AL en S2I Aye. Astitoy SUA LED 24/4 [iF ESE (C274cb So PEC UNIVERSITY OF TECHNOLOGY 79/6) @R@-TERM EXAMINATION PROGRAMME: M.E. (MECHANICAL) YEAR/SEMESTER: 1°7/"" COURSE NAME: ADVANCE VIBRATION ENGINEERING COURSE CODE: ME-S21 (MAXIMUM MARKS: 30 TIME ALLOWED: 1.SHOUR ATTEMPT ALL QUESTIONS. UNLESS STATED OTHERWISE, THE SYMBOLS HAVE THEIR USUAL MEANINGS IN CONTEXT WITH SUBJECT. ASSUME SUITABLY AND STATE, ADDITIONAL DATA REQUIRED, IF ANY. ‘THE CANDIDATES, BEFORE STARTING TO WRITE THE SOLUTIONS, SHOULD PLEASE CHECK THE QUESTION PAPER POR ANY DISCREPANCY, AND ALSO ENSURE THAT THEY HAVE BEEN DELIVERED THE QUESTION PAPER OF RIGHT COURSE CODE. 3 DETERMINE NATURAL FREQUENCY OF THE INCLINED SPRING MASS SYSTEM AS SHOWN IN FIGURE GIVEN BELOW ON LEFT SIDE. i. a : Shs | i OR CONSIDER A RIGID BAR OF LENGTH L WHICH IS PINNED AT THE POINT A AND IS SUPPORTED BY A SPRING WITH THE STIFFNESS K AND A DAMPER WITH THE COEFFICIENT C. THE MASS OF THE BAR IS M AND IS CONCENTRATED AT ITS RIGHT END AS SHOWN IN FIGURE ABOVE ON RIGHT SIDE. DETEMINE THE UNDAMPED AND DAMPED NATURAL FREQUENCY OF THE SYSTEM WHEN THE FOLLOWING NUMERICAL VALUES ARE GIVEN: M=1KG, C= 20N ~ SECM, A=0.4M, L,=0.5M, AND L= 1M CASE I: IF THE STIFFNESS K = 100 N/M AND CASE Il: IF THE STIFFNESS K = 900 N/M. A TENNIS BALL HITS THE TENNIS RACKET AS SHOWN IN FIGURE GIVEN BELOW ON LEFT SIDE ‘AND IMPARTS A VELOCITY OF 1.5M/SEC TO THE RACKET TIP. THE NATURAL FREQUENCY AND THE DAMPING RATIO OF THE TENNIS RACKET ARE GIVEN TO BE 31.45 HZ AND 0.0297, RESPECTIVELY. DETERMINE THE MAXIMUM DISPLACEMENT OF THE RACKET TIP. nS Ht * = Raskt tp dpacemert bo ba FOR THE FREE VIBRATION OF AN SDOF SYSTEM AS SHOWN IN FIGURE ABOVE ON RIGHT SIDE, THE AMPLITUDES 1.403 MM AND 1.326 MM ARE MEASURED AT 1.242 SEC AND 12.734 SEC, RESPECTIVELY. FIND THE UNDAMPED NATURAL FREQUENCY o», AND THE DAMPING RATIO A BRIDGE STRUCTURE IS MODELED AS A SINGLE-DEGREE-OF-FREEDOM SYSTEM WITH AN ‘EQUIVALENT MASS OF $ X 10° KG AND AN EQUIVALENT STIFFNESS 25 X 10° N/M. DURING A FREE VIBRATION TEST, THE RATIO OF SUCCESSIVE AMPLITUDES WAS FOUND TO BE 1.04. ESTIMATE THE HYSTERISIS DAMPING CONSTANT (f) AND THE APPROXIMATE FREE-VIBRATION RESPONSE OF THE BRIDGE. | 07 10 7EEE TNS 32 Vibration of Mechanical Systems 1g, is included here because in the vertical static equilibrium — Note that the weight of the bar does not cause any spring deflectis configuration. Energy Method ipo KE.U=51ab PE,P = mga(1—cos@) + 5Hb0)? zero as cos ~ 1. However, 1 — cosé is not negligible in compatison with 6°, which is quite small. Therefore, cos ~ 1 shotild not be used in Equa- (on 1.4.30. ‘The total energy is given by (a (1.4.32) Using sin ~ 8,Equation 1.4.32 yields Ia + (mga + kb?)9 = (1.4.33) xample 1.4.3: Inclined Spring ‘Consider a mass with an inclined massless spring with the stiffness k (Figure 1.4.9). The inclination of the spring is represented by the angle @. When the displacement of the mass m is x, the length of the spring changes from ¢ to ¢+5 (Figure 1.4.10). From the cosine law, (1.4.34) 2 2 oe =Equivalent Single-Degree-of- Freedom System Figure 1.4.9 A mass connected with an inclined spring After some algebra, 2 (e+8) [i +25 cosa + % | (1.435) e ‘Assume that x/¢ <1. In this case, the term (x/e)? can be neglected and os ers=ell +25 cosa] (1.436) Using the binomial expansion (Appendix B) and neglecting higher- order terms, E45 =e [1+ 7 cose] (1.437) Therefore, x Cosa (1.4.38) = ‘The spring force k6 will be directed at an angle 6 (Figure 1.4.10). Applying Newton’s second law in the x-direction, =ké cos B = mi (1.4.39) Figure 1.4.10 Free body diagram for system in Figure 1.4.934 Vibration of Mechanical Systems