Vibration -3

Sam Noble (IIST) April 12, 2019 1 / 15

 Vibration -3

Recap

Sam Noble (IIST) April 12, 2019 1 / 15

 Two degree of freedom system

Sam Noble (IIST) April 12, 2019 2 / 15

Equation of motion of undamped 2DOF system

Figure 1: A two degree of freedom spring mass system.

m1 x¨1 (t) + (k1 + k2 )x1 (t) − k2 x2 (t) = 0 (1)

m2 x¨2 (t) − k2 x1 (t) + (k2 + k3 )x2 (t) = 0 (2)
Assuming harmonic motion for both masses at same frequency and phase
angle, the take solutions as
x1 (t) = X1 cos(ωt + ϕ); x2 (t) = X2 cos(ωt + ϕ) (3)
Sam Noble (IIST) April 12, 2019 3 / 15
  Substituting
2
Eqn.(3)
in (1) and
 (2).
−m1 ω + (k1 + k2 ) X1 − k2 X2 cos(ωt + ϕ)
  
−k2 X2 + −m2 ω 2 + (k2 + k3 ) X2 cos(ωt + ϕ) (4)

These equations must be satisfied for all values of time(t), the terms inside
the brackets must be zero.
This yields two simultaneous homogeneous algebraic equations in the
 unknowns X 1 , X2 .
2
−m1 ω + (k1 + k2 ) X1 − k2 X2 = 0

−k2 X2 + −m2 ω 2 + (k2 + k3 ) X2 = 0 (5)

Eqns (5) is satisfied by trivial solution, X1 = X2 = 0, implies no vibration.

For nontrivial solution, the determinant of the coefficents of X1 , X2 must
 be zero. 
 -m1 ω 2 + (k1 + k2 ) −k2 
 
 -k2 −m2 ω 2 + (k2 + k3 ) 

Sam Noble (IIST) April 12, 2019 4 / 15

 (m1 m2 )ω4 − {(k1 + k2 )m2 + (k2 + k3 )m1 } ω
2
2
+ (k1 + k2 )(k2 + k3 ) + k2 = 0
The roots of this frequency
 equation or characteristic equation is:
2 2 1 (k1 + k2 )m2 + (k2 + k3 )m1
ω1 , ω2 = ∓
2 m1 m2
"   #1/2
1 (k1 + k2 )m2 + (k2 + k3 )m1 2 (k1 + k2 )(k2 + k3 ) − k22
−4
2 m1 m2 m1 m2
When ω in Eqn.(3) is equal to ω1 and ω2 , it is called natural frequencies of
the system.
(1) (1)
Values of X1 , X2 , corresponding to ω1 as X1 , X2 , and those
(2) (2)
corresponding to ω2 as X1 , X2 .
As Eqns. (5)is homogeneous, only the ratios can be found out.
(1) (2)
X2 X2
r1 = (1) ; r2 = (2)
X1 X1

Sam Noble (IIST) April 12, 2019 5 / 15

For ω 2 = ω12 and ω 2 = ω22 ,
Substituting in Eqns. 5
(1)
X −m1 ω12 + (k1 + k2 ) k2
r1 = 2(1) = =
X k2 −m2 ω1 + (k2 + k3 )
2
1
(2)
X2 −m1 ω22 + (k1 + k2 ) k2
r2 = = =
(2)
X1 k2 −m2 ω2 + (k2 + k3 )
2

Normal modes
( of)vibration
( corresponding
) to ω12 andω22 can be expressed as:
(1) (1)
−
→(1) X1 X1
X = (1) = (1)
X2 r1 X1
and ( ) ( )
(2) (2)
−
→(2) X1 X1
X = (2) = (2)
X2 r2 X1
−
→ −
→
The vectors X (1) , and X (2) denotes the normal modes of vibration, known
as modal vectors of the system.

Sam Noble (IIST) April 12, 2019 6 / 15

The free vibration solution or the motion in time can be expressed in
Eqn.(3) as ( ) ( )
(1) (1)
−
→ x1 (t) X 1 cos(ω 1 t + ϕ 1 )
x (1) (t) = (1) = (1) = First mode
x2 (t) r1 X1 cos(ω1 t + ϕ1 )
( ) ( )
(2) (2)
−
→ x1 (t) X1 cos(ω2 t + ϕ2 )
x (2) (t) = (2) = (2) = Second mode
x2 (t) r2 X1 cos(ω2 t + ϕ2 )
(1) (2)
where constantsX1 , X1 , ϕ1 and ϕ2 are determined from initial conditions.

Sam Noble (IIST) April 12, 2019 7 / 15

Equation of motion of Damped 2DOF system

Most
 general
 case:         
m11 m12 x¨1 c c x˙1 k k x1 0
+ 11 12 + 11 12 =
m12 m22 x¨2 c12 c22 x˙2 k12 k22 x2 0

Sam Noble (IIST) April 12, 2019 8 / 15

Equation of motion of Damped 2DOF system

Most
 general
 case:         
m11 m12 x¨1 c c x˙1 k k x1 0
+ 11 12 + 11 12 =
m12 m22 x¨2 c12 c22 x˙2 k12 k22 x2 0
If the stiffness matrix is not diagonal, the system has elastic or static
coupling.
If the damping matrix is not diagonal, the system has damping or
velocity coupling.
If the mass matrix is not diagonal, the system has mass or inertial
coupling (Both velocity and mass coupling come under the heading of
dynamic coupling).

