THE THEORY OF DYNAMIC VIBRATION ABSORPTION AND ITS

APPLICATION TO A VIBRATION SYSTEM

WANGMING LU
Boston University, Department of Aerospace and Mechanical Engineering
110 Cummington Street, Boston, MA 02215, U.S. A.

MINGWUWANG
Shanghai Jiao Tong University, Department of Power Machinery Engineering

1954 Huashan Road, Shanghai. 200030, China

ABSTRACT Based on modem theories of functional
analysis and optimization theory, a new theory of
dynamic vibration absorption is derived after detailed
analvsis of a linear damped multi-degree-offreedom(MDOF) system. The new theory has advantage
over the traditional ones in that it involves only one
independent variable, i.e., the force exerted by dynamic
vibration absorber (DVA) to the unit to which it is
attached, regardless of the number of freedom of the
primary system. The closed form for the optimization
results are given. Finally, as a verification, this method
is applied to a linear damped 3-DOF system with three
DVAs attached to the primary system, to demonstrate its
efficiency and simplicity, and the results are compared to
those given by other published literature.

(i)

determinant

of

natural frequency,
,----~-1

denote the conjugate of a complex.

El

total energy of l dynamic units.

number of DVAs attached in the

number of dynamic
optimization objective function.
coefficient matrix of
B

mass, stiffness and damping matrix

units

for

optimization

equation set.
superscript:

r ,i

real and imaginary part of a complex

number. respectively.

1. INTRODUCTION
mass, stiffness and damping of the ith

The optimization theory of the optimally tuned and

damped dynamic vibration absorber, derived originally
by BROCK[1], is to be found in books on mechanical
vibrations such as the well-known text by DEN
HAR.TOG[2]. When there is no damping in the primary
system. the optimization procedure is simplified by the
existence of the fixed points on the family of amplitude
frequency response curves[2], and hence, the optimum
parameters of DV A can be obtained by equal peak
method. All systems, however, contain some damping,
and when optimizing parameters of DV A, one can not

DVA.

g(t)

force vector determined by DV As

attached to the primary system,
displacement vector,
X
displacement of dynamic unit and
DVA respectively,

g opt (t)
f(t)

of algebraic

ith dynamic unit,

l

value

f +g .

primary system.

K; , C; stiffness and damping between the {i-1 )th and

f,

resultant matrix after replacing the ith

R(k .i)

mass of the ith dynamic unit,

l'

R;
~i

of the primary system.

m k. c.

Mffi 1 + jCm + K

column of matrix R with

NOMENCLATURE

M, K, C

optimization result of g ( t) ,
external exciting force vector,

251

neglect the influence of damping in the primary system.

Optimization by numerical means was obtained for a

solutions for optimum force vector determined by

parameters of DV As. Finally, a linear damped 3-DOF

three-element-damping dynamic absorber[3], or a

viscously damped dynamic absorber[4],added to a

system is employed to demonstrate the effectiveness and

simplicity of this method.

viscously damped primary system. Finally, a graphical

2. OPTIMIZATION THEORY OF DYNAMIC

VIBRATION ABSORPTION

solution based on the optimization cycle technique was

obtained for a primary system with hysteric damping and
a viscously damped dynamic absorber[5].

Consider a linear damped n-DOF system, as shown in

figure 1. For generality, one call a mass-spring-dashpot
subsystem as a dynamic unit, and we assume that it is

To investigate the effects of a dynamic absorber on a

multi-degree-of -freedom (MDOF) primary system, a
method has been suggested by which the latter is reduced
to a single-degree-of-freedom (SDOF) system processing
an equivalent mass[6]. A representative case for a
viscously damped dynamic absorber has been treated
numerically[?]. KAzuTo and KoUICHI discussed the
optimum parameters of DV A for a n-DOF system in the
frequency range by introducing the concept of equivalent
mass[8]. W. Lu has given the optimum parameters of
DV A attached to a damped MDOF system[9-ll].

possible that only m dynamic units to which DVA can be

attached to absorb unwanted vibration, and vibration
absorption objective is to minimize total vibration energy
of l dynamic units in primary system. It is obvious that

m, l-< n.
The effect of DV A attached

to the dynamic unit of

primary system can be represented by a force. g ( t) .

exerting on this unit. The equation motion for system
shown in figure l can be written in the matrix form as.

x(t) + Ci(t) + KxU)

