BMM 3553

MECHANICAL VIBRATIONS

TWO DEGREE OF FREEDOM OF TORSIONAL FREE

VIBRATION SYSTEM
LAB REPORT

LECTURER : MOHD SHAHRIR BIN MOHD SANI

SECTION: 01 A

KHAIRUL AMIN MA11***

NURSYAZA DINIE MG11***
NURUL SYAHIZAN MC11***
SITI AISYAH MA11***
AHMAD NAZRI MA12***
1.0 INTRODUCTION

Mechanical vibrations are both useful and harmful in the field of engineering. It is
useful in a variety of machines and products that rely on vibrations and oscillation to work
like watches and musical instruments. It can also be destructive to machines and buildings.
Excessive vibrations for a long period can cause fatigue failure and catastrophic damage like
in driving off road for vehicles and frequent earthquakes on buildings.

Understanding vibrations allow engineers to minimize its harm while at the same time
exploit its nature to create more efficient products. Such vibrations can come in various
descriptions such as, damped or free, single degree of freedom or multiple degree of freedom,
harmonic or step excitation. This experiment explores the behavior of the two degree of
freedom, undamped vibration system with step excitation. Such system behaves similarly to a
torsional suspension system or lathe machine in real life application.

Two degree of freedom system requires two independent coordinates to describe its
equation of motion. Therefore two equations of motions are needed with two natural
frequencies. Each of the natural frequencies corresponds to a natural state of vibration with a
displacement configuration known as normal mode with Eigenvalues and Eigenvectors.
These values are derived from simultaneously solving the equations of motions have dynamic
properties associated with them.

2.0 OBJECTIVES

To determine the torsional stiffness, Kt value on different length between flywheels.

To calculate the natural frequency of the two degree of freedom of torsional free
vibration system on different length between flywheel.
To find and compare the relationship between decay rate with various distance in
between flywheels.
3.0 THEORY

If a rigid body oscillates about a specific reference axis, the resulting motion is called
torsional vibration. In this case the displacement of the body is measured in angular
coordinate. In torsional vibration problem, the restoring moment may be due to the torsion of
an elastic member or to the unbalanced moment of a force or couple.

A disc, which has polar mass moment of inertia, J0 mounted at one end of a solid circular
shaft which the other end is fixed. Let be the angular displacement of the shaft. From
theory of torsion of circular shafts, we have the relation

0
=

or = moment that produce the twist
= shear modulus
= length of the shaft
0 = polar moment of inertia of the cross section of the shaft

4
Formula for 0 came from 0 = which = diameter of the shaft.
32

Torsional spring constant, can be obtained by relation between and which is

=
Therefore, the stiffness,

0 4
= = =
32

The equation of motion for first degree of freedom of torsional vibration is derived by
applying Newtons second law of motion: 0 + = 0

Natural frequency for first degree of freedom is = (rad/sec)
0
For two degree of freedom torsional vibration, consider two discs mounted on shaft.

The segments of the shaft have rotational spring 1 and 2 . Also shown are the mass
moments of inertia 1 and 2 , the applied moments 1 and 2 , and the rotational degrees of
freedom 1 and 2 . The differential equations of rotational motion for discs 1 and 2 can be
derived as

By using moment = 0

+ M = 0
1 1 + 1 (1 2 ) = 0
1 1 + 1 1 1 2 = 0
2 2 + 1 (2 1 ) + 2 2 = 0
2 2 + 1 2 1 1 + 2 2 = 0
1
2 2 1 1 + (1 + 2 )2 = 0 2

Equation of motion

1 0 1 1 0
[ ] [ ] + [1 ] [ 1] = [ ]
0 2 1 1 1 + 2 2 0

Assumption

1 = sin( + ) 2 = sin( + )

1 = cos( + ) 2 = cos( + )

1 = 2 sin( + ) 2 = 2 sin( + )

Insert 1 , 1 , 2 , 2 into 1 and 2

Equation 1

1 [ 2 sin( + )] + 1 [ sin( + )] 1 [ sin( + )]= 0

Equation 2

2 [ 2 sin( + )] 1 [ sin( + )] + (1 + 2 )[ sin( + )]= 0

Vibration does not occur, sin( + )] 0

2 1 + 1 1 = 0

[1 2 1 ] 1 = 0 3

2 2 1 + (1 + 2 ) = 0
2
(1 ) + [ 2 + (1 + 2 )] = 0 4

1 2 1 1 0
[ ][ ] = [ ]
1 (1 + 2 ) 2 2 0

The value of decay rate is obtained experimentally from the Dasy Lab software. The result
will be generate in terms of graph to get the decay rate value.

4.0 EXPERIMENTAL SETUP

4.1 Apparatus & Material

Load with mass of 500g

Rod ( length = 1m,diameter = 0.006m )
Steel ruler
Flywheels and load holder
National Instrument, Ni-DAQmx set
Laptop with DasyLAB & Ni-DAQ software
Sensor = Accelerometer (to measure the vibrating movement of the system)

4.2 Procedures
1. The load is attached at the load holders to the steel rod of diameter 0.006 m
2. The distance is adjusted between the two loads at 30mm: 15.5mm.
3. The rod is fixed with the load and load holders to the centre beam as shown in
Figure 1 below. The rod is lock tightly at the at the chuck to avoid twisting
movement.
 Figure 1: Load and load holder

4. National Instrument and DasyLAB software is set up as below.

5. Initial disturbance is applied to give some force to the load.
6. Step 2-5 is repeated with 20mm: 25.5mm and 10mm: 35.5mm distance
between flywheel
7. The reading obtained is observe through DasyLAB software. The data is
recorded using Microsoft Office Excel.