Sam Noble (IIST) April 12, 2019 8 / 15

Find the natural frequency and mode shape of the spring mass system?

Sam Noble (IIST) April 12, 2019 9 / 15

Equations of motion: mx¨1 + 2kx1 − kx2 = 0;
mx¨2 − kx1 + 2kx2 = 0;

Sam Noble (IIST) April 12, 2019 10 / 15

Equations of motion: mx¨1 + 2kx1 − kx2 = 0;
mx¨2 − kx1 + 2kx2 = 0;
Solution
 assumed
  as xi (t)
 = Xi cos(ωt
 + i =1, 2
ϕ); 
m 0 X 1 2k −k X 1 0
−ω 2 + =
0 m X2 −k 2k X2 0

Sam Noble (IIST) April 12, 2019 10 / 15

Equations of motion: mx¨1 + 2kx1 − kx2 = 0;
mx¨2 − kx1 + 2kx2 = 0;
Solution
 assumed
  as xi (t)
 = Xi cos(ωt
 + i =1, 2
ϕ); 
m 0 X1 2k −k X 1 0
−ω 2 + =
0 m X2 −k 2k X2 0
Frequency equation is as follows:
m2 ω 4 − 4kmω 2 + 3k2 = 0

Sam Noble (IIST) April 12, 2019 10 / 15

Equations of motion: mx¨1 + 2kx1 − kx2 = 0;
mx¨2 − kx1 + 2kx2 = 0;
Solution
 assumed
  as xi (t)
 = Xi cos(ωt
 + i =1, 2
ϕ); 
m 0 X1 2k −k X 1 0
−ω 2 + =
0 m X2 −k 2k X2 0
Frequency equation is as follows:
m2 ω 4 q
− 4kmω 2 +q3k2 = 0
ω1 = mk , ω2 = 3k m

Sam Noble (IIST) April 12, 2019 10 / 15

Equations of motion: mx¨1 + 2kx1 − kx2 = 0;
mx¨2 − kx1 + 2kx2 = 0;
Solution
 assumed
  as xi (t)
 = Xi cos(ωt
 + i =1, 2
ϕ); 
m 0 X1 2k −k X 1 0
−ω 2 + =
0 m X2 −k 2k X2 0
Frequency equation is as follows:
m2 ω 4 q
− 4kmω 2 +q3k2 = 0
ω1 = mk , ω2 = 3k m
Amplitude ratio;
X12 −mω12 + 2k k
r1 = (1) = = =1
X1 k −mω12 + 2k
X22 −mω22 + 2k k
r2 = (2) = = = −1
X k −mω 2
2 + 2k
1

Sam Noble (IIST) April 12, 2019 10 / 15

The natural modes are given
 by: q 
 X(1) cos( k t + ϕ1 ) 
First mode= −
→ qm
1
x (1) (t) =
 X(1) cos( k t + ϕ ) 
1
1 m
q 
 X(2) cos( 3k t + ϕ2 ) 
Second mode= − → qm
1
x (2) (t) =
 −X(2) cos( 3k t + ϕ ) 
1 m 2

Sam Noble (IIST) April 12, 2019 11 / 15

General solution: r ! r !
(1) k (2) 3k
x1 (t) = X1 cos t + ϕ1 + X1 cos t + ϕ2
m m
r ! r !
(1) k (2) 3k
x2 (t) = X1 cos t + ϕ1 − X1 cos t + ϕ2
m m

Sam Noble (IIST) April 12, 2019 12 / 15

Coordinate coupling

Figure 2: Modeling of a lathe.

Sam Noble (IIST) April 12, 2019 13 / 15
EOM using x(t) and θ(t)

mẍ = −k1 (x − l1 θ) − k2 (x + l2 θ) (6)

and
J0 θ̈ = k1 (x − l1 θ)l1 − k2 (x + l2 θ)l2 (7)
Equations
  (6) and (7)
 can be written in Matrix form  as:   
m 0 ẍ (k1 + k2 ) −(k1 l1 − k2 l2 ) x 0
+ 2 2 =
0 J0 θ̈ −(k1 l1 − k2 l2 ) (k1 l1 + k2 l2 ) θ 0
Elastic or static coupling.

Sam Noble (IIST) April 12, 2019 14 / 15

EOM using y(t) andθ(t)

mÿ = −k1 (y − l′1 θ) − k2 (y + l′2 θ) − meθ̈ (8)

jp θ̈ = k1 (y − l′1 θ)l′1 − k2 (y + l′2 θ)l′2 − meÿ (9)
Equations
 (8)
 and  (9) can be written in Matrix form as:    
m me ÿ (k1 + k2 ) (k2 l2 k1 l′1 )
′ − x 0
+ =
me Jp θ̈ (−k1 l′1 + k2 l′2 ) (k1 l′1 2 + k2 l′2 2 ) θ 0
The system consists of Static (elastic) as well as Dynamic (mass) coupling.
if k1 l′1 = k2 l′2 , the system will have dynamic or inertia coupling only.

Sam Noble (IIST) April 12, 2019 15 / 15