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1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
Objective:
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
Syllabus:
Unit I Introduction
Relevance of and need for vibration analysis - Mathematical
modeling of vibrating systems Discrete and continuous systems review of single-degree of freedom systems - free and forced
vibrations, Various damping models Ground vibration testing.
Unit II Two Degree-of-Freedom Systems
General solution to free vibration problem - damped free vibration Forced vibration of undamped system -dynamic vibration absorbers
- Technical applications Vibration test on torsion pendulum
Unit III Multi Degree-of-Freedom Systems
P.Senthil Kumar
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ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
Vibration of
Single Degree of Freedom system
1 DOF system
2 DOF system
Multi DOF system
Objective:
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
Introduction
x (t ) A sin n t
.
x (t ) n A cos n t
..
x (t ) n2 A sin n t n2 x (t )
P.Senthil Kumar
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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MATLAB code
%% Fundamental of vibration-P.senthil kumar
t=0:0.01:5;
w=10;
%% Displacement of system
x= 2.*sin(w.*t);
plot(t,x,'b')
hold on
%% Velocity of system
dx=2.*w.*cos(w.*t);
plot(t,dx,'r')
%% acceleration of system
d2x = -2.*w.*w.*sin(w.*t);
plot(t,d2x,'g')
title('motion of system')
xlabel('time(sec)')
ylabel(Amplitude')
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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MATLAB code
ICG
Vibration Terminology
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
2
t
In the previous
figure, the velocity
vector leads
displacement vector by known angle of 90degree.This
angle is known as phase angle.
P.Senthil Kumar
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
P.Senthil Kumar
Intelligent Control Group
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ICG
Importance of vibration
1 DOF system
Introduction
problem
2 DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
Vibration Analysis:
Analyze the influence of vibration in front suspension of
bicycle. Assume the bicycle system as single degree of
freedom.
1. Mathematical modeling:
..
m x kx
m
Condition Monitoring
..
2.
Governing Equation
m x kx 0
3. Solution
x A cos B sin
P.Senthil Kumar
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( ms k )e 0
2
st
x Ce int
x Ce Ce st
s ( k / m)1/2 iwn
x A cos n t B sin n t
ICG
4. Interpretation
..
m x kx 0
1 DOF system
Introduction
x.
x0 2 0
n
Condition Monitoring
Road profile
..
n
1
fn
2 2
k
m
x (t ) Ce int X cos(nt )
problem
2 DOF system
P.Senthil Kumar
k
m
x
0
tan
x0n
Body travel
..
.
m x c x kx 0
L x x 5 x L[5F ]
X
5
2
F s s5
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Displacement (m)
Condition Monitoring
P.Senthil Kumar
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Time (sec)
ICG
Overview
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
1 DOF
2 DOF
..
m x c x kx F
ms 2 cs k x F
P.Senthil Kumar
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x
1
TF 2
F ms cs k
Multiple DOF
ICG
Vibration control
Passive control:
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
m
k
Active control:
Condition Monitoring
E
-
PID
motor
1
ms 2 cs k
P.Senthil Kumar
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motor
ICG
1 DOF system
Introduction
problem
2 DOF system
Elements of Vibration
Three major elements of vibrating systems are,
Mass
Spring
Damper
mx
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F mx
ICG
1 DOF system
Introduction
X1
problem
2 DOF system
F kx
1 2
U kx
2
F F F ( x x )
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F ( x ) F F ( x )
dF
1 d F 2
( x )
( x)
2
dx
2! dx
F k x
ICG
Combination of spring
1 DOF system
Introduction
problem
2 DOF system
x1
x2
Spring in parallel
F F1 F2
Kx K1 x1 K 2 x2
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keq k1 k 2
Spring in series
x x1 x2
F F
F
K K1 K 2
1
1 1
keq k1 k2
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
damping.
Viscous Damping
Coulomb Damping
Hysteretic Damping
du
dy
F v
A h
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F cv
A
h
ICG
1 DOF system
Introduction
problem
2 DOF system
Harmonic Analysis
xA
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a0
x (t ) an cos nt bn sin nt
2 n 1
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
Classification of vibration
Free vibration
1 DOF system
Introduction
Forced vibration
problem
2 DOF system
Un damped vibration
Damped vibration
Linear vibration
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ICG
1Introduction
DOF system
Introduction
Free vibration
problem
Undamped
2 DOF
system
Damped
Forced
vibration
Multi
DOF
system
Harmonic Excitation
Undamped
Condition
Monitoring
Damped
Base Excitation
Rotating Unbalance
F =0
From equilibrium method,
v 0
..
