MEEN 617 - MECHANICALVIBRATIONS

SYLLABUS

Spring 2012

Course Description: Linear Theory of vibrations of Single and Multiple degree of freedom (DOF) systems via Newtonian and Lagrangian formulations, and with emphasis on analytical methods and computer applications. Prerequisites: MEEN 364, MATH 308. OBJECTIVES: To provide the fundamental analytical and numerical tools for analysis and modeling of vibration phenomena in discrete and continuum SDOF and MDOF linear systems. Learning of advanced analytical tools and methods for experimental identification of system parameters using recorded data, i.e. frequency domain parameter identification methods. Class Time:

T, R 11:10 am 12:25 pm, ENPH 204

Instructor: Dr. Luis San Andrs, ENPH 118, Phones : 862 4744, LsanAndres@tamu.edu Office hours: T, R 1-2:00 pm, or by scheduled appointment (phone call or e-mail in advance). References: Other: Mechanical and Structural Vibrations: Theory and Applications, J. H. Ginsberg MEEN 617 Class Notes (handouts), L. San Andrs, http://rotorlab.tamu.edu/me617 Vibrations of Mechanical and Structural Systems, L. James, Harper & Row Pubs., N.Y., 1989. Structural Dynamics, R. Craig, J. Wiley Pubs, NY, 1981. Mechanical Vibrations, S.S. Rao, Addison-Wesley Pubs, 2nd Ed., 1990. Finite Element Procedures in Engineering Analysis, K. Bathe, Prentice Hall.

COURSE OUTLINE AND GRADING: TWO 75-minute lectures/week. GRADED group homework /
computer assignments given on Thursday and turned in on next Tuesday, unless otherwise noted. Two in-class exams, a comprehensive final exam, and a group final project with an in-class presentation. No make-up exams will be given unless the student has a TAMU official excuse, and notified the instructor in advance. Grade 20% 25% 25% 15% 15% 100%

Homework First Exam Second Exam Group project Final Exam

Assigned Thursday, turn in next Tuesday Vibrations of SDOF systems Vibrations of MDOF systems Topic selected & approved by March 8. Presentation: Comprehensive Exam

Group work only THURSDAY, March 1 THURSDAY, April 12 THURSDAY April 26 MONDAY May 7, 8:00-10:00 a.m.

Notes:
April 2: Last day for all students to drop course with no penalty (Q-drop).
For full credit homework should be presented in a professional way, including the problem(s) statement and objective, the steps in the modeling and procedure of solution, including a nomenclature and a sound discussion of the results obtained. The final exam WILL NOT be waived. The FINAL exam may comprise of TWO parts: one (early) take home exam, and the other an in class exam on the scheduled date. The instructor may make available (post) solutions to homework problems in MATHCAD. Students may work assignments using any type of computational software. However, learning MATHCAD or MATHLAB should prove beneficial in your education. The class instructor will be absent a (TBA) number of times during the semester. He will schedule make up classes, 6:00-8:00 pm, usually a week ahead of his scheduled absence.
MEEN 617 Syllabus, Spring 2012 1