In what follows. based on the aforementioned literature, a
new theory of dynamic vibration absorption for a linear ,
viscously damped. MDOF system is presented by
authors. In this method, the total vibration energy of
some dynamic units in the primary system or the overall
primary system, is employed as objective function for
optimization. This function in itself is expressed with
regard to the optimum force vector exerted by every DVA
on the dynamic unit to which this DV A is attached . By
using functional analysis theory, the optimum force
vector can be obtained in order that function value be
minimized. As the former is determined by the vibration
performance of DV As attached to the primary system, the
optimum parameters of every DV A can be computed. It
is obvious , from the subsequent discussion, that the
above mentioned method has considerable advantages
over traditional ones in that its employed objective
function depends only one independent variable
regardless of the number of DOF of the primary system.
So, substantial computational efforts can be avoided, and
consequently, the optimization process turns to be more
efficient and simple.

=j

(t) + g(t)

(1)

where,

M=

Ml

M2

0
0

0
0

0 Mn

(KI +Kz)

-Kz

-~

~ +K3

-K3

-Kn-1

K==

K,_t + K. -K.

-K.

(C1+C2)

-c;

-c;

C2+~

-C3

-Cn-1
0

K.
0
0

C==

0
0

cn-1 +c.
-c.

-c.

c.

(2-4)

x(t) = [x 1(t)
j(t)

X2 (t)

X,

=[.h (t), 12 (t) .... , !, (t)

(t)

g(f) = [0,-'' ,0, g (n-m+l) (f), g (n-m+2) (f)," , g 11 (t)] T

(5a-c)

For convenience, theoretical formulation of proposed

method is given in section 2, as well as the closed

Equation (1) can be manipulated into:

252

(-Mco 2 + jCco + K) X= j + g

optimum is equivalent to the determination of the

(6)

optimum g(t), as denoted as

So, it can be seen that, from the right hand side (RHS) of

gopt

(t). For convenience.

let

the above equation, that installation of m DV As to m

dynamic units of the primary system is equivalent to

e; = 2.,(Jk +gk)Aki

(13)

2::0

k=l

addition of a force column vector g(t), defined in (5c),

to RHS of equation of motion. By carefully controlling

'(J)

>0

g(t), one can alter system vibration performance, and

m(IRI)

thus, reach the optimization goals.

consequently, when e; approves its minimum value.

(14)

E;

does too. Let introduce the following variables.

As the coefficient matrix. i. e., -

Mco 2 + jCco + K,

of

(15a)

equation (6) is nonsingular matrix. for steady state forced

vibration of the system. its roots can be obtained
according to Crammer law.

X= t-Mw 2 + jCw + K)- 1 {j +g)

(9)

IRI

E; = - 2., M;co 2 ( - ;) 2
2 i=l
IRI

\R;j

~ [t,(f, +g,)A., ][t,u:+ g;)A~J

(161

+{t,lu: +g;)~- u: +g:)A~]r

... i=l

substitution of (8) into (9) yields,

I

(15c)

~ {t,lu: +g;)A~- u: +g: lA~]r

Ak =A;+ j A~

e,

Recall the optimization objective function, that is,

(15b)

real variables. i.e.,

(8)

= -;:;- 2., M;i;:(

By this manipulation. e; can be written in the function of

(7)

displacement of the ith unit. X; , can be obtained.

E;

gk=gk+jgk

At its points of minimum value, the following conditions

(10)

must be satisfied,

a e;j = 0,
;a gn-o

can be written in the form

IR;I = I..ctk + gk)Aki

(11)

ae;j =0.
ja gn-o
i

8 = 0. 1. . m- 2. m- 1

(l7a-b)

k=l

By substituting (11) into (10), one can obtain,

E; =

lcol

2:tM;(\Rf)

~(fk + gk)Aki

After differentiation with regard to the real part,

g; and

imaginary part, g~, of the jth element of force column

(12)

vector, i.e, g i, and let the results equal zero, one obtain.
It is obvious that

E; is positive definite, or at least,

semi-positive definite function. Consequently,

optimization problem can be converted into
minimization of

the
the

E;. After determining the external

exciting force, one can see that depends on only the

equivalent force column vector, g(t). By this way, the
number of independent variables in the optimization
objective function is reduced to only one. To find the

253

A; 2.,[J; + g;)A~ -A;JJ: + g~)A~]

k=l
n

+A;; 2.,[J; + g~)A~ -A;JJ: + g~)A~] = 0

k=l

II

-A;L[f: + g;)A~ -ASJJ: + g~)A~]

where, U is the matrix consisting of the constants in (21),

k=l

g opt

+A;; L[f: + g;)A~ -A;JJ: + g~)A~]

=0

by m OVAs on its representative dynamic unit. As the

k=l

determinant column of matrix B is nonzero. i.e.,

(18-19)
multiply equation (19) with j

is the m-dimensional force column vector exerted

one

= ~, and hence, add

can

obtain

the

closed

form

IBI i:- 0

solution

for

g opt according to the Cramer Law.

equation(18) to it yields,
(23)

A;; L[f: + g;) (A~+ }A~;)+

Where, B- is the inverted matrix of matrix B.