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m x kx k F W
..
m x kx 0
F+W
k W mg
ICG
1Introduction
DOF system
Introduction
Free vibration
problem
Undamped
2 DOF
system
Damped
Forced
vibration
Multi
DOF
system
D Alembert Principle
Energy Principle
F ma 0
d
T U 0
dt
..
kx m x 0
..
m x kx 0
Harmonic Excitation
Undamped
Condition
Monitoring
Damped
Base Excitation
Rotating Unbalance
.
1
1
2
2
m
x
kx
0
2
2
..
m x kx 0
Rayleigh method
K .Emean P.Eextreme
1
1
m 2 x 2 kx 2
2
2
P.Senthil Kumar
d
dt
k
m
x X sin t
.
x X cos t X
1
1
KE mv 2 m 2 x 2
2
2
1 2
PE kx
2
ICG
solution
..
m x kx 0
1 DOF system
Introduction
( ms 2 k )e st 0
problem
2 DOF system
x Ae int
x Ae st
s k / m iwn
x (0) x0
x (0) x0
X i
X i
A1 e
A2 e
2
2
X i (nt ) i (nt )
x (t ) e
e
2
Condition Monitoring
x (t ) X cos(n t )
x (0) x0 X cos
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x (0) x0 n X sin
x.
x0 2 0
n
x
0
tan
x0n
ICG
Interpretation
x (t ) x0 cos(n t )
x (t ) x0n sin(n t )
x (t ) x0n2 cos(n t )
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
x X 0 sin(n t 0 )
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X0
x.
x0 2 0
n
x 10sin(0.9977t / 2) 10cos(0.9977t )
x
0 tan 0. n
x0
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
l 300 ft
Di 8 ft
D0 10 ft
W 6 105 Ib
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E 4 106 psi
x0 10 inch
ICG
1 DOF system
Introduction
problem
2 DOF system
x X 0 sin(n t 0 )
3EI
k 3 1545.6672 Ib / inch
l
k
0.9977rad / sec
m
X0
x.
x0 2 0 x0 10 in
n
d 04 d i4 600.955 104 in 4
64
0 tan 0. n
2
x0
x 10sin(0.9977t / 2) 10cos(0.9977t )
..
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..
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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m x c x kx 0
ms 2 cs k 0
b b2 4ac
s
2a
s a, b
x (t ) C1e at C1e bt
s a, a
x (t ) ( A Bt )e at
s a ib,
a ib
x (t ) Xe at sin(bt )
ICG
1 DOF system
Introduction
problem
2 DOF system
m x k ( x ) mg c x
Multi DOF system
Condition Monitoring
..
m x c x kx 0
c
k
2
s
0
ms cs k 0
m
m
2
s1,2
c
k
c
2m
m
2m
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k
c
2
m
m
k
c
2
m
m
cc 2mn
n 2 1 n
c
c
cc 2mn
ICG
..
ms 2 cs k 0
m x c x kx 0
s1,2 2 1 n
1 DOF system
Introduction
problem
2 DOF system
s1,2 i 1 2 n
s1,2 n id
Condition Monitoring
d n 1 2
Xe nt
x (t ) Xe nt sin(d t )
xi
Xe nti
nti d entd
xi 1 Xe
xi
ln
n td
xi d
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1
1
1
sin(d t )
ICG
s1,2 i 1 2 n n
ms 2 cs k 0
1 DOF system
Introduction
problem
2 DOF system
cc 2mn
x (t ) ( A Bt )e
n t
x (0) x0 A
x (0) x 0
x (t ) n Ae nt Bnte nt Be nt
B x 0 n x0
x (0) x0 n x0 0 B
Condition Monitoring
( A Bt )
e nt
x (t ) x0 x 0 n x0
t e nt
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ICG
s1,2 i 1 2 n 2 1 n
1 DOF system
Introduction
x (t ) C e
problem
2 DOF system
Multi DOF system
C1
C e
2 1 n t
x0n 1 x 0
2
2n 2 1
2 1 n t
C2
x0n 1 x 0
2
2n 2 1
Condition Monitoring
C1+C2
t
P.Senthil Kumar
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ICG
MATLAB VERIFICATION
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
x (t ) x0 x 0 n x0
x (t ) Xe nt sin(d t )
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x (t ) C e
1
2 1 n t
1 t
Ce
2
t e nt
ICG
1 DOF system
Introduction
problem
2 DOF system
x1.5
Condition Monitoring
x1
4
x2
x1.5
4
.25 m
2ms
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x2.5
x2
4
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
ln
2
td
2
1
2.7726
0.4037
d 1 2 n
c cc 2mn
k mn2
xmax 1 2 Xe nt
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Matlab code:
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
x ( t ) xh ( t ) x p ( t )
P.Senthil Kumar
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ICG
m x kx F
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
F F0 cos t F0et
x ( t ) xh ( t ) x p ( t )
F0
F0 / k
st
2
m 2
k m 2
1
1
k
n
x (t ) C1 cos n t C2 sin n t
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x (t ) X cos(t )
F0
cos t
2
k m
F0
cos t
2
k m
F X cos t
ICG
1 DOF system
Introduction
x (t ) C1 cos n t C2 sin nt
x (0) x0 C1 0
problem
2 DOF system
F0
k m 2
F0
cos t
2
k m
C1 x0
F0
sin t
2
k m
x (0) x 0 nC2
Condition Monitoring
F0
k m 2
x0
C2
n
.