MEEN 617, CLASS SYLLABUS

Texas A&M University, Department of Mechanical Engineering

Spring 2012

Key: G: X.Y: Ginsberg: Chapter.section, HD: Dr. San Andrs handout notes
w# Dates

1 2

01/17
Tuesday

01/24

01/31

02/07

5 6 7 8

02/14 02/21 02/28 03/06

Lecture Material (subject to revision) Introduction Importance of system dynamics analysis and design. Physical modeling of mechanical systems: equivalent stiffness, inertia and damping elements, and associated energies. Linearization Mathematical modeling of mechanical systems. Derivation of SDOF equations using Newtons Laws. Equivalence of principle of linear & angular momentum and conservation of mechanical energy. Examples of derivation of equations of motion for SDOF systems. Dynamic free response of SDOF systems with viscous damping and dry-friction. The concept of natural frequency and damping ratio. Undamped systems and implications in vibratory systems. Forced response of SDOF systems to impulsive and step forces. Dynamic forced response of SDOF systems. to periodic loading. The complex frequency response (amplitude and phase). Periodic forced response to imbalance load. Interpretation of forces in the regimes of operation. Design considerations. Force transmissibility to foundation. Forced response to ground motion. Fourier Series. Convolution theorem and Response of SDOF system to arbitrary forcing. Numerical response of non-linear SDOF systems. Instrumentation for vibration measurement. FFTs and vibrations. Dynamic response in the frequency domain. Experimental identification of parameters from simple system. Analytical dynamics. The principles of virtual work and Hamilton. Lagranges equations of motion. Examples. Undamped free response of MDOF linear systems. The concept of eigenvalues and mode shapes. Properties of orthogonal modes. Modal free response. Rayleigh and Rayleigh-Ritz Energy methods. Spring Break March 12-16 Undamped forced response of MDOF linear systems. Modal analysis and mode superposition methods. The dynamic vibration absorber: design considerations. Proportional and structural damping. Eigenvalue problems: Numerical methods of solution. Modal response of Viscous Damped MDOF systems. State-space equations, modal coordinates and orthogonality properties, relations to undamped model. Analysis of Continuous systems. Free vibrations of elastic bars and beams. Properties of normal mode functions. Forced response. Finite Element Method in vibration. Fundamentals and FEM matrices for bars and beams. Assembly and solution of global system of equations. Direct periodic forced response of MDOF systems Direct numerical integration for the response of MDOF systems. Stability analysis and minimum time step. Average acceleration methods Identification of parameters from vibration measurements 04/26 - Thursday: Group Project presentations (10 minutes/group)

Reading Assignment Intro, HD#1 G: 1.1-1.3 App. B HD #1, App. A & C, D G: 1.4 HD # 2a, G:2.2, - 2.3

HD #2b, G 3.1-3.6

HD #2c HD #6 G: 3.7.1 - 3.7.6

HD # 4, G:1.5

EXAM I, R: 03/01

HD #7, G: 4.2
GFB short course Project selected and approved by 03/08

9 10 11 12 13 14 15 16 17

03/12 03/20 03/27 04/03 04/10 04/17 04/24 04/29 05/07

HD # 8, HD #10 G: 4.3 HD # 9 G: 5.1-5.4 HD # 11 HD # 14. G: 7.1 - 7.7 HD # 12 G: 8.1 - 8.4 EXAM II, R:04/12 HD # 13

FINAL Exam, M: 05/07 8:00-10, ENPH 204

Ginsbergs Vibrations textbook is an excellent resource to learn about the modern theory of vibrations. The book includes the latest advancements in analysis using discrete Fourier transforms, their implementation in commercial software (MATHCAD and MATHLAB), and a sound method to identify system parameters from vibration test data in the frequency domain. The assigned reading material for each week seems excessive at first but I assure you that you will gain fundamental knowledge that can not be found in any other textbook.
MEEN 617 Syllabus, Spring 2012 2

MEEN 617 - MECHANICALVIBRATIONS. SPRING 2012 - Dr. Luis San Andrs

POLICIES

The lectures will broaden the coverage of the textbook and provide examples of analysis as applied to the modeling, analysis and interpretation of the dynamic response of linear mechanical systems. There will be significant amounts of subject material mentioned in the lectures that are not in the textbook. The textbook is not a complete reference for this course. The class notes of Dr. Luis San Andrs are available at the URL http://rotorlab.tamu.edu/me617 .Attendance to the lectures is a must for success. References for outside reading will be recommended in class.

See http://student-rules.tamu.edu/rule7.htm for official University excused absences.

ABOUT HANDOUTS AND TEXTBOOK: The handouts and textbook used in this course are copyrighted. By handouts, I mean all materials generated for the course, which include but are not limited to syllabi, quizzes, exams, worked problems, in-class materials and MATHCAD codes, review sheets, and additional problem sets. Because the course material is copyrighted, you do not have the right to distribute it, unless the author expressly grants permission.
ROUP HOMEWORK will be assigned on Thursday and turned in on the following Tuesday. Homework will be worked in groups of max. 5 students (min. 3 students). Homework will be graded and returned in class the following week. Homework makes 20% of your total grade. There will be no excuses for missing homework or computer assignments.
Homework material encompasses solving assigned specific problems (textbook and other resources), completing computational analyses to model simple structural systems (write computer programs or modifying codes given to you in class), and performing measurements in simple systems.
Complete solutions to HOMEWORK problems will NOT be posted. Partial solutions, i.e. answers, MAY be released. Students should take advantage of office hours to obtain help in developing clear procedures for solution of problems and to improve their understanding of class materials. The instructor will not solve problems for you during office hours; instead he will aid you learn an engineering method for problem solving. The textbook contains numerous exercises demonstrating particular concepts of interest. The practice exercises are not graded, but they are good practice for the exams. It cannot be emphasized enough that the way to learn how to work problems is to work problems. Use the given answer (odd numbered problems only) to determine that your strategy, solution procedure, and numerical computations are correct. Working backwards from the answer will not teach you the engineering method, or the principles involved to solve the problem. Solutions to practice problems will not be posted. I urge students, taking advantage of office hours, to seek help in developing clear procedures for solution of problems and to improve their understanding of class materials. The instructor will not solve problems for you in office hours; instead he will help you learn an engineering method for problem solving.

