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Course Outcomes
By the end of the course, students should be able to : Apply vibration analysis to solve dynamic problems Develop vibration solutions to solve complex engineering problems Demonstrate proper techniques in measuring vibration Explain noise, the measurement and the practical applications
Topics
Vibration - Introduction Vibration theory, Free Vibration, Free body diagram of the system Single-Degree of Freedom (SDOF) Transient and stead state response. Frequency response functions. Mass, stiffness and damping controlled regions. Practical applications. Vibration of Multi-Degree of Freedom (MDOF) systems Lagranges equation of motion. Free and forced response using direct solutions of equation of motion. Forced Response by modal analysis. Introduction to orthogonality and generalised coordinates. Transmissibility. Vibration Measurement transducers. Experimental frequency analysis. Experimental modal analysis. Free and forced vibration of continuous elastic systems Rayleighs method for the fundamental natural frequency Mechanical Vibration - Noise
Course Assessment
Percentage %
20%
Tests
50% 30%
Reference books
1. S.S. Rao, Mechanical Vibrations, Prentice Hall, 2005. 2. B.H. Tongue, Principle of Vibrations, Oxford Press, 2002. 3. W.T. Thomson, Theory of Vibration with Applications, Chapman & Hall, 1993. 4. Balachandran, EB. Magrab, Vibrations, Thomson, 2009.
Introduction to Vibration
Engineering systems possessing mass and elasticity are capable of relative motion. If the motion of such systems repeats itself after a given interval times, the motion is know as vibration (oscillation). In general, vibration is a form of wasted energy & undesirable in many cases, e.g. in machinery noise generated, breaks down parts, transmission of unwanted forces & movements to closely-by objects. Generally, a vibratory system includes means for storing potential energy (spring/elasticity), kinetic energy (mass/inertia) & by which energy is gradually lost (damper).
Introduction to Vibration
To vibrate, a system must have two key attributes: Mass & Elasticity. Real system will possess some damping acts to dissipate energy. The minimum number of independent coordinates required to determine completely the positions of all parts of a system at any instant of time defines the number of degrees of freedom of the system.
Introduction to Vibration
Example of simple pendulum with m (mass), (angular displacement) At 1 Kinetic energy = 0 At 2 Potential energy = mgl(1-cos ) Gravitational force (mg) induces a torque mgl sin about the point O, the pendulum swing to the left from 1. At 2, all PE convert to KE. Then continue to swing to 3. Pendulum keep repeating and will have oscillatory motion. The magnitude of oscillatory () gradually decreases and the pendulum ultimately stops due to resistance (damping) offered by air (dissipation of vibration).
Classification of Vibration
Classified in several ways: Free vibration & forced vibration Undamped & damped vibration Linear & nonlinear vibration Deterministic & random vibration
Free Vibration
Free vibration - the periodic motion observed as the system is displaced from its static equilibrium position. The forces acting are the spring force, the friction force, and the weight of the mass. The vibration will diminish with time due to the presence of friction. The free vibration is sometimes called transient.
Solution: We start with the simplest model and refine it gradually. When the equivalent values of the mass, stiffness, and damping of the system are used, we obtain a single-degree-of-freedom model of the motorcycle with a rider as indicated in Fig(b). In this model, the equivalent stiffness(keq) includes the stiffnesses of the tires, struts, and rider. The equivalent damping constant (ceq)includes the damping of the struts and the rider. The equivalent mass includes the masses of the wheels, vehicle body, and the rider. This model can be refined by representing the masses of wheels, elasticity of the tires, and elasticity and damping of the struts separately, as shown in Fig(c). In this model, the mass of the vehicle body (mv) and the mass of the rider(mr) are shown as a single mass, mv + mr When the elasticity (as spring constant kr) and damping (as damping constant Cr)of the rider are considered, the refined model shown in Fig(d) can be obtained. Note that the models shown in Figs(b) to (d) are not unique. For example, by combining the spring constants of both tires, the masses of both wheels, and the spring and damping constants of both struts as single quantities, the model shown in Fig(e) can be obtained instead of Fig(c).
F = kx
where F is applied force and x is the components change in length from its unstretched length. The stiffness k has dimensions of force per length.
A dashpot is a mechanical device that adds viscous damping to a mechanical system. A linear viscous damping component has a force-velocity relation of the form
F = cv
where c is the damping coefficient of dimensions mass per time.
Torsional Systems
When an angular coordinate is used as a generalized coordinate for a linear system, the system can be modeled by the equivalent torsional system of Figure. The moment applied to a linear torsional spring is proportional to its angular rotation while the moment applied to a linear torsional viscous damper is proportional to its angular velocity. The equivalent system coefficients for a torsional system are determined by calculating the total kinetic energy, potential energy, and work done by viscous damping forces for the original system in terms of the chosen generalized coordinate and setting them equal to
T=
V =
W=-
Solution: The elongation (or shortening) of the rod under the axial tensile (or compressive) force F can be expressed as = = = =
Where =
The significance of the equivalent spring constant of the rod is shown in Fig(b).
Solution: We assume, for simplicity, that the self weight (or mass) of the beam is negligible and the concentrated load F is due to the weight of a point mass (W = mg). From strength of materials, we know that the end deflection of the beam due to a concentrated load F = W is given by
where E is the Youngs modulus and I is the moment of inertia of the cross section of the beam about the bending or a-axis (i.e., axis perpendicular to the page). Hence the spring constant of the beam is Figure (b):
Helical Spring under axial load (d = wire diameter, D = mean coil diameter, n = number of active turns); =
Since the three springs are identical and parallel, the equivalent spring constant of the suspension system is given by = 3k = 3(40,000) = 120,000 N/m
The End