F0
x0
x (t ) x0
cos
sin n t
n
2
k
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xh x p
x (t ) x p (t )
st
1
n
st
cos t
st
st M f
2
1 r
ICG
st
x (t ) x p (t )
1
1 DOF system
Introduction
problem
2 DOF system
st
st M f
2
1 r
x (t )
Case:1
Case:2
0 / n 1
/ n (Resonance)
1
Condition Monitoring
Case:3
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/ n 1
ICG
x ( t ) xh ( t ) x p ( t )
m x c x kx F
1 DOF system
Introduction
problem
2 DOF system
x p (t ) A1 cos t A2 sin t
x p (t ) 2 A1 sin t 2 A2 cos t 2 x p
Condition Monitoring
m 2 x p c x p kx p F
2
k
xp c xp F
.
F F0 sin t
k m A c A
2
F0
m 2
c A2 F0
1
1
k
k
k
P.Senthil Kumar
c A1 k m 2 A2 0
c A1
m 2
1
A2 0
k
k
m
c A2 F0
1 k A1 k k
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
c
c
cc 2mn
c 2mn
1 r A 2r A
2
X0
1 r X
A
1 r 2r
2
c
2n 2
2mn
2r
2
k
k
n
n
2
1 2 A1 2r A2 X 0
n
Condition Monitoring
P.Senthil Kumar
c A1
m 2
1
A2 0
k
k
xp
2 2
X0
1 r 2r
2 2
2
2r A1 1 2 A2 0
n
2r A1 1 r 2 A2 0
A2
2 r X 0
1 r 2 2r
(1 r 2 ) sin t 2 r cos t
X0
1 r 2r
2 2
sin(t )
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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x p max
X0
1 r 2r
2 2
MF
x p max
X0
1
2 2
1
2
n
n
ICG
problem
2 DOF system
Condition Monitoring
P.Senthil Kumar
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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tan
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2
n
2
1
n
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
..
m x c( x y ) k ( x y ) 0
..
Y Y sin t
m x c x kx c y ky Yc cos t Yk sin t
..
m x c x kx c y ky A sin(t )
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A Y k ( c )
2
c
tan
k
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Transmissibility Ratio:
ICG
at
resonance.
3. The value of Td is less than unity for r >sqrt(2)
ratio at r
=sqrt(2)
5. For r <sqrt(2), Smaller damping ratios lead to larger
values of Td.
6. On the other hand, for r>sqrt(2), smaller values of
damping ratio lead to smaller values of Td.
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Introduction
Derive the transfer function of a viscously
damped single-degree-of-freedom system
subjected to external force f(t) as shown in Fig
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
Vibration of
Single Degree of Freedom system
1 DOF system
2 DOF system
Objective:
Condition Monitoring
P.Senthil Kumar
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ICG
1 DOF system
Introduction
problem
2 DOF system
Problem:1
1. A simple harmonic motion has a amplitude of .30 cm and
period of 0.20 sec. Determine the maximum velocity and
acceleration.
x (t ) A cos t
.
x (t ) A cos t
Condition Monitoring
..
x (t ) 2 A cos t
2
2 f
t
31.416 rad / s
9.425 cm / s
296.089 cm / s 2
x (t ) A cos t
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..
x (t ) 2 A cos t
5m / s
471.24 m / s 2
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
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Problem 2
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
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Problem 3
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
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Problem 4
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
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Problem:5
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem :6
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem: 7
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem:8
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem:9
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem:10
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem:11
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem:12
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem:13
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem:14
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
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Problem:15
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:16
ICG
Vibration of
Two Degree of Freedom system
1 DOF system
2 DOF system
Objective:
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
Introduction
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:1
Determine the Equation of motion and natural
frequency of given spring mass system.