PRACTICE EXERCISES will be recommended as the semester progresses.

Recommended problems (practice exercises) from your textbook

(Be ahead of the game. These problems may be part of your graded homework) week
1&2 3&4 5 6 7 8 10

chapter
1 3 1 4 5 7 6

Problem numbers
5, 8, 13, 14, 15, 20, 43, 44, 56 3, 7, 19, 20, 22, 25, 50, 52 Derive EOMs MODF systems: 25, 27, 30, 33, 36, 38, 39, 44, 49 10,19, 21, 30, 36, 39,34, 55 14, 18, 29 3, 11, 43, 49 3, 9, 11, 14, 15, 28, 38, 54 More recommended problems to follow..

MEEN 617 Syllabus, Spring 2012

BOUT RITING When developing a solution to homework problems, and in particular when developing solutions to exam problems, students must write (in English) the complete development in full sentences, with stated definitions of parameters and description of procedures and used physical principles. A large portion or your grade (40% or more) will be given to presentation (writing: syntax and semantics). It is NOT enough to just state formulas and an answer.
In other words, a full grade will be given for complete solutions that include written description of procedural steps to achieve task(s) and assumptions [full sentences, jargon-free], mathematical statements for calculations, and correct magnitudes of results with appropriate physical magnitudes. There will be NO partial credit for mishandling of physical units. ME graduate students should be able to gauge the order of magnitude and correct physical magnitude of the problem at hand.

ABOUT THE CLASS PROJECT: The final project will also be worked as a group, min. 2 students and max. 5
students. The project offers a unique opportunity for a student to acquire more in-depth knowledge in a particular area of vibrations that can be of benefit for his/her current or future research work. An outline for the project must be approved by March 8. Do not start any work without the instructor approval and advice. Page 8 details project ideas and the expected accomplishments. Note that the project should serve you also to produce a meaningful and concise technical report. The project is due on the last class of the semester (Thursday, April 26) and includes a 10 minute oral presentation. All files (computer programs, test data, presentation) must be delivered in a CD.

BOUT OFFICE HOURS The purpose of office hours is to encourage individual interaction between the students and the instructor. The instructor is available to discuss not only questions related to the course, but other issues where he can help as a professional engineer, educator and researcher. Please take advantage of office hours. To utilize this time efficiently, students should prepare by organizing questions in advance.
I am willing to help you at times other than office hours without an appointment. However, just like you, I have responsibilities other than MEEN 617 (teach other classes, direct graduate student research, write proposals and technical papers, organize laboratories, voluntary work for ASME, etc.). I must budget certain times to meet those responsibilities. My weekly work schedule is posted outside my office. Please do not be offended if I am in the office but cannot meet with you. The use of e-mail for communication with your instructor is acceptable. I usually receive three types of e-mail messages: a) a request to schedule a meeting at other times than office hours, b) questions related to the impending take-home quiz due (say) next day, c) questions related to the study material for an exam. I reply promptly to all messages (usually within the next working hour if I am in town). If you cannot find me in my Campus Office, please call me at 862 4744. I spend 60+ hours/week at the Turbomachinery Laboratory (corner of FM2818 and George Bush Dr). At the Turbo Lab I conduct research and manage an excellent team of engineers performing experimental and computational work serving the needs of industrial sponsors.

About plagiarism: As commonly defined, plagiarism consists of passing off as ones own ideas, words,
writings, etc., which belong to another. In accordance with this definition, you are committing plagiarism if you copy the work of another person and turn it in as your own, even if you should have the permission of that person. Plagiarism is one of the worst academic sins, for the plagiarist destroys the trust among colleagues without which knowledge and learning cannot be safely communicated. If you have any questions regarding plagiarism, please consult the latest issue of the Texas A&M University Student Rules, under the section Scholastic Dishonesty. The textbook, homework assignments, problem sets, lecture notes, exams and handouts (appendices) used in this course are copyrighted. Because these materials are copyrighted, you do not have the right to distribute them freely, unless the author expressly grants permission. Note that (any) material downloaded from the www may be copyrighted. In all cases acknowledge the source of your information. Furthermore, passing as your own computer assignments/projects prepared by former students is NOT acceptable and will automatically bring you into disciplinary action by TAMU.

