Mechanical Vibrations MECH 375

Laboratory #1 CHARACTERISTICS OF A SINGLE DEGREE-OF-FREEDOM SYSTEM

Presented by Patrick Mroczek 9230165 Adil Chaudhry 9313567 Georges Naccache

Section XM Dater Performed: September 13, 2011 Date Presented: September 27, 2011

Concordia University

Experiment 1.1: Measurement of Torsion Stiffness

Objective Introduction Procedure Results and Discussion Conclusion

Experiment 1.2: Determination of Equivalent Torsion Spring Constant

Objective
To determine the equivalent stiffness coefficient K for a mechanical system consisting of two torsion shafts of different diameters and lengths.

Introduction
Complex mechanical systems employ several stiffness in various combinations. Of particular interest are springs connected in parallel or in series. Consider the arrangement shown in fig 1.4 which consists of an inertia disc supported by two shaft sections of different lengths and diameters. From equation 1.1, the individual spring constants are: Ktheoretical= Gd432l Therefore: K1= 80x1096.35x10-34320.6=21.25Nm K2= 80x1097.9375x10-34320.5=62.35Nm

And so, for the series arrangement Keq=K1+K2

Keq=21.25+62.35=83.6Nm And for the parallel arrangement Keq=1K1+1K2-1 Keq=121.25+162.35-1=15.85Nm

Applied torque T is divided into two torques T1 and T2 corresponding to the stiffness K1 and K2, T=K And T=T1+T2=K1+K2=Keq Consider the arrangement shown in fig. 1.5 which consists of an inertia disc supported by one shaft and the first shaft is supported by a second shaft, both shafts have different diameter and lengths. The torque can be written as: T=K1(-0)=Keq Eliminating 0, the equivalent spring constant for the series combination is T=1K1+1K2-1=Keq

Figure 1: Torsional Shafts in Parallel

Figure 2: Torsional shafts in series

Procedure
1. Setup the apparatus as shown in fig 1.4 using shafts of diameters 6.35mm(1/4) and 7.9375mm(5/16) placed on either side of the bearing assembly equipped with the double chuck arrangement and the large inertia disc. 2. Adjust shaft lengths to l1 = 0.60m, l2 = 0.50m and calculate the equivalent spring constant using equation 1.6. Also determine the fundamental natural frequency given by fn=Keq42J 3. Connect the shaker drive linkage to one of the housing carrying the free ends of the shaft. Connect the function generator and power amplifier to the shaker. 4. Lock the remaining free end of the shaft by locking the flange to the bearing housing using the locking pin. 5. Set the amplitude control of the function generator to a minimum, and the frequency dial to 1Hz. Switch the power amplifier to on position, and align the shaker linkage to ensure an unconstrained motion from the shaker. 6. Vary the frequency on the dial slowly and observe the oscillations of the rotor until resonance is identified on the oscilloscope by maximum peek to peek values. 7. Record the frequency corresponding to the resonance.

8. Setup the apparatus as shown in fig. 1.5 for the series arrangement while keeping the shaker drive unit at the same end of the setup. 9. Repeat steps 3, 5, 6 and 7 to obtain the resonant frequency of the series arrangement.

Results and Discussion

a) In parallel

f (Hz) 1 2 3 4 5 5.5 6 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 7

PkPk1 161 124 115 113 119 123 122 123 124 125 129 132 132 114 102 98 98

PkPk2 44 32 38 44 58 78 112 125 143 160 205 279 384 396 361 300 250

ratio 0.2732 92 0.2580 65 0.3304 35 0.3893 81 0.4873 95 0.6341 46 0.9180 33 1.0162 6 1.1532 26 1.28 1.5891 47 2.1136 36 2.9090 91 3.4736 84 3.5392 16 3.0612 24 2.5510

7.5 8 9

102 108 126

115 75 41

2 1.1274 51 0.6944 44 0.3253 97

Figure 3 Tabulated results for response of torsional shafts in parallel

Figure 4 Graph showing natural frequency of torsional shafts in parallel

Based on the results shown in figure 5 and the graphical representation shown in figure 6, it is clear that the peak value of Peak to Peak ratios is found at a frequency of approximately 6.8 Hz, which is indicative of the natural frequency, fn, of the system. Therefore, n=2fn=26.8=42.73 rad/s Since we now know n, we can calculate the experimental equivalent spring constant, Keq, using the following equation: Keq= n2J Where J is the mass moment of inertia for the inertia disk, given on page 3 of the lab manual: J=3.77x 10-2kg m2 Therefore, the experimental spring constant for the parallel setup is Keq= 42.7323.77x 10-2=68.82Nm This can now be compared with the theoretical spring constant found earlier, 83.6 N/m %error=Kexp-KtheoKtheo=68.82-83.683.6=17.68% b) In series

f (Hz) 1 1.5

PkPk1 28.3 36

PkPk2

ratio 0.8473 33.4 05 31 1.1612

2 2.5 2.9 3.0 3.1 3.2 3.3 3.4 3.5 3.6

42 77 502 556 223 160 102 78 61 52

28 28 24 11.1 11.7 17 17 18 19 20

9 1.5 2.75 20.916 67 50.090 09 19.059 83 9.4117 65 6 4.3333 33 3.2105 26 2.6

Figure 7 Tabulated results for response of torsional shafts in series

Figure 8 Graph showing natural frequency of torsional shafts in parallel

Based on the results shown in figure 9 and the graphical representation shown in figure 10, it is clear that the peak value of Peak to Peak ratios is found at a frequency of approximately 3.0 Hz, which is indicative of the natural frequency, n, of the system. Therefore, n=2fn=23.0=18.85 rad/s Similarly to the parallel response in part a, the experimental spring constant for the series setup is therefore Keq= 18.8523.77x 10-2=13.4Nm This can now be compared with the theoretical spring constant found earlier, 15.85 N/m %error=Kexp-KtheoKtheo=13.4-15.8515.85=15.5%