..
m1 x1 k1 x1 k 2 ( x1 x2 ) 0
..
m2 x 2 k2 ( x2 x1 ) 0
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:2
..
m1 x1 k ( x1 x2 ) 0
..
m2 x 2 k ( x2 x1 ) 0
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:3
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:3
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:4
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Coupled coordinates::
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
..
m x ( k1 k2 ) x ( k1l1 k 2l2 ) 0
..
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
2 DOF system
Multi DOF system
Principal coordinates::
Here two different coordinates coupled
together to get solution for vibrating system.
Such coordinates are called principal or
natural coordinates.
Condition Monitoring
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
..
m x ( k1 k2 ) x (k1l1 k 2l2 ) 0
..
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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m 2 2k
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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X 1
X 0
2
m 2k 2
k
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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X 2 (1) m1 ( k1 k2 )
r1 (1)
2
X1
k2
2
2
X 2 (2) m2 ( k2 k3 )
r2 (2)
5
X1
k2
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
x (t ) Xe nt sin
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
0;
1 2 n t
X 0.455 m
x1
ln ln(16) 2.7726
2
x2
1
d 2
2
2
d n 1 2
P.Senthil Kumar
Intelligent Control Group
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0.4037
1 0.4037 2 3.4338t
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:4
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:5
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:5
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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Problem:6
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
Problem:6
ICG
1 DOF system
Introduction
problem
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
Problem:7
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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8/11/15 04:52:11 PM
m11
m
21
..
m12 x1 c11
..
m22 c21
x 2
c12
c
22
x.
1 k11
.
k21
x2
k 12 x 1
f1
k x f
2
22 2
ICG
P.Senthil Kumar
Intelligent Control Group
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8/11/15 04:52:11 PM
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:11 PM
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:11 PM
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:11 PM
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:11 PM
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:11 PM
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:11 PM
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:12 PM
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:12 PM
% Ex5_20.m
tspan = [0: 0.01: 20];
y0 = [0.2; 1.0; 0.0; 0.0];
[t,y] = ode23('dfunc5_15', tspan, y0);
subplot (211)
plot (t,y (:, 1));
xlabel ('t');
ylabel ('x1 (t)');
%dfunc5_15.m
subplot (212)
function f = dfunc5_15(t,y)
plot (t,y (:, 3));
f = zeros(4, 1);
xlabel ('t');
ylabel ('x2 (t)'); f(1) = y(2);
f(2) = cos(3*t)- 4*y(2) + y(4)- 5*y(1) + 2*y(3);
f(3) = y(4);
f(4) = cos(3*t) + 0.5*y(2)- y(4) + y(1) -1.5*y(3);
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
8/11/15 04:52:12 PM
ICG
Vibration of
Multi Degree of Freedom system
1 DOF system
2 DOF system
Objective:
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
Introduction:
2 DOF system
system.
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
1 DOF system
Influence coefficient:
2 DOF system
Condition Monitoring
F1 m1 x1 m1 2 A1 sin t
P.Senthil Kumar
Intelligent Control Group
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ICG
Matrix method:
Find natural frequency of given system using matrix method.
..
m1 x1 k1 x1 k2 ( x1 x2 ) 0
1 DOF system
..
2 DOF system
m2 x2 k 2 ( x2 x1 ) k3 ( x3 x2 ) 0
..
m3 x3 k3 ( x2 x3 ) 0
Multi DOF system
..
m1 x1 ( k1 k2 ) x1 k2 x2 0
..
Condition Monitoring
m2 x2 k2 x1 ( k3 k 2 ) x2 k 3 x3 0
..
m3 x3 k3 x2 k3 x3 0
m1 0
0 m
2
P.Senthil Kumar
Intelligent Control Group
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0
0
m3
x..
1 k1 k 2
k 2
..
k3 k 2
x 2 k2
..
0
k3
x
3
..
m x k x 0
0
k3
k 3
x1
x2 0
x3
ICG
..