Because x/€ <1, cos B cosa. Hence Equations 1.4.38 and 1.439 lead to mi + (kcos?a)x =0 (1.4.40) ‘Therefore, the equivalent stiffness of the spring is Keeq = Koos? (1.4.41) = ek oe x 1.42 Solution of the Differential Equation of Motion Governing Free Vibration of an Undamped Spripg-Mass System ‘Assume that (Boyce and DiPrima, 2005) x(t) =D (1.4.42) where D and s are to be determined/Substituting Equation 1.4.42 into the differential equation of motiog in Equation 1.4.19, / (megs? # keq)De" = 0. (1.4.43) Here, D is not zero for a ontrivial solution. Therefore, for Equa- tion 1.4.43 to be true for allfime ¢, Megs + keg =0 (1.4.44) ‘This is called the chargcteristic equation, The roots of this equation are /sy= jon and s2= (1.4.45a, b) / where j = VT is the imaginary number and / on = eg (1.4.46) Meq The general/solution of the differential Equation 1.4.19 is expressed. j as / [ x(t) = Dye!" + Drei" (1.4.47)Equivalent Single-Degree-of-Freedom System and Free Vibration 49 Therefore, N RP? + IP? = 0? + o2(1 - £2) = This is the equation of a circle with the radiys , and the center at the origin of the complex plane. Since Ri move along the semicircle in the left half 6f the complex plane as & varies from 0 to 1 (Figure 1.5.5). is negative, the roots ©. Foré =1, ; n=25 B, (1.5.51) d. Foré > 1, / q 51 =—bon4 oJ —1 <0 (1.5.52) 52 = —En — OnE —1 <0 (1.5.53) Note that di ‘Isil < on, |s2l > en (1.5.54) Equation 1.5.41 is rewritten as / x(t) = Aye" + Bye Halt (1.5.55) Because |s2| > |s1| for an overdamped system, the term with e~!" dies at a rate faster than the term with e~""", As a result, the domi- nant term,in Equation 1.5.55 is the one with e~""", The critically damped System decays at the rate of e~!, Since |s;| <», the decay rate of an overdamped system is slower than that of a criti- cally damped system. Example 1.5.1: A Rigid Bar Supported by a Spring and a Damper Consider a rigid bar of length €, which is pinned at the point A and is supported by a spring with the stiffness k and a damper with the coef- ficient c (Figure 1.5.6). The mass of the bar is m and is concentrated at its right end as shown in Figure 1.5.6.50 Vibration of Mechanical Systems eS) [ © Massless and rigid bar Figure 1.5.6 Rigid bar with a spring and a damper The free body diagram is shown in Figure 1.5.7 for a small angu- lar displacement @ from its static equilibrium position, where Ry is the unknown reaction force at the point A. Taking moment about the point A, —kaba — cle; = 146 (1.5.56) where /4 is the mass-moment of inertia of the bar about A. Here, 14 = me? (1.5.57) Substituting Equation 1.5.57 into Equation 1.5.56, mO6 + ct? + ka’ =0 (1.5.58) Therefore, =m; keq =ka?; and cq =cl2 (1.5.59) 1+ Figure 1.5.7 Free body diagram of a rigid bar in Figure 1.5.6@ Equivalent Single-Degree-of-Freedom System and Free Vibration ST The undamped natural frequency is | Meats Bape Om = fo afk (1.5.60) The critical damping for this system is Cc = 2/eqiteg = Ulam (1.5.61) Consider the following numerical values: m= 1kg,c = 20N —sec/m, a = 0.4m, ¢; = 0.5m, and ¢=1m Case I: If the stiffness k = 100 N/m, Cc = 2tavkm = 8N — secim As a result, ¢ > c. and the system is overdamped. The damping ratio =2.5 and the damped natural frequency is not defined Case I: If the stiffness k = 900 Nim, Ce = 2taVkm = 24N — secim As a result, c < ce and the system is underdamped. The damping ratio € = 0.833 and the damped natural frequency w4 = @ V1 — #2 = 5.5277 radisec.N Equivalent Single-Degree-of-Freedom System and Free Vibration. 