(20)

k=l

So. it is feasible to obtain the optimum force vector.

that is.

g opt '

A;;L[Ak;(fk + gk)]

=0

dynamic units in the primary system. In what follows is

the determination of optimal parameters of OVA from

(21)

k=l

We call (21) as optimization equation set. and as

A;

obtained because of m OV As attached to m

is

gopt(t).

not always zero, hence. there must have.

For the ith unit as shown in figure 2. one can obtain:

L[Ak;(fk + gk )] = 0. i = 1. 2 . ... z (21)

11lY;(t) +k;[yJt)- .\iU)] +c{y;(t)-i';(t)] =0

k=l

k; [y;(t)- x;(t)] + e;[y;(t)- i;(t)] = -g;q,t (t)

For this equation set, one can have the following
discussions.
(1). For the case of l>m, (21) has no roots, i.e., when the
number of DV A is fewer than that of dynamic unit to
which a OVA can be attached, it is impossible to obtain
the minimum value for the objective function, but only a
smaller value, if any, to some extent.

(24a-b)
For steady state vibration,

- (J) m;Y;

(25a)

(25b)
so, requirement for the ith OVA can be expressed as:

(2). For the case of l<m, there are many indefinite roots
for (21), when the number of OVA is large enough, its
dynamic parameters can oscillate within a range keeping

E;

+ k; (Y; -X;)+ }c;ro(y; -X;)= 0

m;ro (k;

+ }c;ro)

giopt

--=-----=---~----

the minimum value at the same time. From this, it is

m;(J)

possible to increase the number if OVA to obtain the

satisfactory effects of vibration reduction for the cases
when fewer OV As can not reach the optimization goal.
By this way, constraint condition for parameters of OVA
is decreased.

(k;

+ }c;ro)

(26)

X;

For convenience, following notations are introduced,

(J).

'

=~i
m.

'

(27a-b)

'

(3). For the case of l=m, the case occurred in most

engineering problems, the roots of equation set (21) may

(27c-d)

be discussed as follows. The equation group (21) has its

single root, and let write (21) in the form of matrix

B gopt = U

(28)

(22)

254

so, the following non-dimensional equations can be

obtained,

n.
1

(1- f

2
Ai

+ 4~ ;) = Z;

(29a)

clop:=

Q.

"-

A1

'

f.

zi

where.

(\ = (1 -

~"-;

f Ai2 ) 2 + 4jAiXi
2 2

1.170 (NS I m)
m ~P = 65.79 (rad Is).
1

m 2 = 0.05kg,

(29b)

k !opt= 358.68 (N I m),

0.178,

!opt=

'

~ 0 _,., 1 2) h

rot= 109.34 (rad Is).

m 1= 0.03kg,

(29c)

2opt=

0.142'

lopr=

0.935 (NS I m)

Zopz=

216.45 (N I m).

m 3= O.lkg,

rot= 18.38 (rad Is).

From(29.c), it can be seen that. to determine the dynamic

3opt=

QJ63,

k Jopz= 33.37 (N I m).

parameters of a DVA. i.e., m. , k. and c., one can fist

Jopr=

0.599 (NS I m)

determine one parameter. usually mass of DV A, which

may be one tenth of the mass of the unit to which it is
attached.

Here. masses of DV As are determined

specific engineering conditions.

at first under

3. APPLICATION EXAMPLE AND DISCUSSIONS.

The optimization results given by KAzuTo, SETO et, al
[7], and those obtained by authors are compared in
figure 4.

In the aforementioned sections. the dynamic vibration

absorption theory for linear damped multi-degree-offreedom system is presented. The closed solutions for
optimum parameters of DV A are given, and the detailed
optimization process is demonstrated. In the coming
section. as a practical application example. parameter
optimization of DV A attached to a linear damped 3-DOF
system. as shown in figure 3. is investigated to show the
efficiency of aforementioned theory.

