Analyze and correct of problem arises

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7.CASE STUDY ON TURBINE

ROTOR

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 Case study on Mode Shape
 Let us also go through a real life case study on vibration analysis
of a shaft of a turbine – generator system in a small hydro power
plant.
 Critical Speed of Shaft System:
 The following is a case study of rotor system of a small hydro
power plant in Turkey.
 The details of the system are
 Power rating: 3500 kw
 Speed: 600 rpm (10 Hz)
 Runaway speed: 1125 rpm (18.75 Hz) for 15 min
 Axial Thrust: 16000 kg
 Flywheel weight: 4500 kg

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Generator
Flywheel with
Support Bearing
Turbine

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Case Study Rotor Analysis
Runner assembly Model of the
combined
shaft system

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Case Study Rotor Analysis Static
Runner assembly – Static Analysis Analysis is
carried out
to see the
deflection
of the shaft
under
various
loadings

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 First mode shape

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 Second mode shape

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 Third mode shape

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 The analysis explained above is carried out

 For individual Rotor
 Combined Rotor
 This helps to identify
 Critical speeds
 Effect of the bearing and the coupling on the
total system

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66
 We have discussed basic principles of involved in the vibration

analysis.
 However, we need to discuss some concepts in more details.
 The concepts are
A. Phase Angle
B. Mode Shape
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A. Phase Angle
• Phase is a measure of the relative timing between two signals.
• The phase angle (measured in degrees or radians) is the

difference between a measurement point and a reference point
in terms of a fraction of a cycle for the frequency being
measured.
• This phase measurement helps locate the fault / disturbance.
• Refer the figures next.
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 The concept is explained very clearly in the following video.
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 Video on Phase Angle

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B. MODE SHAPE
 To put it loosely, mode shape is the deformed shapes of the
system at different natural frequency.
 This mode shape can be determine by Eigen value of vibration
equation like single or two degree of freedom system.
 [K]{U} = {F}
 Where
[K] = Stiffness or Property Matrix
{U} = Nodal Displacement Vector
{F} = Nodal Force Vector
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 The mode shapes of simple parts like simply

supported beam are well known and understood.
 However, there is no hard and fast rule as to how the
mode shape will look like for a complicated structure.
 A few videos on the mode shape will make the
concept more clear.
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• Video on Rotor Mode shapes

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09-May-17

INTRODUCTION TO VIBRATION ANALYSIS AND BALANCING

www.pro-sim.com Simulated. Designed. Delivered.

1.AIM OF THE SESSION

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 AIM OF THIS SESSION

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• Free Vibration Analysis of “Damped SDOF”

• Forced Vibration Analysis of “Un-damped SDOF”

• Forced Vibration Analysis of “Damped SDOF”

www.pro-sim.com Simulated. Designed. Delivered.

 “SINGLE DEGREE OF FREEDOM SYSTEM” referred as “SDOF”.

 In this a single “Spring – Mass” system is considered and

www.pro-sim.com Simulated. Designed. Delivered.

 The Vibration Analysis can be roughly classified in to

www.pro-sim.com Simulated. Designed. Delivered.

www.pro-sim.com Simulated. Designed. Delivered.

www.pro-sim.com Simulated. Designed. Delivered.

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o The displacement can be expressed as

o The natural frequency can be expressed as

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 The resultant vibration amplitude of the SDOF system

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o The displacement can be expressed as

o The Free natural o The Damped natural frequency can be

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 The resultant vibration amplitude of the SDOF system with

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o The displacement can be expressed as

o The special case can be expressed as

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The frequency response of the SDOF system with different

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 The equation for SDOF with undamped and forced

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The frequency response of the SDOF system without damping .

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 A typical “Harmonic Disturbing

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 The frequency response of the SDOF system to rotating

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 Let us understand the following concepts before going to MDOF.

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1. Resonance, Natural Frequency and Critical Speed

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 Unit of the Natural Frequency is Hz or Cycles Per Second.

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 Following formulae are used to combine different

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 Solving the equations we get

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