55, x= Racket tip displacement Figure 1.5.10 A tennis racket and a ball fhere Xm. is the amplitude after m cycles of oscillation. The expres- sion in Equation 1.5.7 damping ratio & for which the difference between the two successive amplitudes can is useful for low values of be so small that they may not be accurately differentiable by a mea- suring instrument, that is, the expressio accurately predict the value of the lo; considers the amplitude after a ce for example, m = 7 in Figure can be quite significant. fn Equation 1.5.69 may not fithmic decrement. But, if one in number of cycles of oscillation, (9, the difference between x; and X51 4 result, the ratio of x; and X41 can estimated quite accurately via a measuring instrument and E 1.5.77 can lead to an &ccurate value of 5 and the damping raji Equation 1.5.72. Example 1.5.2: Vibration of a Tennis Racket A tennis ball hits the tennis racket (Figure 1.5.10) and imparts a veloc- ity of 1.5 m/sec to the racket tip. The natural frequency and the damp- ing ratio of the tennis racket (Oh and Yum, 1986) are given to be 31.45 Hz and 0.0297, respectively. Determine the maximum displace- ment of the racket tip. Solution Given: w, = 31.45 Hz = 197.606 rad/sec, § = 0.0297, x(0) =0, and (0) = 1.5 m/sec Therefore, wy = wny/1 — &? = 197.519 rad/sec of.Vtratn of Maca Sytem OX For an underdamped system, the free response is described by Equations 1.5.29-1.5.31: x(t) = Ae~®™! sin(wat + ¥) where and Therefore, x(0) = Ae*™! sin(wat) For the maximum displacement, (0) = Ae~*"'ewq cos(wat) + A(—Een)e$"' sin(wat) = 0 Let be the time corresponding to the maximum displacement. ‘Then, Ane tan(wgt*) = 2 = 33.6652 En Therefore, wat? = 1.541 rad or ‘The maximum displacement is computed as x(t) = 0.0076 e7 00297%197-606«0.0078 sin(1.541) = 0.0073 mEquivalent Single-Degree-of-Freedom System and Free Vibration 37 O Displacement, x OMe 2" era NREUM Sas 40h 12 tae 16.2 18 Time, t (sec) Figure 1.5.11 Measured free vibration of a damped spring-mass system (displacement inmm) Example 1.5.3: Damping Ratio and Undamped Natural Frequency from Free Response For the free vibration of an SDOF system (Figure 1.5.11), the amplitudes 1.403 mm and 1.326 mm are measured at 1.242 sec and 12.734 sec, respectively. Find the undamped natural frequency w, and the damping ratio &. The number of cycles of oscillation between two measured ampli- tudes is 9, Hence, the time period of damped oscillation is 734 Ts ue = 1.2769 sec 9 Therefore, cig A OO aie Ta From Equation 1.5.77, the logarithmic decrement 5 is 1) 1.403 9°"1326 = 0.0063Vibration of Mechanical Systems @ From Equation 1.5.72, Here, (27)? + 5% = (27)*, Therefore, the approximation in Equa- tion 1.5.71 can also be used. 1.6 STABILITY OF AN SDOF SPRING- MASS-DAMPER SYSTEM The stability of a linear SDOF spring-mass-damper system refers to the nature of the free vibration caused by nonzero Anitial conditions in the absence of any external excitation, pee three possible situations: a, Stable: The free vibration response dies out as time goes to infinity, that is, (x(t) > O.as t+ oo) 7 b. Marginally Stable/Unstable: The respénse remains bounded but nonzero as time goes to infinity. c. Unstable: The response becomes unbounded as the time goes to infinity, that is, (x(®) + 00 as t >/00) As shown in Section 1.5.2, the characteristic of the free response is governed by e® term, where ye a root of the characteristic Equa- tion 1.5.6: Megs + Cogs + kegs =0 (1.6.1) In general, a root s is represented as a complex number: s=srt js j=V-1 (1.6.2) where sx and sj are real and imaginary parts of s. For a purely real root, sy = 0, Similarly, for a purely imaginary root, sz = 0. From Equation 1.6.2, et = eCrbisnt = @*8"(cos(syt) + j sin(s1t)) (1.5.3)210. FREE