Lecture 1 - MEC 532

MEC
532
Vibra-on and Control
Instructor: Prof. Ya Wang (ya.s.wang@stonybrook.edu)
Grader: Vamiq Mohammed Snu (vamiqmohammed.snu@stonybrook.edu)
Department of Mechanical Engineering, Stony Brook University
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Textbook:
Daniel J. Inman, Engineering Vibra-on, 4th Edi-on, 2013
L. Meirovitch, Fundamentals of Vibra-ons, 2012
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08/26 Agenda
o Syllabus
o Class Overview
o Introduc-on
o Modeling Issues
o Mathema-cal Background
- Homogenous Linear ODEs Responses to Free Vibra-ons
o Response to Free Vibra-ons
o Homework # 1: due on 09/02/15

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis
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Aircraa avoid human Intes-nal Tract (4 8 Hz)
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(a) Tacoma Narrows Bridge along deck@1940 (b)View of Torsional Vibra-on
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Millennium Bridge @ 2000
OPENED AND CLOSED WITHIN A FEW HOURS BECAUSE OF UNDESIRABLE VIBRATION

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Wind Energy Harves-ng Project @ NES
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Ocean Wave Energy Harves-ng Project @ NES
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Footstep Energy Harves-ng Project @ NES
Multi-Stage Amplified
Piezoelectric Stack
(MSAPS)
Power
Conditioning
Circuit
Super Capacitor
(for power
storage)
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Nonlinear Energy Harves-ng Project @ NES
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Introduc-on
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Concepts of Vibra-ons
(Newtons Law)
First Law: If there are no forces acGng upon a parGcle, then the
parGcle will move in a straight line with constant velocity
Second Law: A parGcle acted upon by a force moves so that
the force vector is equal to the Gme rate of change of the linear
momentum vector
Third Law: When two parGcles exert forces upon one another,
the parGcle lie along the line joining the parGcles and the
corresponding force vectors are the negaGve of each other
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Deni-on of Degrees of Freedom (DOF):

The Minimum Number of independent coordinates required to determine completely the

posiGons of all parts of a system at any instant of Gme denes the degree of the system
For a single parGcle conned to a line, one coordinate suces

so it has one degree of freedom
For a single parGcle in a plane two coordinates dene its
locaGon so it has two degrees of freedom
A single parGcle in space requires three coordinates so it has
three degrees of freedom
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Single Degrees of Freedom (SDOF)

single degree of freedom system, is a system whose posiGon in Gme and space can be
dened by one coordinate, here a displacement or posiGon at any instant of Gme.

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Example 1.1.1 The Pendulum
= J 0 ,
J 0 = m 2
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Example 1.1.1 The Pendulum

Sketch the structure or part of interest
Write down all the forces and make a free body diagram
Use Newtons Law and/or Eulers Law to nd the equaGons of moGon
J 0 (t ) = mgl sin (t ) m 2(t ) + mg
(t) = 0
sin
restoring
force
Here the over dots denote dierenGaGon with respect to Gme t

This is a second order, nonlinear ordinary dierenGal equaGon

sin
We can linearize the equaGon by using the approximaGon
g
m 2(t ) + mg (t ) = 0 (t ) + (t ) = 0
(0) and (0)

Requires knowledge of
the iniGal posiGon and velocity.

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Example 1.1.2 The Mass-Spring System

From strength of materials recall:
FBD:
nonlinear
A plot of force versus displacement:
experiment fk = kx
linear
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Example 1.1.2 The Mass-Spring System
Newtons Law:

m
x(t ) = kx(t ) m
x(t ) + kx(t ) = 0
x(0) = x0 , x(0)
= v0
Again a 2nd order ordinary dierenGal equaGon
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S-ness and Mass

VibraGon is cause by the interacGon of two dierent forces one related to
posiGon (sGness) and one related to acceleraGon (mass).
ProporGonal to displacement
SGness (k)
Displacement
x
fk = kx(t )
staGcs
Mass (m)
fm = ma(t ) = m
x(t )
dynamics
m
Mass
ProporGonal to acceleraGon
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Spring
Two Degrees of Freedom (2 DOF)
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Discrete and Con-nuous Systems
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Discrete and Con-nuous Systems

