MEC

532 Vibration and Control

Prof. Ya Wang
Department of Mechanical Engineering
State University of New York, at Stony Brook
Email: ya.s.wang@stonybrook.edu

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Reference Book

Daniel J. Inman, Engineering Vibration, 4th Edition

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 2.4 Base Excitation

Important class of vibration analysis

Preventing excitations from passing from a vibrating
base through its mount into a structure
Vibration isolation
Vibrations in your car
Satellite operation
Disk drives, etc.

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 FBD of SDOF Base Excitation
System Sketch
System FBD
x(t) m
m
k c

k ( x y ) c(x y)
y(t) base

F =-k(x-y)-c(x-
y)=m

x
m
x+cx + kx = cy + ky (2.61)

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 SDOF Base Excitation (cont)

Assume: y(t ) = Y sin( t ) and plug into Equation(2.61)

m
x+cx + kx = c Y cos(
t ) + kY sin( t ) (2.63)
harmonic forcing functions
2 2V
For a car, = =

The steady-state solution is just the superposition of the two individual
particular solutions (system is linear).
f0 s
f0 c


x+2 n x + n2 x = 2 nY cos( t ) + n2Y sin( t )
(2.64)

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Particular Solution (sine term)
With a sine for the forcing function,

x+2 n x + n2 x =f0 s sin t

x ps = As cos t + Bs sin t = X s sin( t s )
where Use rectangular form to
make it easier to add
2 n f0 s
As = the cos term
( ) + ( 2 n )
2 2 2 2
n

( n2 2 ) f0 s
Bs =
( ) + ( 2 n )
2 2 2 2
n

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Particular Solution (cos term)
With a cosine for the forcing function, we showed

x+2 n x + n x =f0 c cos t

2

x pc = Ac cos t + Bc sin t = X c cos( t c )

where
( n2 2 ) f0 c
Ac =
( ) + ( 2 n )
2 2 2 2
n

2 n f0 c
Bc =
( ) + ( 2 n )
2 2 2 2
n

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Magnitude X/Y
Now add the sin and cos terms to get the magnitude of the full
particular solution

f02c + f02s (2 )2 + n2
X = = nY
( ) + ( 2 n ) ( n2 2 )2 + ( 2 n )
2 2 2 2 2
n

where f0 c = 2 nY and f0 s = n2Y

1 + (2 r)2
if we define r = this becomes X =Y (2.70)
(1 r ) + ( 2 r )
n 2 2 2

X 1 + (2 r)2
= (2.71)
(1 r ) + ( 2 r )
2
Y 2 2

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 The relative magnitude plot
of X/Y versus frequency ratio: Called the Displacement
Transmissibility
40
z =0.01
30 z =0.1
z =0.3
z =0.7
20
X/Y (dB)

10

-10

-20
0 0.5 1 1.5 2 2.5 3
Frequency ratio r
Figure 2.13
Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
From the plot of relative Displacement
Transmissibility observe that:
X/Y is called Displacement Transmissibility Ratio
Potentially severe amplification at resonance
Attenuation for r > sqrt(2) Isolation Zone
If r < sqrt(2) transmissibility decreases with damping ratio
Amplification Zone
If r >> 1 then transmissibility increases with damping ratio
Xp~2Y/r

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Next examine the Force Transmitted to the mass as a
function of the frequency ratio
FT = k(x y) c( x y)
= mx
From FBD
At steady state, x(t ) = X cos( t ),
so x=- X cos( t )
2

x(t) m

FT = m X = k r X 2 2
k
FT
c

y(t) base

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Plot of Force Transmissibility (in dB) versus
frequency ratio
40
=0.01
=0.1
30
=0.3
=0.7
20
F/kY (dB)

10

-10

-20
0 0.5 1 1.5 2 2.5 3
Frequency ratio r
Figure 2.14
Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Figure 2.16 Comparison between force and
displacement transmissibility

Force
Transmissibility

Displacement
Transmissibility

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Example 2.4.2: Effect of speed on the
amplitude of car vibration

Figure 2.17

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
 Model the road as a sinusoidal input to base motion
of the car model
Approximation of road surface:
y(t ) = (0.01 m)sin b t
1 hour 2 rad
b = v(km/hr) = 0.2909v rad/s
0.006 km 3600 s cycle
b (20km/hr) = 5.818 rad/s
From the data give, determine the frequency and
damping ratio of the car suspension:
k 4 10 4 N/m
n = = = 6.303 rad/s ( 1 Hz)
m 1007 kg
c 2000 Ns/m
= = = 0.158
2 km 2 ( 4 10 4
N/m ) (1007 kg )
Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang
From the input frequency, input amplitude, natural
frequency and damping ratio use equation (2.70) to
compute the amplitude of the response:
b 5.818
r= =
6.303

1 + (2 r)2
X =Y
(1 r 2 )2 + (2 r)2

1 + [ 2(0.158)(0.923)]
2

= ( 0.01 m ) = 0.0319 m
(1 ( 0.923) ) + ( 2 ( 0.158 ) ( 0.923))
2 2 2

What happens as the car goes faster?

Nanomaterial Energy Harvesting and Sensing (NES) Laboratory Copyright @Ya Wang