ME 563 Mechanical Vibrations Lecture #1

Derivation of equations of motion (Newton-Euler Laws)

Derivation of Equation of Motion

Define the vibrations of interest

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Define the vibrations of interest

Derivation of Equation of Motion

Define the vibrations of interest

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Define the vibrations of interest (Degrees of freedom)

Panel rigid body degrees of freedom

Panel flexible body degrees of freedom

Derivation of Equation of Motion

Define the vibrations of interest

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Define the vibrations of interest (Frequency range)

Low-frequency (<50 Hz) response

High-frequency (>100 Hz) response

Derivation of Equation of Motion

Define the vibrations of interest

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Define the vibrations of interest (Amplitude range)

Ceramic tile attached to orbiter using adhesive bond

Strain isolation pad stress/strain

Derivation of Equation of Motion

Define the vibrations of interest

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Develop model representation (Lumped/discrete elements)

Airframe

10

M K2 K4

Parallel elements same motion Series elements same force

Airframe

K1

K3

Derivation of Equation of Motion

Define the vibrations of interest

11

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Develop model representation (Continuous elements)

Airframe

12

Airframe

Derivation of Equation of Motion

Define the vibrations of interest

13

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Develop model representation (Excitation function)

K1 Airframe M K2 K4 K3 Airframe Airframe K1 M K2 K4 K3 Airframe

14

Base motion

Applied force (impact)

Develop model representation (Excitation function)

15

Derivation of Equation of Motion

Define the vibrations of interest

16

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Define motions (DOFs) (Generalized coordinates, Acceleration datum, gravity)

K1 Airframe x M K2 K4 K3 Airframe
Acceleration

17

x is defined w/r/t equilibrium position (under acceleration of shuttle)

Dynamic response is large compared to gravitational response

Derivation of Equation of Motion

Define the vibrations of interest

18

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Define motions (DOFs) (Constraints on coordinates)

K1 Airframe x M K2 K4 K3 Airframe Acceleration xairframe(t)

19

# D.O.F. = # generalized coordinates - # constraints =21 =1

Derivation of Equation of Motion

Define the vibrations of interest

20

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Derive equations of motion (Newton-Euler, force)

K1 Airframe M K2 f(t) K4 x FBD K3 Airframe K1x K2x M f(t) K3x K4x

21

Derive equations of motion (Newton-Euler, base motion)

x K1 Airframe M K2 K4 K3 Airframe xaf(t) K1(x-xaf) K2(x-xaf) M FBD

22

K3(x-xaf) K4(x-xaf)

Derivation of Equation of Motion

Define the vibrations of interest

23

Develop a model representation

-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)

Define motions (kinematics)

-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)

Derive equations of motion

-Newton-Euler laws -Energy/power methods

Calculate system parameters

-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)

Keep track of assumptions

-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

Calculate system parameters (Strength of materials)

f

24

K2

Force = Stiffness Deflection f = K2 f = K2 fL3 = 3EI

What about the rotational motion?

K1 K3

25

K2

Icm K4

What about the rotational motion?

K1 Icm K2 K2 K4 K3 K1 K3 Icm K4

26

What is K2?