Systems with a nite number of degrees of freedom are called discrete or lumped
parameter systems, and those with an innite number of degrees of freedom are
called con-nuous or distributed systems.
Most of the Gme, conGnuous systems are approximated as discrete systems, and
soluGons are obtained in a simple manner. Although treatment of a system as
conGnuous gives exact results the analyGcal methods available for dealing with
conGnuous systems are limited to a narrow selecGon of problems, such as uniform
beams, slender rods and thin plates
Hence, most of pracGcal systems are studied by treaGng them as nite lumped
masses, springs and dampers. In general, more accurate results are obtained by
increasing the number of masses, springs and dampers that is by increasing the
number of degrees of freedom.
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Classica-on of Vibra-ons
Free vibra-on: If a system, a]er an iniGal disturbance is le] to vibrate on its own,
the ensuing vibraGon is known as free vibraGon. No external force acts on the
system. The oscillaGon of a simple pendulum is an example of free vibraGon.
Forced vibra-on: If a system is subjected to an external force (o]en a repeaGng type
of force), the resulGng vibraGon is known as forced vibraGon.
- If the frequency of the external force coincides with one of the natural
frequencies of the system, a condiGon known as resonance occurs, and the
system undergoes dangerously large oscillaGons. Failure of such structure as
buildings, bridges, turbines, and airplane wings have been associated with then
occurrence of resonance.
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Undamped vibra-on: If no energy is lost or dissipated in fricGon or other resistance
during oscillaGon, the vibraGon is known as undamped vibraGon.
Damped vibra-on: If energy is lost in this way, it is called damped vibraGon.
- Le] gure describes a model of bus
suspension system (one of the four wheels), where
the spring forms a physical model for storing
kineGc energy, the dashpot / damper forms the
physical model for dissipaGng energy and damping
the response of a mechanical system.
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Linear vibra-on: If all the basic components of a vibratory system-the spring, the
mass, the damper, behave linearly, the resulGng vibraGon is known as linear
vibraGon. The dierenGal equaGons that govern the behavior of vibratory linear
systems are linear. Therefore the principle of superposiGon holds.
Nonlinear vibra-on: If however, any of the basic components behave nonlinearly,
the vibraGon is called nonlinear vibraGon. The dierenGal equaGons that govern the
behavior of vibratory non-linear systems are non-linear. Therefore, the principle of
superposiGon does not hold
nonlinear
FBD:
linear
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Determinis-c vibra-on: If the value or magnitude of the excitaGon (force or moGon)
acGng on a vibratory system is known at any given Gme, the excitaGon is called
determinisGc. The resulGng vibraGon is known as determinis-c vibra-on.
Nondeterminis-c vibra-on: In some cases, the excitaGon is non-determinis-c or
random, the value of excitaGon at a given Gme can not be predicted. In these cases,
a large collecGon of records of the excitaGon may exhibit some staGsGcal regularity.
It is possible to esGmate averages such as the mean and mean square values of the
excitaGon.
- Examples of random excitaGons: wind velocity, road
roughness, and ground moGon during earthquakes.
- If the excitaGon is random, the resulGng vibraGon is called
random vibraGon. In the case of random vibraGon, the
vibratory response system is also random: it can be
described only in terms of staGst quanGGes.
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Modeling Issues
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Modeling Issues
Modeling: is usually 95% of the eort in real-world mechanical vibraGon problems.
No right modeling, only closer soluGons.
Objec-ve: this course will focus primarily on the derivaGon of equa-ons of mo-on,
free response and forced response analysis, and approximate solu-on methods for
vibraGng systems
Linear Superposi-on: No Gme to discuss non-linear vibraGon analysis in this course.
DOF = Coordinates chosen KinemaGc /Geometric Constraint EquaGons.
Energy Method: provide an alternaGve way to determine the equaGon of moGon,
the natural frequency of a system, especially when the forces or torques acGng on
the object or mechanical part are dicult to determine
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Mathema-cal Background
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Introduc-on
Ordinary Dieren-al Equa-ons: The dynamic behavior of mechanical systems is
described by what we call second order Ordinary Dieren-al Equa-on.
The input (force) to the mechanical structure appears on the right hand side of the
equaGon and the soluGon of the equaGon gives the output which is usually the
displacement.
In order to be able to solve these equaGons, it is imperaGve to have a solid
background on the soluGon of homogeneous and nonhomogeneous Ordinary
DierenGal EquaGons.
Homogeneous Ordinary DierenGal EquaGons represent the Free Vibra-ons and
the Nonhomogeneous Ordinary DierenGal EquaGons represent Forced Vibra-ons
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Homogeneous linear ODEs with constant coecients

