2012/10/29

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Lecture 1: Single Degree of
Freedom Systems (III)
Prof. Kuo-Shen Chen
Department of Mechanical Engineering
National Cheng-Kung University

Outline

Rotordynamics, an introduction
Impulse Responses
Arbitrary excitation
Transfer function and Laplace Domain
Shock Isolation
Simple problems
Youtube Demos

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Part I:

Rotordynamics: an Introduction

Rotor phenomenon
Unbalance
Campbell diagrams

Rotordynamics

A specialized branch concerned with the behavior

and diagnosis of rotating structures.

commonly used to analyze the behavior of structures

ranging from jet engines and steam turbines to auto
engines and computer disk storage.
Vibration, noise, bearing damages

Key issues to be introduced

Critical speed
Whirling
Campbell diagram
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Jeffcott Rotors

A single disk mounted on a flexible and

massless shaft with rigid bearings
Serves as the fundamental model for
studying rotor phenomena

Whirling

Rotation of bent shaft

: rotating speed, : whirling speed

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Critical Speeds

Whirling: Mathematics

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Whirling Behavior

Synchronous whirling:

As rotating speed passes the critical speed, the imbalance

location would actually move toward the center
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Campbell Diagram

known as "Whirl Speed

Map" or a "Frequency
Interference Diagram
Basic concept

Natural frequencies
depends on rotating
speed
Resonance occurs as
natural frequencies hit
rotating speed
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Turbine Example

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Dynamic Balancing

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Part II: Periodic Inputs

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Introduction

In Lecture III, we have introduced the

response of a SDOF system subjected to a
single sinusoidal response
How about the responses subjected to

A general periodic input

E.g., a saw tooth or a rectangular pulse train

A non-periodic input

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Responses Under a General Force (I)

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Responses Under a General Force (II)

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Response Under a Periodic Force with

Irregular Form

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Part III: Vibration Subject to Arbitrary

Excitations

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Introduction

It is important to evaluate the response to a

general, non-periodic input
No, exact analytical solutions available
However, the task can be performed by either

Convolution approach
Fourier transform or Laplace transform approach

Transfer function

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Impulse Response

The response of a vibration system subjected

to a unit impulse input
Impulse function
0 t t 0
(t t0 )
t=t 0

(t t )dt 1
0

F
2

- +

is a small positive number

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From sophomore dynamics:

i.e. area
under
pulse

F(t)

F
2

impulse force = F (t )dt F t

I ( )

F (t )dt F (t )dt N s

2 F
2
-

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Use these properties to define the

impulse function:
F(t)

Dirac Delta
function

Equal
impulses

F (t ) 0, t

F (t )dt F

If F 1, this is the Dirac Delta (t)

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Effect on spring-mass-damper ?
Just after
impulse

Ft mv

impulse= momentum change

Just before
impulse

m[v(t0 ) v(t 0 )]
F? Ft
?
F mv 0 v 0
m
m

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For an underdamped system

F?e n t
x(t)
sin d t (response with zero I.C.)
m d
F

n t

e
sin d t
x(t) F?h(t), where h(t)
m d

impulse response function

1

x(t)

0.5
h(t)

0
-0.5
-1

10

20
Time

30

40

h(t )

1
sin n (t )
mn
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t
(t ) 0
h(t ) e n
sin d (t ) t
m d

for the case that the impulse occurs at

h1

note that the effects of non - zero initial conditions

and other forcing terms must be super imposed on
this solution
1

h2

-1
0
1
0
-1
0
1
h1+h2

For example: If two

pulses occur at two
different times then
their impulse
responses will
superimpose

=0

0
10

20

30

40

10

20

30

40

10

20
Time

30

40

=10

0
-1

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Impulse Response of a
Vibration System (I)

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Impulse Response
of a Vibration
System (II)

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Convolution Integrals: Introduction

Decompose a general input to the

combination of a series of impulse train
Superimpose the impulse response to form
the final response
The method itself can be treated as an
analytical relation

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Convolution Integral (I)

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Convolution Integral (II)

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Linear Superposition Method

A complicate input can be decomposed into a

few simple input with

scaling, multiplexing, and time shift operations

The response are then becomes the linear

superposition of the simple output after these
linear operations

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Example: Pulse Input

x(t )

F0
k

1
e nt cos(d t )
1
1 2

x(t )

F0
k

1
e n (t t0 ) cos(d (t t0 ) )
1
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1 2

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Time Shift Operation

E.g., for the pulse input

The total response = x1 + x2

Where
X1
x(t )

F0
k

1
e nt cos(d t )
1
2
1

x2
x(t )

F0
k

1
e n ( t t0 ) cos(d (t t0 ) )
1
2
1

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Part IV: Transfer Function and

Laplace Transform

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Transfer Functions

A black box approach to correlate the inputoutput relation

Based on linear superposition principle
Usually performed by Laplace Transform
approach

Or Fourier Transform

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Laplace Transform

Changes ODE into algebraic equation

Solve algebraic equation then compute the
inverse transform
Rule and table based in many cases
Is used extensively in control analysis to
examine the response
Related to the frequency response function

X (s ) L ( x (t )) x(t )e st dt
0

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Take the transform of the equation of motion:

mx cx kx F0 cos t
(ms 2 cs k ) X (s )

F0s
s 2
2

Now solve algebraic equation in s for X(s)

X (s )

F0s
(ms 2 cs k )(s 2 2 )

To get the time response this must be inverse

transformed
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Laplace Transform: Fundamentals (I)

Consider a SDOF vibration system

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Laplace Transform: Fundamentals (II)

Transfer Functions: Z(s) Impedance; Y(s): Admittance

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Typical
Laplace
Transforms

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Properties
of Laplace
Transform

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Example: Rao Ex. 4.16

Find the response

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where

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Part V: Response Spectrum

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Introduction

Shock

A sudden application of a force input to a SDOF

system to result a transient response
The maximum value of the response can be used
to measure the shcok sensitivity
Response spectrum is a plot of the maximum
peak response of the SDOF oscillator as a
function of natural frequency
Different shock inputs result in different response
spectra
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Typical Response Spectra

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General Response Spectra (1)

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General Response Spectra (2)

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Typical
Response
Spectrum
Subjected to
Earthquake

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Part VI: Simple Problems

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Problem 1. Periodic Vibration of a

Hydraulic Valve (Rao 4.1)

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Problem 2. Response of a Structure under

Impact (Rao 4.4, 4.5)

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Problem 3. Step Force of a

Compacting Machine (Rao 4.6)

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Problem 4. Blast Load on a Building

Frame (Rao 4.10)

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Problem 5: Water Tank Subjected to

Base Acceleration (Rao 4.12)

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Problem 6. Response of a Building

Frame to an Earthquake (Rao. 4.13)

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Part VII:

Youtube Demonstrations

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