MEEN 617 Syllabus, Spring 2012

Americans with Disabilities Act (ADA) Policy Statement

The Americans with Disabilities Act (ADA) is a federal anti-discrimination statute that provides comprehensive civil rights protection for persons with disabilities. Among other things, this legislation requires that all students with disabilities be guaranteed a learning environment that provides for reasonable accommodation of their disabilities. If you believe you have a disability requiring an accommodation, please contact the Department of Student Life, Services for Students with Disabilities, in Room B118 of the Koldus Building or call 845-1637. Texas A&M University complies with the Americans with Disability Act. For this course, that means specifically that I will cheerfully work with identified students to provide appropriate alternative settings for tests and quizzes.

Academic Integrity Statement

Aggie Honor Code: "An Aggie does not lie, cheat, or steal, or tolerate those who do." Upon accepting admission to Texas A&M University, a student immediately assumes a commitment to uphold the Honor Code, to accept responsibility for learning and to follow the philosophy and rules of the Honor System. Students will be required to state their commitment on examinations, research papers, and other academic work. Ignorance of the rules does not exclude any member of the Texas A&M University community from the requirements or the processes of the Honor System. For additional information please visit: www.tamu.edu/aggiehonor/ On all course work, assignments, and examinations at Texas A&M University, the following Honor Pledge shall be preprinted and signed by the student: "On my honor, as an Aggie, I have neither given nor received unauthorized aid on this academic work."

MAKE UP CLASSES : when will the instructor be absent?

Ive scheduled my attendance to several technical Conferences this SPRING Semester. I will announce the exact date of my absences at least two weeks in advance. Make up recitations for lost classes will be scheduled within a week and be conducted at night time (6 pm. to 8 pm.). March 5-7 March 12-15 April 26-30 May 9-10 Houston, gas Foil bearing Shirt Course, Turbomachinery Laboratory Queretaro, MX, XII Congreso Latinoamericano de Turbomaquinaria Quito, Ecuador, Escuela Politcnica Nacional, ME Congress. Abu Dhabi, UAE, Midle East Turbo Machinery & Pumps Expo (METMPE)

MEEN 617 Syllabus, Spring 2012

MEEN 617 - INDEX TO CLASS NOTES

Dr. Luis San Andrs
(Note: underlined titles in BLUE are available as pdf files at http://rotorlab.tamu.edu/me617

Introduction to the analysis of vibrations in mechanical systems

Introduction to motion in mechanical systems. Definition of design, analysis, and testing. Steps in Modeling. Continuous and lumped parameter systems. Second Order Systems and differential equations of motion. Definitions of Free and Forced Responses. The purpose of analysis and the relevant issues to resolve.

1. Handout 1 Modeling of mechanical (lumped parameter) elements

Fundamental elements in mechanical systems: inertias, stiffness and damping elements. Equivalent spring coefficients and associated potential energy. Equivalent mass or inertia coefficients and associated kinetic energy. Equations of motion of a rigid body in a plane. Equivalent damping coefficients and associated dissipation energy. Types of damping models (linear or viscous and nonlinear). Appendix A. Equivalence of principles of conservation of mechanical energy and conservation of linear momentum.

Appendix B. Linearization Appendix C. Derivation of equations of motion for a multiple degree of freedom system Appendix D. Note on assumed modes Appendix E. Vibration sensors and their applications

2. Dynamic response of second order mechanical systems

Handout 2a Free response to initial conditions: viscous and coulomb damping systems. Forced response: impulse and step
loads.

Handout 2b Periodic forced response and Frequency response function of second order systems. Handout 2c Interpretation of forced periodic response. Transmissibility (forces transmitted to base or foundation). Frequency
Response due to base or foundation motions.

Handout 2d Fourier series. Forced response to a periodic forced excitation. Response to a unit impulse. Convolution integral
and response to arbitrary loading.

Uses of the FRF on the design of mechanical systems

4. Handout 4 Elements of analytical dynamics. Work and Energy Single particle. Constraints degrees of
freedom. Principle of virtual work. DAlembert Principle. Hamilton Principle. Lagranges equations of motion.

5. EXAMPLES:

Derivation of Equations of Motion and Initial Conditions in Simple Mechanical Systems

6. Numerical solution of EOM for a single degree of freedom (SDOF) system Vibrations of multiple degree of freedom (MDOF) systems 7. Undamped Modal Analysis of MDOF systems: Free & Force Vibrations of undamped MDOF systems.
Orthogonality properties of natural modes. Rayleigh energy methods. Mode superposition (displacement and acceleration methods.