A second order homogenous linear ODEs whose coecients a and b are constant:

The soluGon of a rst order linear ODE:
By separaGng variables and integraGng, we obtain:
Taking exponents on both sides:
Lets try the above soluGon in the rst equaGon. Using a constant coecient k:
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Response to Free Vibra-ons
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Response to Undamped Free Vibra-ons

m
x(t ) = kx(t ) m
x(t ) + kx(t ) = 0
x(0) = x0 , x(0)
= v0
Lets assume a soluGon:
x(t )
x(t ) = A sin( n t + )
(1.3)
t
DierenGaGng twice gives:

) = n A cos( n t + )
x(t
(1.4)
x(t ) = n2 A sin( n t + ) = - n2 x(t )
(1.5)
SubsGtuGng back into the equaGons of moGon gives:

m n2 A sin( n t + ) + kA sin( n t + ) = 0
m n2 + k = 0
or
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n =
k
m
rad/s
Natural frequency

Summary of simple harmonic mo-on
x(t)
Period
Amplitude A
2
T =
n
x0
Slope here is v0
t
Maximum Velocity
n A
n
fn =
n rad/s
cycles n
= n
=
Hz
2 rad/cycle
2 s
2
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Ini-al Condi-ons
If a system is vibraGng then we must assume that something must have (in the past)
transferred energy into to the system and caused it to move. For example the mass
could have been:
moved a distance x0 and then released at t = 0 (i.e. given PotenGal energy) or
given an iniGal velocity v0 (i.e. given some kineGc energy) or
Some combinaGon of the two above cases
From our earlier soluGon we know that:
x0 = x(0) = A sin( n 0 + ) = A sin( )
v0 = x(0)
= n A cos( n 0 + ) = n A cos( )
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Ini-al Condi-ons Determine the Constants of Integra-on
Solving these two simultaneous equaGons for A and gives:
x
1
A=
n2 x02 + v02 , = tan 1 n 0
n
v0
Amplitude
Phase
Slope here
is v0
x(t)
x0
1
n
n2 x02 + v02
x0
v0
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Thus the total solu-on for the spring mass system becomes:
x(t ) =
n2 x02 + v02
1 n x0
sin n t + tan
n
v0
(1.10)
Called the soluGon to a simple harmonic oscillator and describes oscillatory

moGon, or simple harmonic mo9on.
Note (Example 1.1.2)
x(0) =
n2 x02 + v02
n
n x0
x +v
2
n
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2
0
2
0
= x0

Rela-onship between Displacement, Velocity and Accelera-on
A=1, n=12
x(t ) = A sin( n t + )
Displacement
-1
0
20
Velocity
v
) = n A cos( n t + )
x(t
x(t ) = n2 A sin( n t + )
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
-20
0
200
AcceleraGon
0.1
0
-200
0
Note how the relaGve magnitude of each increases for n>1

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Time (sec)

Summary of Harmonic Mo-on
The period is the Gme elapsed to complete one complete cylce
T =
2 rad
2
=
s
n rad/s
n
(1.11)
The natural frequency in the commonly used units of hertz:

fn =
n
n rad/s
cycles
=
= n
= n Hz
2
2 rad/cycle
2 s
2
For the pendulum:
n =
g
rad/s,
T = 2
(1.12)
s
g
For the disk and sha]:

n =
k
rad/s,
J
T = 2
J
s
k
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Example 1.1.3
There are of course more complex models of suspension systems and these appear laner in the course
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Example 1.2.1
n =
857.8 N/m
= 132 rad/s
49.2 10 -3 kg
k
=
m
n
= 21 Hz
2
2
1
1
T =
=
=
n
fn
21 cyles
fn =
x(t ) max = A =
1
n
0.0476 s
sec
n2 x02 + v02 = x0 = 10 mm
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Example 1.2.1
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Does gravity maler in spring problems?
Let be the deecGon caused by

hanging a mass on a spring
( = x1-x0 in the gure)

