2012/2013

Vibration Theory and Applications Assignment 1

(By Lin Shaodun, A0066078X)

1 Describe an equivalent MDF vibration system that you frequently encounter in

your daily life (different from the examples that have been presented or discussed
in the class). Attempt to build a simple model for the system and estimate its
fundamental frequency.

Answer:
Below is a subassembly used in wire bonding machine, called Heat Block slider
(Figure 1), which I spent a few months on it to improve its vibration behavior.

Clamp Frame
Heat Block
Insert

Heat Block
Slider

Slider base

Figure 1 Heat Block Slider Assembly

This system can be modeled as follow (Figure 2):

x3 x2
m3 m2 m1: Mass of slider base
m2: Mass of heat block slider
k3 c3 k2 c2
m3: Mass of clamp frame
x1 f(t): External vibration from base
m1
x1-3:Displacement of m1-3

k1 c1 k1-3:Stiffness of m1-3
f(t) c1-3:Damping of m1-3

Figure 2 MDOF model of HB slider

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The equation of motion for above system is:
+ − − − − + − − − − =
+ − + − =0 ( 1.1 )
+ − + − =0

Re-arrange in matrix form:

0 0 + + − − + + − −
0 0 + − 0 + − 0 = 0 ( 1.2 )
0 0 − 0 − 0 0

For typical steel structure, the damping ratio is relatively small ( < 0.03) and it
has insignificant impact to the system frequency, hence the damping matrix | | can
be neglected at this moment, and Eq. (1.2) can be reduced to:

0 0 + + − −
0 0 + − 0 = 0 ( 1.3 )
0 0 − 0 0

The actual value for and as follow:

15.0 kg 4.28E+08 N/m

3.0 kg 2.09E+07 N/m
3.5 kg 1.46E+07 N/m
Substitute in Eq.(1.3), we have:

15 0 0 4.64E + 08 −2.09E + 07 −1.46E + 07

= 0 3 0 , = −2.09E + 07 2.09E + 07 0 ( 1.4 )
0 0 3.5 −1.46E + 07 0 1.46E + 07

Using Matlab script to calculate the determinant of matrix and solve the 3rd order
equation:

m=[1/15^.5,0,0;0,1/3^.5,0;0,0,1/3.5^.5];
K=[4.64E8,-2.09E7,-1.46E7;-2.09E7,2.09E7,0;-1.46E7,0,1.46E7];
L=sym('L');
Eqn=det(m*K*m-L*eye(3));
Ans=real(sym2poly(solve(Eqn,L)));
f = Ans.^.5/pi/2

The solution of fundamental frequencies as follow (in Hz):

f =
892.9435
408.6768
318.3033

Lin Shaodun A0066078X 2

2. A machine tool, having a mass of m=1000 kg and a mass moment of inertia of
J0=300kg-m2, is supported on elastic supports, as shown in Fig. 5.18. If the
stiffnesses of the supports are given by k1 = 3000N/mm and k2 = 2000 N/mm, and
the supports are located at l1=0.5m and l2=0.8m, find the natural frequencies and
mode shapes of the machine tool.

x
l1 θ
θ l2 θ

Answer:
Assume the machine tool has translation x and rotation θ about its centroid, as
shown in above figure.
Equation of motion in terms of x and θ:

+ −( ) + +( ) =0
*+ ) − −( ) ( + +( ) ( =0
( 2.1 )

Re-arrange to separate the x and θ terms:

+ + + ( − ( )=0
*+ ) + ( − ( +, ( + ( -) = 0
( 2.2 )

Assuming free vibration motion for x and θ:

. = /0 sin 4 + 5
Θ = /7 sin 4 + 5
( 2.3 )

Substitute Eq. (2.3) into Eq. (2.2), we have:

− 4 + + . + ( − ( Θ =0
,−*+ 4 + ( + ( -Θ + ( − ( . =0
( 2.4 )

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Re-arrange in matrix form:

− 4 + + ( − ( . 0
8 9: ;=< =
( − ( −*+ 4 + ( + ( Θ 0
( 2.5 )

Above equation reduces to its characteristic equation:

− 4 + + ( − (
8 9=0
( − ( −*+ 4 + ( + (
( 2.6 )

Substitute numeric values into Eq. (2.6):

:−10004 + 5000 × 10 100 × 10 ;=0

100 × 10 −3004 + 2030 × 10
( 2.7 )

Using Matlab script to calculate the determinant of matrix and solve the 2rd order
equation:

Omega=sym('Omega');
m=[-1E3*Omega^2+5E6,1E5;1E5,-300*Omega^2+2.03E6];
Ans=sym2poly(solve(det(m),Omega))

The output from Matlab is:

Ans =
82.3732
70.5785
-82.3732
-70.5785

Hence the natural frequencies are: ?@=82.3732 rad/s and ?A=70.5785 rad/s.

Mode shapes:
−10004 + 5000 × 10 . + 100 × 10 Θ =0
. −100 × 10
B = C = = −5.3476
Θ DE
−10004 + 5000 × 10

. −100 × 10
B = C = = 0.05601
Θ DF
−10004 + 5000 × 10
( 2.8 )
First Modal vector is:
/ 1
G/ H = : ;=< =
B / −5.3476
Second Modal Vector is:
/ 1
G/ H = : ;=< =
B / 0.05601

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