m x k x 0
1 DOF system
x.. m 1 k x 0
2 DOF system
x.. c x 0
I c 0
c m
Condition Monitoring
m2
m 1
adj m 1
3 0
m
m
0
c x 2 x 0
1 0 0 k1 k2
1
0 1 0
k2
m
0
0 0 1
k2
k3 k 2
k3
I c 0
k /m
0
2k / m
k /m
2k / m
k /m 0
0
k /m
k / m
P.Senthil Kumar
3 5 2k / m 6 k 2 / m 2 k 3 / m 3 0
.44
k
k
k
, 1.24
, 1.80
m
m
m
0
m2
0
0
1 0 0
1
0
0 1 0
m
2
m
0 0 1
c x x 0
0
k3
k3
2 1 0
k
1 2 1
m
0 1 1
ICG
1 DOF system
2 DOF system
2k
1
2k
a 13
2a 23
2a 33
1
k
1
m 2
k
1
Condition Monitoring
x1
2a11 2a12
x m 2 2a
2a22
21
2
x3
2a31 2a32
P.Senthil Kumar
Intelligent Control Group
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x1
x
2
x3
2m
x1
x2
x3
1
1
1
2 x
1
m 2
3
1 3
x2
k
2
x
5 3
1 3
2
1
k
3
k
3
k
3
5
a33
2k
2k
1
2 k
3
2 k
2k
x1
x2
x3
k
2m
k
m
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
First iteration
x1
x
2
x3
1
1
2
1
2
m
3
1
1 3
k
2
1
5
1 3
2
1
1
Second iteration
1
1
1
2
1
2
m
3
2.2
1 3
k
2
2.6
5
1 3
2
x1
2 1
x 2.5 m 2.2
2
k
x3
2.6
Third iteration
P.Senthil Kumar
1
1
1
2
1
2
m
3
2.555
1 3
k
2
3.133
5
1 3
2
1
2 1
m
2.2
4.5
2.555
2.6
3.133
1
2
m
2.555
5.12
k
3.133
1
2.61
3.22
ICG
Fourth
iteration
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
1
1
1
2
1
2
m
3
2.61
1 3
k
2
3.22
5
1 3
2
m 2
1 5.22
k
1 .437
P.Senthil Kumar
Intelligent Control Group
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k
m
1
2
m
2.61
5.22
k
3.22
1
2.61
3.22
ICG
1 DOF system
2 DOF system
1
k
2
k
a33
3
k
Condition Monitoring
x1
a11 a12
x m 2 a
a22
21
2
x3
a31 a32
a 13
a 23
a 33
x1
x2
x3
1
1
1 1
2 3
2 3
x1
x2
x3
m
k
m
P.Senthil Kumar
Intelligent Control Group
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x1
x
2
x3
1
2
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
First iteration
x1
x
2
x3
1
1
2
1
2
m
3
1
1 3
k
2
1
5
1 3
2
1
2
Second iteration
1
1
1
2
1
2
m
3
2.2
1 3
k
2
2.6
5
1 3
2
x1
2 1
x 2.5 m 2.2
2
k
x3
2.6
Third iteration
P.Senthil Kumar
1
1
1
2
1
2
m
3
2.555
1 3
k
2
3.133
5
1 3
2
1
2 1
m
2.2
4.5
2.555
2.6
3.133
1
2
m
2.555
5.12
k
3.133
1
2.61
3.22
ICG
Condition Monitoring
What is machine vibration?
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
Unnecessary Maintenance
To constantly ensure proper
companies stop running
predetermined schedules to
regardless of whether or
malfunctioning.
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
Quality Problems
Sometimes a machine can be running into trouble even
though it appears to be functioning normally. This is a
dangerous situation.
If not caught early, the problem could lead to poor quality
products being made, large yield losses, rework costs, or
worse still, warranty returns by irate customers. A machine
that is regularly monitored is less likely to lead to such
problems.
Occupational Hazards
Due to the noise and shaking they create, vibrating
machines can cause occupational hazards and human
discomfort. Human discomfort results in a loss to the
company as workers who feel unwell will not be fully
productive.
Also, unexpected machine breakdowns leave workers with
no work, and production planners with frustration.
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
Displacement
Displacement measurement is the distance or amplitude
displaced from a resting position. The SI unit for
distance is the meter. Displacement vibration
measurements are generally made using displacement
eddy current transducers.
Velocity
Velocity is the rate of change of displacement with
respect to change in time. The SI unit for velocity is
meters
per
second
(m/s),
Velocity
vibration
measurements are generally made using either swing
coil velocity transducers or acceleration transducers with
either an internal or external integration circuit.
Acceleration
Acceleration is the rate of change of velocity with
respect to change in time. The SI unit for acceleration is
meters
per
second.
Acceleration
vibration
measurements
are
generally
made
using
accelerometers.
ICG
1 DOF system
2 DOF system
Multi DOF system
1. Displacement Sensor
2. Velocity Sensor
3. Acceleration Sensor
Case study : turbine
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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ICG
Condition Monitoring:
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
www.icgindia.weebly.com
First iteration
ICG
1 DOF system
2 DOF system
Multi DOF system
Condition Monitoring
P.Senthil Kumar
Intelligent Control Group
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