Then from staGc equilibrium:
mg = k
Next sum the forces in the verGcal for some point x > x1 measured from

m
x = k ( x + ) + mg = kx + mg k
=0
m
x(t ) + kx(t ) = 0
So no, gravity does not have an eect on the vibraGon

(note that this is not the case if the spring is nonlinear)
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Example 1.2.2 Pendulums and measuring g
A 2 m pendulum swings with a period of 2.893 s
What is the acceleraGon due to gravity at that locaGon?
This is g in Denver, CO USA, at 1638m and a laGtude of 40
T =
2
= 2
n
4 2
4 2
g=
=
2 m
2
2 2
T
2.893 s
g = 9.796 m/s 2
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Review of Complex Numbers and Complex Exponen-al (See Appendix A)
A complex number can be wrinen with a real and imaginary part or as a
complex exponenGal
j
c = a + jb = Ae
Where
a = A cos , b = A sin
MulGplying two complex numbers:
c1c2 = A1 A2 e j (1 + 2 )
Dividing two complex numbers:
c1
A1 j (1 2 )
=
e
c2
A2
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a
A

Equivalent Solu-ons to 2nd order Dieren-al Equa-ons
All of the following soluGons are equivalent:

x(t ) = A sin( n t + )
Called the magnitude and phase form
x(t ) = A1 sin n t + A2 cos n t
x(t ) = a1e
j n t
+ a2 e
j n t
SomeGmes called the Cartesian form

Called the polar form
The relaGonships between A and , A1 and A2, and a1 and a2 can be

found in next slide
Each is useful in dierent situaGons
Each represents the same informaGon
Each solves the equaGon of moGon
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Deriva-on of the solu-on
Substitute x(t ) = ae t into
m
x + kx = 0
m 2 ae t + kae t = 0
m 2 + k = 0
k
k
=
=
j = n j
m
m
x(t ) = a1e n jt and x(t ) = a2 e n jt
x(t ) = a1e n jt + a2 e n jt
(1.18)
This approach will be used again for more complicated problems

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Equivalent Solu-ons to 2nd order Dieren-al Equa-ons
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Is frequency always posi-ve?

From the preceding analysis, = + n then
x(t ) = a1e n jt + a2 e n jt
Using the Euler relaGons* for trigonometric funcGons, the above soluGon can be wrinen
as:
x(t ) = A sin ( n t + )
(1.19)
It is in this form that we idenGfy as the natural frequency n and this is posiGve, because
the + sign being used up in the transformaGon from exponenGals to the sine funcGon.
* hnp://en.wikipedia.org/wiki/Euler's_formula
eix = cos x + i sin x

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Calcula-ng root mean square (RMS) values

May need to be limited due to physical constraints
Not very useful since for a sine funcGon the
average value is zero
A = peak value
1
x = lim
T T
x(t )dt
0
1
2
x = lim
T T
xrms =
= average value
2
x
(t )dt = mean-square value
(1.21)
x 2 = root mean square value

Also useful when the vibraGon is random
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ProporGonal to energy
The Decibel or dB scale

It is o]en useful to use a logarithmic scale to plot vibraGon levels (or noise levels).
One such scale is called the decibel or dB scale. The dB scale is always relaGve to
some reference value x0. It is dene as:
x
dB = 10 log10
x0
x
= 20 log10
x0
(1.22)
For example: if an acceleraGon value was 19.6m/s2 then relaGve to 1g (or 9.8m/s2)
the level would be 6dB,
19.6
10 log10
9.8
= 20 log10 ( 2 ) = 6dB
Or for Example 1.2.1: The AcceleraGon Magnitude is 20log10(17.8)=25dB relaGve to 1g.
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Response to Damped Free Vibra-ons