VIBRATION WITH HYSTERETIC DAMPING 197 ‘The energy dissipated in each fl load Each square in Fig. 2.47 denotes 100 x found as area ACB + area ABDE + (1.25)(1.8) + (1.25)(8) + $(1.25) 1225 x 200/1,000 = 25.N-m, / 6 given by the aes enclosed by the hysteresis curve 200 Nemm. The aea enclosed by the loop can be DFE = }(AB)(CO) + (AB\(AE) + (DE)(FH) = ) = 1225 square mis. This area represents an energy of 9.2146), we have AW = whx? = 2.5N-m 1) Since the maximum deflection X is 0.008 m and the slope of the force-deflection curve (given approximately by the slope of the line OF) isk = 400/8 = 50 N/mm = $0,000 N/m, the hysteretic damping constant h ig given by / aw __ 2. y oat e — 5 __ = 12anss «2 / 7x? (0.008)? 2 anu ene 1h _ ans 50,000 ‘The logarithmic decrement can be found as a 8 = ap = 7(0.248679) = 0.78125 (3) EE Fésponse of a Hysteretically Damped Bridge Structure EXAMPLE 2. A bridge structure is modeled as a single-degree-of freedom system with an equivalent mass of 5 X 10° kg and an equivalent stiffness of 25 10° Nim. During a free-vibration test, the ratio of successive amplitudes was found to be 1.04, Estimate the structural damping constant () and the approximate free-vibration response of the bridge. Solution: Using the ratio of successive amplitudes, Eq, (2.154) yields the hysteresis logarithmic decrement (8) as, — ‘The equivalent viscous damping coefficient (qsJcan be determined from Bq, (2.157) as = Int + mB) 04 4 2B = 1.04 or B 0127 fem en198 CHAPTER? FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS Using the known values of the equivalent stiffness (A) and the equivalent mass (m) of the bridge, Eq, (E) yields aq = (0.0127) V{25 XTOH(S % 105) = 44.9013 > 10° Naim The equivalent critical damping constant ofthe bridge can be computed using Eq, (2.65) as 2V km = 2V(25 X109(3 X10) = 7071.0678 X 10° Nim Since éay < ¢a, the bridge is underdamped, and hence its fee-vibration response is given by Eq, (2.72) as where Se 409013 108 _ & 707.0678 10° 0.0063, and xp and ig denote the initial displacement and initial velocity given to the bridge at the start of fre vibration. 2.11 Stability of Systems ‘system. Although cind of system or the riant systems (i.e., sys- tems for which the parameters m, c, and k do not change with timc). A system is defined to be asymptotically stable (called stable in controls literature) if its free-vibration response approaches zero as time approaches infinity. A system is considered to be unstable if its free-vibration response grows without bound (approacties infinity) as time approaches infinity. Finally, a system is said to be stable (cal irginally stable in controls litera- ture) if its free-vibration response neither decays no grows, but remains constant or oscil- latesas time approaches infinity. It is evident that an unstable system whose free-vibration response grows without bounds can cause damage to the system, adjacent property, or human life, Usually, dynamic systems are designed with limit stops to prevent thei responses from growing with no limit. As will be seen in Chapters 3 and 4, the total response of a vibrating system, subjected {o external forces/excitations, is composed of two parts—one the forced response dnd the other the free-vibration response, For such systems, the definitions of asympto / ble, unstable, and stable systems given above are stil applicable. This implies ble systems, only the for reted in terms of the roots of the characteristic roots of the sys- 2.7, the roots lying in the left half-plane (LHP) yield either pure exponential decay of damped sinusoidal free-vibration responses,/These responses decay