Forced Vibrations With Negligible Damping: I-Introduction

Mech. Vibrations Lab. Manual, Expr.
# 5
Dr. M. Dado, Eng. M. Shaban & F. bu!Farha.
Forced Vibrations with Negligible Damping

I- Introduction:
Forced Vibrations is that mode of vibrations in which the system vibrates under the action of a time-varying force, generally; a harmonic external excitation of the form: " (t ) = F sin(t ) . he im!ortance of this mode rises in the !ractical field, as machines, motors and other industrial a!!lications, exhibits this mode of vibrations, which may cause a serious damage of the machine.
II- Objectives:
"n this ex!eriment, we will a!!ly both modes of vibrations; free and forced modes of vibrations, on a system in order to: #- $valuate of the natural fre%uency of the system using the following methods: #) $%uation of motion. &) ime measurements. ') (rum s!eed. )) *esonance observation. +nd the results of the various methods will be com!ared with the analytical value from the e%uation of motion. &- ,tudy the res!onse of the system under the action of a time-varying force, then to determine and com!are the magnification factor obtained both theoretically and ex!erimentally.
III- System Description:

he system to be used in the ex!eriment is shown in Figure!5.#, which consists of a regular rectangular cross-section beam of mass Mb, length L, width $ and thic-ness t; !inned at one end to the main frame at !oint %, where it is free to rotate about, and sus!ended from !oint S by a linear helical s!ring of stiffness & at distance b from !oint %. + motor with mass 'M ( ).55 *g+ is fitted on the beam at distance a from !ivot !oint %, and drives two circular discs with total eccentric mass , at distance e
47
Mech. Vibrations Lab. Manual, Expr. # 5
from the centre of the disc '-he eccentric ,ass is obtained "ro, a hole in each dis* $ith radius r and thic*ness td+. .hen the motor rotates these discs with s!eed , a harmonic excitation is established on the beam, and as a result of that, the beam vibrates in the vertical !lane with angle 't+ measured from the hori/ontal reference direction. he free end of the beam carries a !encil that touches a rotating cylinder 'dru,+ with a stri! of !a!er covering it, so that you can draw the vibrations of the beam for a given !eriod of time.
*eam )b O
)otor )
( S
t
a b '
Figure- !" .eneral la/out o" the experi,ent set!up
IV- #overning $%uations:

&art One- Free Vibrations:
#) *eferring to the system shown in Figure!5.#, with the motor is not o!erated; by giving the system an initial dis!lacement and then leaving it to oscillate freely, the system will exhibit a free mode of vibrations, and the e%uation of motion in such case is obtained by ta-ing the summation of moments about !oint % as follows:
+ &b & = 0 0
'#+
From which the natural fre%uency is found to be:

n =
&b & 0
'1+
48
where: L& & 0 = Ma + M b '
'2+
&=
.d ) 1 3D '
'For a helical spring+
')+
&) +lso from time measurements, the natural fre%uency is e%ual to:
n =
&
'5+
') (oing the same as in '#+, in addition to getting the drum in touch with the !encil at the end of the beam, a gra!h of the oscillations of the beam can be obtained by rotating the drum. +nd so, we can say that:
=
4 V
'5+
where:4 is the distance travelled !er cycle. V is the circumferential velocity of the drum. +nd again, the natural fre%uency is obtained from e6n!5.
&art +wo- Forced Vibrations:

.hen the motor is in o!eration, the beam will be im!osed to a harmonic excitation due to the eccentric mass in each dis-. his harmonic excitation will have the form:
" (t ) = F sin(t ) = ,e & sin(t )
'7+
"n this case, the e%uation of motion of the system is altered by:
+ &b & = a,e & sin(t ) 0
'8+
49
2et (t ) = sin(t ) , then the solution of the differential e%uation in '8+ gives the am!litude of the angular dis!lacement of the beam as:
,ea & = &b & 0 &
'9+
+nd so, the vertical dis!lacement of the end of the beam : will be:
: = L = ,eaL & &b & 0 &
'#;+
)agni,ication Factor: Magni"ication Factor MF is the ratio between the dynamic am!litude of oscillation and the static am!litude of the same mode of dis!lacement 'degree o" "reedo,+. +nd for this case, it is ex!ressed as:
MF = :D/na,ic :Static
'##+ where:
:D/na,ic ,
is given by e6n!#; above. '#1+
:Static =
,eaL & &b &
,ubstitute for
MF = # # r&
:D/na,ic
and :Static in e6n!##, and rearrange to get: '#2+
where:
r=
n is the "re6uenc/ ratio.
50
V- $-perimental &rocedures:
#- 3se the system described above while the motor is turned off, and give the beam a small vertical dis!lacement, then release it to oscillate freely for ten oscillations. *ecord the ela!sed time -. &- 4ring the drum in slight touch with the !encil at the end of the beam, after attaching the roll of !a!er to the drum, and then give the beam a small !ulse to oscillate freely as before with the drum is held fixed. '- urn the motor of the drum on, and after ten seconds sto! it and remove the chart for using it in the calculations. )- *eturn to the original system by se!arating the drum from the !encil, and switch the motor on at a relatively slow s!eed. 5- "ncrease the s!eed of the motor slowly and notice the res!onse of the system, and at the same time; try to identify the !oint at which resonance ta-es !lace '<hen the largest a,plitude o" =ibrations is noticed+. *ecord the s!eed of the motor at that state 3r. 6- +ttach the !a!er roll again to the drum, and ma-e the !encil in touch with the drum. +ctivate the motor and set it to any desired s!eed '4hoose one that gi=es an appreciable a,plitude o" =ibrations in the bea,+, and record that s!eed 3. 7- *otate the drum again for a while, and ta-e the res!onse curve obtained for the subse%uent calculations.
VI- .ollected Data:
0ole radius r .oil dimeter D 2ire diameter d
$ccentricity e
Spring
Dis1
Figure- !/ 3o,enclature o" the coil spring and the rotating disc
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*asic &arameters 3nd Dimensions:

+able- !" >asic di,ensions and para,eters according to Figures!5.#& 1
*eam &arameter ' 4cm5 w 4mm5 Value &arameter b 4cm5 t 4mm5 Value
&arameter a 4cm5 e 4mm5
)otor6 7otating Dis1s Value &arameter r 4mm5 td 4mm5 Spring
Value
&arameter D 4mm5 N 4turns5
Value
&arameter d 4mm5
Value
+able- !/ Data collected "ro, the experi,ent
Free Vibrations &art &arameter + 4second5 . 8,rom the ,irst chart9 4mm5 V : .;"< 4m;s5 Forced Vibrations &art &arameter Nr 4rpm5 N 4rpm5 3 8amplitude o, the second chart9 4mm5
Value
Value
52
VII- Data &rocessing:

&art One- Free Vibration:
From the dimensions !rovided, and using e6ns!2 & ). From - find , as:
=
#0
Find Mb, 0 and &.
+!!ly in e6n!1 to find the theoretical natural fre%uency n!theor 8om!are it with n!theor.
From e6n!5, find n.
8alculate the velocity of the drum V, and use e6n!5 to find .
+!!ly again in e6n!5 to find n.
8om!are it with n!theor.
&art +wo- Forced Vibration:

For the s!eed of the motor at resonance 3r, find the e%uivalent angular fre%uency of the motor . From the value of 3 at which the second chart has been !lotted, find the corres!onding angular fre%uency . his fre%uency will be e%ual to 8om!are it with n!theor. the natural fre%uency of the system n.
#) $valuate the fre%uency ratio 8om!are the results of the two ways. r using n!theor, and a!!ly e6n!#2 to evaluate MF. &) From e6n!#1, find :Static , and from the second chart evaluate :D/na,ic , then a!!ly in e6n!## to evaluate MF.
VIII- 7esults:
53
+able- != Data processing anal/sis
&arameter )b 41g5 I 41g!m/5 ( 4N;m5
Value
+able- !> ?esults o" the natural "re6uenc/ b/ the =arious ,ethods
)ethod 3nalytical 4$!O!)5 +ime )easurements Drum Speed 7esonance Observation
Natural Fre%uency n 4rad;sec5
&ercent $rror 4% 5
+able- ! Magni"ication Factor MF results
)ethode-" )ethode-/
4rad;sec5
?dynamic 4mm5
r 4 ; n5 ?static 4mm5
)F )F
&ercent $rror 4% 5
I@- Discussion 3nd .onclusions:

#) .hat is the meaning of the ,tatic +m!litude of oscillation9 "n this case, derive the ex!ression of ':static+ given in e6n!#19
54
&) (raw the magnification factor MF versus fre%uency ratio r for the system, for this mode of forced vibrations '?otating @nbalnce+9 (raw the ex!ected ideal curve for this case, and another one based on your ex!ectations for the real case, showing the deviations from the ideal one.
') +ccording to your observations and !lot in the !revious %uestion, did the am!litude of oscillations reach a very high value at resonance9 "f not, why9
)) "n the derivation of the e%uation of motion for the system, why did not we consider the effect of the gravitational forces '$eights o" its co,ponents+ although they have moments about !oint %9
5) For a !ractical system li-e a machine, suffering from such mode of vibrations, how could you modify its !arameters ' or +, or add other com!onents, in a way that minimises vibrations level9
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Forced Vibrations With Negligible Damping: I-Introduction

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Mech. Vibrations Lab. Manual, Expr.

Dr. M. Dado, Eng. M. Shaban & F. bu!Farha.