All real systems dissipate energy when they vibrate. To account for this we must
consider damping. The most simple form of damping (from a mathemaGcal point of
view) is called viscous damping. A viscous damper (or dashpot) produces a force that is
proporGonal to velocity.
Damper (c)
Mostly a mathemaGcally moGvated form, allowing

a soluGon to the resulGng equaGons of moGon that predicts
reasonable (observed) amounts of energy dissipaGon.
)
fc = cv(t ) = cx(t
fc
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For this damped single degree of freedom system the force acGng on the
mass is due to the spring and the dashpot i.e. fm= - fk - fc.
)
m
x(t ) = kx(t ) cx(t
or
) + kx(t ) = 0
m
x(t ) + cx(t
Displacement
x
k
M
(1.25)
c
To solve this for of the equaGon it is useful to assume a soluGon of
the form (again):
x(t) = ae
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Solu-on to DE with damping included (dates to 1743 by Euler)
The velocity and acceleraGon can then be calculated as:

x(t) = ae t
x
(t) = 2 ae t
If this is subsGtuted into the equaGon of moGon we get:

ae t (m 2 + c + k) = 0
(1.26)
Divide equaGon by m, subsGtute for natural frequency and assume

a non-trivial soluGon t
c
2
2
ae
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( +
+ n ) = 0

For convenience we will dene a term known as the damping ra9o as:
=
c
2 km
(1.30)
The equaGon of moGon then becomes:

( + 2 n + ) = 0
2
2
n
Lower case Greek zeta

NOT as some like to use
Solving for then gives,

1,2 = n n 2 1
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(1.31)

Possibility 1. Cri-cally damped mo-on
CriGcal damping occurs when =1.

The damping coecient c in this case is given by:
=1 c = ccr = 2 km = 2m n
definition of critical
damping coefficient
Solving for then gives,

1,2 = 1n n 12 1 = n
The soluGon then takes the form
A repeated, real root
x(t ) = a1e n t + a2 te n t
Needs two independent soluGons, hence the t in the second term

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Cri-cally damped mo-on
a1 and a2 can be calculated from iniGal
condiGons (t=0),
Displacement (mm)
v = ( n a1 n a2 t + a2 )e n t
a2 = v0 + n x0
x 0 =0.4mm v
0.5
x = (a1 + a2 t )e n t
a1 = x0
v0 = n a1 + a2
0.6
k=225N/m m=100kg and

x 0 =0.4mm v
x 0 =0.4mm v
0.4
= 1
=1mm/s
=0mm/s
=-1mm/s
0
0
0.3
0.2
0.1
0
No oscillaGon occurs
-0.1
0
Useful in door mechanisms, analog gauges
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2
Time (sec)

Possibility 2: Overdamped mo-on
An overdamped case occurs when >1. Both of the roots of the equaGon are real.
0.6
1,2 = n n 2 1
(a1e
2 1
n t
n t
+ a2 e
2 1
a1 and a2 can again be calculated from

iniGal condiGons (t=0),
v0 + ( + 1) n x0
2 n 2 1
0.4

0 =0mm/s
0 =-1mm/s
0 =1mm/s
0.3
0.2
0.1
0
v0 + ( + 2 1) n x0
a1 =
2 n 2 1
a2 =
x 0 =0.4mm v
x 0 =0.4mm v
x 0 =0.4mm v
0.5
Displacement (mm)
x(t) = e
n t
k=225N/m m=100kg and =2
-0.1
2
Time (sec)
Slower to respond than criGcally damped case

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Possibility 3: Underdamped mo-on
An underdamped case occurs when <1. The roots of the equaGon are complex
conjugate pairs. This is the most common case and the only one that yields
oscillaGon.
1,2 = n n j 1 2
x(t) = e
n t
(a1e
j n t 1 2
+ a2 e
j n t
1 2
= Ae n t sin ( d t + )
The frequency of oscillaGon d is called the damped natural frequency is given by.
d = n 1 2
(1.37)
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Constants of integra-on for the underdamped mo-on case
As before A and can be calculated from iniGal condiGons (t=0),
1
d
= tan
(v 0 + n x0 )2 + (x 0 d ) 2
1
x0 d
v
+
x
0
n 0
Gives an oscillaGng response with

exponenGal decay
Most natural systems vibrate with and
underdamped response
See next slide for details and other
representaGons
Displacement
A=
0.5
0
-0.5
-1
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2
3
Time (sec)
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Example 1.3.1: consider the spring of 1.2.1, if the damping rate of the spring is measured
as c = 0.11 kg/s, determine the damping ra-o of the spring-bolt system.
m = 49.2 10 3 kg, k = 857.8 N/m

ccr = 2 km = 2 49.2 10 3 857.8
= 12.993 kg/s
c
0.11 kg/s
=
= 0.0085
ccr
12.993 kg/s
the motion is underdamped
and the bolt will oscillate
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Example 1.3.2