4.3 National Instrument Software setup

1. The software of National Instrument is opened and data neighborhood is

selected under system list
2. A new task is created for experiment and NI-DAQmx task is chosen to
proceed
3. Acceleration base from analog input is selected
4. The channel that are connected to the sensors and computer which are
necessary are chosen
5. The task is renamed and click Finish
6. New task appeared under NI-DAQmx task and the sensitivity is key in in the
sensitivity box
7. Continuous sample is selected for timing setting on acquisition mode
8. Run button is clicked to test the setting and then click Save
4.4 Dasy Lab Software setup

1. The software is opened and the step is selected as shown below:-

Measurement >hardware setup>NI-DAQmx>synchronization with MAX configuration

2. All Setting is selected under time bass at measurement section

3. The task appeared and the appropriate sample rate and block size are selected
4. The NI-DAQmx analog input is tested
5. The appropriate module circuit of Dasy Lab is created as shown below:-

Figure 2: Model circuit of Dasy Lab

5.0 RESULT

5.1 Stiffness, Kt

Table of stiffness, Kt

Table 1: Table of stiffness, Kt

Distance (mm) Stiffness (N/m)

1 2
30 : 15.5 650.95 336.32
20 : 25.5 395.67 504.48
10 : 35.5 284.22 1008.97
5.2 Natural frequency

Theoretical equation

(a)

(b)Disc 1 (c)Disc 2

Figure 3: Free body diagram of torsional free vibration system

By using moment = 0

+ M = 0
2 2 + 1 (2 1 ) + 2 2 = 0
1 1 + 1 (1 2 ) = 0
2 2 + 1 2 1 1 + 2 2 = 0
1 1 + 1 1 1 2 = 0 1
2 2 1 1 + (1 + 2 )2 = 0 2

Equation of motion

1 0 1 1 0
[ ] [ ] + [1 ] [ 1] = [ ]
0 2 1 1 1 + 2 2 0
Assumption

1 = sin( + ) 2 = sin( + )

1 = cos( + ) 2 = cos( + )

1 = 2 sin( + ) 2 = 2 sin( + )

Insert 1 , 1 , 2 , 2 into 1 and 2

Equation 1

1 [ 2 sin( + )] + 1 [ sin( + )] 1 [ sin( + )]= 0

Equation 2

2 [ 2 sin( + )] 1 [ sin( + )] + (1 + 2 )[ sin( + )]= 0

Vibration does not occur, sin( + )] 0

2 1 + 1 1 = 0

[1 2 1 ] 1 = 0 3

2 2 1 + (1 + 2 ) = 0
2
(1 ) + [ 2 + (1 + 2 )] = 0 4

1 2 1 1 0
[ 2 ][ ] = [ ]
1 (1 + 2 ) 2 0

A=B=0 trivial solution

1 2 1 1
| |=0
1 (1 + 2 ) 2 2

[1 2 1 ][(1 + 2 ) 2 2 ] [ 1 ][1 ] = 0

substitute 1 = 0 = 0.5 1 and 2 into equation

2 4
2 =
2
 Table 2: Table of natural frequency

Theoretical (rad/s) Experimental (dasylab) (rad/s)

Distance (mm)
1 2 1 2
30 : 15.5 29.77 48.89 19.63 39.27
20 : 25.5 18.88 47.15 19.63 39.27
10 : 35.5 20.48 52.30 19.63 39.27

5.3 Decay rate

9 Decay rate 30:15.5mm

8
7 accelerom
eter1
6
y = -0.5123x + 5.2397
5 R = 0.4794
y, amplitude

accelerom
4 eter 2
y = -0.2191x + 2.5266
3
R = 0.4344
2 Linear
(accelerom
1 eter1)
0
-1 0 2 4 6 8 10 12 14

-2
t(s)
 Decay rate 20:25.5mm
8

6
y = -0.3204x + 5.4359
5 R = 0.5668 Acceleromet
er 1
y, amplitude

4
Acceleromet
3 y = -0.2842x + 5.0499 er 2
R = 0.53
2 Linear
(Acceleromet
1 er 1)

0
0 5 10 15 20
-1
t(s)

Decay rate 10:35.5mm

8

7
y = -0.0782x + 3.8421
6 R = 0.2766
Accelerome
ter 1
5
Accelerome
y, amplitude

4 y = -0.0831x + 4.0728 ter 2

R = 0.2769
3 Linear
(Accelerome
2 ter 1)
Linear
1 (Accelerome
ter 2)
0
0 5 10 15 20 25 30 35 40
-1
t(s)
 Table 3: Table of decay rate

Distance (mm) Decay Rate

Accelerometer 1 Accelerometer 2
30 : 15.5 -0.2191 -0.5123
20 : 25.5 -.02842 -0.3204
10 : 35.5 -0.0782 -0.0831

6.0 DISCUSSION

7.0 CONCLUSION

The conclusion is based on the objectives and experiment result.