Jiraphon Srisertpol, Ph.

D
School of Mechanical Engineering

Recommended reading :


...  : !"#, Pearson Education
Indochina 2545


Singiresu S.Rao : Mechanical Vibration (Fourth Edition) ,Prentice Hall
2004. SI Edition


Leonard Meirovitch : Fundamentals of Vibrations , Mc-Graw Hill 2001.


Kelly S. Graham : Fundamentals of Mechanical Vibrations,
Mc-Graw Hill 2000.

Introduction to Vibration and The

Free Response

The Spring-Mass model

Single degree of freedom
Simple harmonic motion
Relationship between Displacement, Velocity
and Acceleration
Representations of harmonic motion

School of Mechanical Engineering

The Vibration of a Fixed-Fixed String

School of Mechanical Engineering

The main mass and dynamic absorber at three

frequencies.

Vibration Characteristics of a
Spring

Fundamental Torsional Mode of a

Valve Support Stand

Deflected Elastomer Shock

Isolation

Structural Vibration

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Three degree of freedom system

Two degree of freedom system

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Infinite number of degree of freedom

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Dynamic System Modeling and Analysis, Hung V Vu and Ramin S. Esfandiari,

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Mathematical Model of
Motorcycle

Vibration Analysis Procedure


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keq {kt , kr , ks } equivalentstiffness.

ceq {cs , cr } equivalentdamping constant.
meq {mr , mv , mw } equivalent mass
r rider ,t tires, s struts , v vehicle body, w wheels,

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Mathematical Model of
Motorcycle

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Mathematical Model of
Motorcycle

r rider ,t tires, s struts ,v vehicle body, w wheels,

r rider ,t tires, s struts ,v vehicle body, w wheels,

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Mathematical Model of
Motorcycle



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Springs Elements

Mass or Inertia Elements

Damping Elements

r rider ,t tires, s struts ,v vehicle body, w wheels,

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Spring Elements

Stiffness (N/m)
Youngs modulus (N/m)
Density (kg/m)
Shear modulus G(N/m)
Springs in series
Springs in parallel

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Spring force

F = kx

k spring contant or spring stiffness

x displacement(deformation)

Potential energy in the spring :

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U=

1 2
kx
2

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Springs in Parallel

Springs in Series
1. Static of the system ( st )

Equilibrium equation

W = k1 st + k 2 st

st = 1 + 2

2. Equilibrium equation W = k11

W = keq st

W = k2 2

where keq = k1 + k 2

3. keq for the same static deflection

W = keq st

k11 = k 2 2 = keq st
or

Equivalent spring constant (keq ) in parallel

Equivalent spring constant (keq ) in series

keq = k1 + k 2 + k3 + + k n

1
1 1 1
1
= + + ++
keq k1 k 2 k3
kn

1 =

that is,

keq st
k1

, 2 =

keq st
k2

1
1 1
= +
keq k1 k 2

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Damping Elements

EX: Springs in Parallel

shear modulus G = 80 109 N m 2

mean coil diameter D = 20 cm

wire diameter d = 2 cm

The stiffness of helical spring is given by

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d 4G (0.02 ) 80 109
=
40,000 N m
k=
3
8D 3n
8(0.2 ) 5
4

The equivalent spring constant of the suspension system is given by

keq = 3k = 3 40,000 = 120,000 N m

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Viscous Damping

Damping

All real systems dissipate energy when they vibrate. To

account for this we must consider damping. The most simple
form of damping (from a mathematical point of view) is called
viscous damping. A viscous damper (or dashpot) produces a
force that is proportional to velocity.
Mostly a mathematically motivated form, allowing
a solution to the resulting equations of motion that predicts
reasonable (observed) amounts of energy dissipation.

Damper (c)
x

f c = cv(t ) = cx (t )

fc
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Viscous Damping

Equivalentdampingconstant (ceq ) in series

1 1 1
1
= + +
ceq c1 c2
cn

Damper
Damping coefficient
Critical damping coefficient
Damping ratio

Equivalentdampingconstant (ceq ) in parallel

ceq = c1 + c2 + + c3

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Ex: Horizontal milling machine

Underdamped Motion
Overdamped Motion
Critically Damped Motion

49

Ex: Horizontal milling machine

50

Ex: Horizontal milling machine

Fs = keq x

Fsi = ki x ; i = 1,2,3,4
Fdi = ci x ; i = 1,2,3,4

Fd = ceq x

Fs = Fs1 + Fs 2 + Fs 3 + Fs 4
Fd = Fd1 + Fd 2 + Fd 3 + Fd 4

where

keq = k1 + k2 + k3 + k4
ceq = c1 + c2 + c3 + c4

Fs + Fd = W total vertical force

G center of mass , Fsi forces acting on the springs , Fdi forces acting on the dampers
Fs forces acting on all the springs , Fd forces acting on all the dampers

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Newtons second law

Conservation of Energy
Potential Energy
Kinetic Energy
Natural frequency

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