Conclusion

The two percent errors which were found part 2 of the experiment, 17.68% and 15.5%, respectively, are fairly high but still acceptable. The error in these measurements could have been due to measurement errors or inaccuracies in the system. Overall, we were successfully able to evaluate the equivalent spring constant of the system, both for series and parallel arrangements, by observing the natural frequency of the system.

Experiment 1.3: Measurement of Viscous Damping Coefficient

Objective
To determine viscous damping coefficient of different dampers considering a single degree of freedom response.

Introduction
Using a single degree of freedom response such as the figure 3.1, we can determine the damping coefficients of the system.

Figure 3.1 Single Degree of Freedom System

Looking at the free body diagram in figure 3.1, the equation of motion can be written as: J+C+K=0 Solving with =Aest Js2+Cs+KAest=0 s1,2=-C2JC2J2-KJ

For an under damped system with <1, and initial condition =0, =0 at t=0, the solution for equation of motion for nth oscillation will be: n=0e-nt Where the natural frequency n=KJ And the damping ratio =CCcr=C2KJ Knowing all of this, we can relate the equation for motion of the nth oscillation with different peaks with: =ln20=-21-2

Where 1,2 is the successive peaks of Knowing the free response of the Figure 3.2 Response of an under damped figure 3.2, we can system decrement and by simple manipulation determine . Once the known, we can then calculate the damping coefficient where C=2KJ

amplitude of the same sign. vibrational system such as then determine the damping ratio is

Procedure
1. Lock the chuck located on both sides of the bearing housing. 2. Determine the K, natural frequency and damping coefficient of the system.

3. Insert one of the dampers, turn the potentiometer to its middle position and fine tune the signal to eliminate all bias. 4. Displace the inertia disc by 0.2 radians from its central position and hold it until the potentiometer reads a zero bias. 5. Let go of the disc and record the data from the oscilloscope for at least 4 peaks. Measure the amplitude of these peaks and calculate the damping ratio and the coefficient of damping. 6. Import all the data into an excel sheet. 7. Repeat step 3 to 6 for the two other dampers.

Results and Discussion

Length of Shaft: 1m Diameter of Shaft: 0.00635m Modulus of Rigidity G: 80GPa Mass Moment of Inertia J= 0.0377kgm^2 Stiffness K= Gd^2)/32l=12.77 Natural Frequency = KJ = 18.4rad/sec The system is critically damped when: C2J2-KJ=0 Ccr=2Jk/J=2J=1.086

Figure 3.3 Step Response with 1K Damper

PEAKS 1 2 3 4

Volts 2.4185 1.19 2.19 1.306 2.069

Table 3.1 Amplitude of Peaks (1K Damper)

Sample calculations: =ln2= -0.0992 =42+2=0.0158 =CCcr C= Ccr=0.017 Cd=n1- 2=18.397

Figure 3.4 Step Response with 5K Damper

Figure 3.5 Step Response with 10K Damper

PEAKS 1 2 3 4 Ta

When looking at the amplitude of different peaks, we see that we notice some inconsistencies. In theory as the damping viscosity increases, the amplitude of ble 3.2 successive peaks should get smaller and smaller. For our experiment this is Su not the case. Take for example the 1K damper; the difference between 1 and cc es 2 is 0.23. For the 5K damper, the difference is 0.29 which is actually higher. siv This leads us to conclude that something went wrong in the experiment, either e Pe technical or human error. Because of this, all of our results will not be correct.
ak s for 1K , 5K , 1K 10 K 5K Da mp er 10K

1K 5K 10K 2.418 0.618 5 75 0.7 1.19 1.631 1.45 2.19 0.913 0.9 1.306 1.46 1.33 2.069 1.15 1

0.099 0.093 0.057

0.016 0.015 0.009

C 0.017 0.016 0.010

n Theore 18.398 18.398 18.399

d Exper 19.640 22.500 20.940

diff % 6.752 22.296 13.809

n Exper 19.642 22.502 20.941

K 14.54 6 19.09 0 16.53 2

Table 3.3 Tabulated Results for Experiment

We see from the results obtained in Table 3.3, the theoretical frequency is slightly lower than the one obtained experimentally. Because this system is under damped the theoretical natural frequency should be higher because d=n1-2 where the damping ratio is less than 1. In this experiment, it gave us the opposite result which would have the characteristics of an over damped system. When evaluating for the experimental stiffness, we determine that on average, it is lower than the theoretical. This could have been cause by the wear of the material after many usages. The theoretical K was calculated for a new shaft while this shaft many times in this experiment.

Conclusion