The human leg has a measured natural frequency of around 20 Hz
when in its rigid (knee locked) posiGon, in the longitudinal
direcGon (i.e., along the length of the bone) with a damping raGo
of = 0.224. Calculate the response of the Gp if the leg bone to
an iniGal velocity of v0 = 0.6 m/s and zero iniGal displacement
(this would correspond to the vibraGon induced while landing on
your feet, with your knees locked form a height of 18 mm) and
plot the response. What is the maximum acceleraGon
experienced by the leg assuming no damping?

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Solu-on:
n =
20 cycles 2 rad
= 125.66 rad/s
1
s
cycles
d = 125.66 1 (.224) = 122.467 rad/s

2
A=
(0.6 + (0.224 )(125.66)( 0))2 + (0)(122.467)2

122.467
= 0.005 m
(0)( d )
=0
= tan
v0 + n (0 )
-1
x( t ) = 0.005e 2 8. 1 4 8t sin(122.467t )
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Use the undamped formula to get maximum accelera-on:
A=
v
x 02 + 0 , n = 125.66, v 0 = 0.6, x 0 = 0
n
v
0.6
A= 0 m=
m
n
n
0.6
2
2
) = A =
max( x
= (0.6)(125.66 m/s ) = 75.396 m/s
n
2
n
2
n
maximum acceleration =
75.396 m/s 2
g = 7.68 g's
9.81 m/s 2
Copyright @Ya Wang

Here is a plot of the displacement response versus -me
Copyright @Ya Wang

Example 1.3.3 Compute the form of the response of an underdamped system using the Cartesian form of the
solu-on given in Slide 71.
sin(x + y) = sin x sin y + cos x cos y

x(t ) = Ae n t sin( d t + ) = e n t (A1 sin d t + A2 cos d t )
x(0) = x0 = e0 (A1 sin(0) + A2 cos(0)) A2 = x0
x = n e n t (A1 sin d t + A2 cos d t )
+ d e n t (A1 cos d t A2 sin d t )
v0 = n (A1 sin 0 + x0 cos 0) + d (A1 cos 0 x0 sin 0)
v + n x0
A1 = 0
d
x(t ) = e
n t
v0 + n x0
sin d t + x0 cos d t
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Lecture 1 - MEC 532

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MEC

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

Aircraa avoid human Intes-nal Tract (4 8 Hz)

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

(a) Tacoma Narrows Bridge along deck@1940 (b)View of Torsional Vibra-on

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

Millennium Bridge @ 2000

OPENED AND CLOSED WITHIN A FEW HOURS BECAUSE OF UNDESIRABLE VIBRATION

Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

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Good Vibra-ons ? Bad Vibra-ons? The Role of Analysis

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Deni-on of Degrees of Freedom (DOF):

The Minimum Number of independent coordinates required to determine completely the

For a single parGcle conned to a line, one coordinate suces

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Single Degrees of Freedom (SDOF)

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Example 1.1.1 The Pendulum

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Example 1.1.1 The Pendulum

Here the over dots denote dierenGaGon with respect to Gme t

(0) and (0)

the iniGal posiGon and velocity.

Example 1.1.2 The Mass-Spring System

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Example 1.1.2 The Mass-Spring System

Again a 2nd order ordinary dierenGal equaGon

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S-ness and Mass

Two Degrees of Freedom (2 DOF)

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Discrete and Con-nuous Systems

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Discrete and Con-nuous Systems

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Homogeneous linear ODEs with constant coecients

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Homogeneous linear ODEs with constant coecients

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Homogeneous linear ODEs with constant coecients

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Homogeneous linear ODEs with constant coecients