It can be seen that effect of DV A based on the theory

presented in this paper is more efficient than that of
DVA based on the KAzuTo's theory, especially for the
second and the third peak values in the curves.

4. CONCLUSIONS.
Based on considerable endeavors of many scholars.
authors presented an advanced optimization theory for
parameters of DV A attached to a linear damped MDOF
system. This theory. as it employs the optimum force
column vector consisting of component force exerted by
m DV As on the dynamic units to which the former are
attached, is very efficient to get the optimal parameters of
DV As because the optimization objective function
involves only one independent variable which can mirror
the vibration absorption effectiveness of the specific
DVA. So the optimization process is simplified most
considerably.

Consider the 3-DOF system shown m figure 3, the

dynamic parameters of every units are as follows.

M1

= 0.25kg.

M 2 = O.Skg.

M 3 = l.Okg,

C1 = 0.001Ns I m,
C1 =0.01Nslm.C1 =0.1Nslm,

K1 = K2 = K3

=1500 N/m. It is easy to get natural frequencies of the

system shown in figure 3 as follows,
ffi 1

= 119.5 (rad Is),

ffi 3

= 19.8 (rad I s)

ffi 2

= 69.5 (rad Is),

Quite often, the DV A is employed to abate the vibration

mode corresponding to the dynamic unit to which this
DV A is attached. So, every vibration mode frequency
should be treated separately while using the above theory
to tackle this problem. based on the aforementioned
theory, A MATI.AB program is developed to calculate the
optimal results of DV As, which are given as follows,

Finally, as an application example, parameters of DV As

attached to a linear damped 3-DOF system is presented to
illustrated in details the process based on the theory
developed by authors.

255

ACKNOWLEDGMENT

vibration isolation system, Proceedings Of 15th

International Modal Analysis Conference, Feb., 1997.

The research work reported in this paper is financially

supported by The Chinese Ship Structuring Corporation.
This support is greatly appreciated. Many thanks should
be due to other researchers in the Institute of Vibration,
shock and noise in Shanghai Jiao Tong University, who
help the first author process experimental data.
REFERENCES
l)

2)

3)

c 1 '--

J. E. BROCK, A note on the damped vibration

absorber , Transactions of the American Society of
Mechanical Engineers A-284, 1946.
J. P. DEN HARTOG, Mechanical Vibrations, New
York: McGraw-Hill Book Company, fourth
edition 1956.

Figure I. model of a linear damped n-DOF vibration

system with m DVAs attached

J. I. SOLIMAN AND E . ISMAILZADEH, Optimization of

unidirectional viscous damped vibration isolation

system, Journal of sound and vibration 36, 527-539.,
1974.
4)

A. G. THOMPSON, Optimum tuning and damping of a

dynamic vibration absorber applied to a force excited
and damped primary system, Journal of sound and
vibration 36, 527-539, 1981.

5)

J. B. HUNT, Dynamic Vibration

Isolation and
absorption.
London:
Mechanical
Engineering
Publications, 1979.

6)

G. B. WARBURTON, In Dynamic vibration

Isolation and Absorption. London: Mechanical
Engineering Publications, 1982.

7)

F. W. LEWIS, The extended theory of the viscous

vibration damper, Journal of applied mechanics 22,
377-382, 1955.
KAzUTO SETO,
KOUICHI
IWAN AMI
AND

8)

figure 2. detailed analysis for the ith dynamic unit

with a DV A attached

L~.2.

YOSHIHIRO TAKITA, Vibration control of multidegree-of-freedom system by dynamic absorbers,

Bulletin of Japanese of Society of Mechanical

Figure 3. The model of a linear damped 3-DOF system

Engineers 50. 1962-1977, 1962.

9)

W. Lu AND M. WANG, The effects of a viscously

damped dynamic absorber on a multi-degree-offreedom system, Noise and vibration control, 1996.
l 0) W. Lu AND H. WANG, The numerical method for
parameter optimization of dynamic vibration absorber
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11) W. Lu AND Q. Yu, applying a combined substructuretransfer matrix method to the optimization of a

256

g ..
1?=:l

e
=:l

'0

.. . - - - , - - - - - - - - - - - - - - - ,

t.1l
u

,.

:z:

uan

t
t.1l

LlJ

"'

"

frequency

(Hz)

Figure 4. The comparison of optimization results given by

Kazuto, et, a!. and authors
(dashed line, results by KAzUTO, et, a!; solid line, results
obtained by authors)

257