8. Modal Analysis of MDOF systems with Proportional Damping.

Addendum: Mode acceleration method

9. Numerical evaluation of natural modes and frequencies 10. The dynamic vibration absorber 11. Modal Analysis of MDOF Systems with Viscous Damping 12. Finite element modeling of mechanical systems
MEEN 617 Syllabus, Spring 2012 6

13. Numerical methods for the dynamic response of MDOF damped systems. 14. Dynamic response of continuum systems 15. Identification of parameters in mechanical systems OTHER RESOURCES UG dynamics and vibrations
http://www.brown.edu/Departments/Engineering/Courses/En4// (MATLAB handbook) http://rotorlab.tamu.edu/Dynamics_and_Vibrations (MEEN 363 D. Childs)

Numerical methods
http://numericalmethods.eng.usf.edu/

Interactive simulators (mechanical systems)

http://phet.colorado.edu/en/simulations/category/physics

Vibration Institute
http://www.vibinst.org

Sound and Vibrations magazine

http://sandv.com

See Class URL site for links to others resources on the web

MEEN 617 Syllabus, Spring 2012

MEEN 617 - MECHANICAL VIBRATIONS

SPRING 2012 - Dr. Luis San Andrs

About the group class project

The purpose of the project is to develop the students ability for INDEPENTLY: selecting a well-defined, though limited, TOPIC clearly identifying the problem to be solved locating and reading related material deriving equations of motion for system of interest, or setting up test rig, components and instrumentation writing related software, or preparing test procedure with analysis of uncertainty of measured variables and inferred quantities making computer runs and summarizing results in tables or graphs, or performing measurements and displaying results comparing results to analytical predictions or existing test data writing a well-organized and neat report Do not expect me to derive equations for you. This is your project! However, I will help you locate related material and give advice. You must submit a ONE-page project proposal (e-copy too) for the instructor approval by March 8. Do not initiate any work w/o consulting the class Lecturer. The project need not be typed but should have the following parts: Title page, student name(s) and abstract. Table of contents. Problem definition: establish objective of work performed Review of relevant past literature (5 references minimum). Analysis with highlights in derivation of equations governing the model, or description of test rig, components and instrumentation Discussion of numerical method of solution, or experimental procedure, uncertainty and major findings and limitations. Computational results: discussion of calculations, comparison with analytical or existing results in the literature; discussion on consistency, accuracy and convergence of numerical or analytical approximation, or Experimental results: presentation of measurements in a meaningful form, including comparisons with approximate analytical solutions, discussion of major trends, etc. Conclusions and recommendations for further work. Bibliography (no less than 5 references using ASME referencing style: authors, year, title, journal, volume, page numbers). Deliver a CD containing all files used/created in the project, including experimental data, computational programs, project presentation, etc. Group projects must be completed and presented in the last class of the semester, April 26 (10 minute oral presentations) Project grade (15 % of total grade) will be based on originality, neatness, quality of results, level of difficulty, and correctness of approach and results. Some suggested topics for useful projects are: a) Develop a finite element program for dynamic analysis of structural trusses and/or beams and/or plates. b) A numerical model for calculation of the modal response of MDOF linear systems to arbitrary excitations. c) A numerical model for calculation of the periodic response of MDOF linear systems using DFTS. d) Periodic response of 2-DOF nonlinear system (say with dry friction) under periodic force excitation. e) Transient response of a 2-DOF system with non-linear stiffness. f) Model to estimate system parameters from the dynamic response of a MDOF system in the frequency domain. g) Unbalance response of a MDOF system with non-linear viscous dampers. h) Transient response of a MDOF system with non-linear viscous dampers. i) Numerical analysis of the dynamic response of a 2-DOF with impact dampers. j) Numerical model for non-linear vibrations (Chaos) in systems with repeated impacts and rubs. k) Dynamic response and stability characteristics of a flexible rotor supported in short length journal bearings. l) Perform vibration measurements in a system and apply a sound identification for estimation of system mechanical parameters. m) Build and test an experimental set-up to show a simple vibration phenomenon (i.e., a vibration absorber). n) Perform imbalance response measurements on a rotor supported on lubricated journal bearings or tilting pad bearings or floating ring journal bearings. o) FE structural model and experimental verification of first two natural frequencies and mode shapes of an automotive turbocharger p) Any other ideas or problems related to your research with the instructor prior approval.
MEEN 617 Syllabus, Spring 2012 8