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    ME 563 Mechanical Vibrations Lecture #1: Derivation of Equations of Motion (Newton-Euler Laws)

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    nils4586
    This document outlines the process for deriving equations of motion for mechanical vibrations, including: 1) Developing a model representation using lumped/discrete elements like springs and dampers or continuous elements like beams. 2) Defining degrees of freedom and generalized coordinates considering constraints. 3) Deriving equations of motion using Newton-Euler laws by drawing a free body diagram and applying force balances.

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    ME 563 Mechanical Vibrations Lecture #1: Derivation of Equations of Motion (Newton-Euler Laws)

    Uploaded by

    nils4586
    67 views27 pages
    This document outlines the process for deriving equations of motion for mechanical vibrations, including: 1) Developing a model representation using lumped/discrete elements like springs and dampers or continuous elements like beams. 2) Defining degrees of freedom and generalized coordinates considering constraints. 3) Deriving equations of motion using Newton-Euler laws by drawing a free body diagram and applying force balances.

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    This document outlines the process for deriving equations of motion for mechanical vibrations, including: 1) Developing a model representation using lumped/discrete elements like springs and dampers or continuous elements like beams. 2) Defining degrees of freedom and generalized coordinates considering constraints. 3) Deriving equations of motion using Newton-Euler laws by drawing a free body diagram and applying force balances.

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    © All Rights Reserved
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    67 views27 pages

    ME 563 Mechanical Vibrations Lecture #1: Derivation of Equations of Motion (Newton-Euler Laws)

    Uploaded by

    nils4586
    This document outlines the process for deriving equations of motion for mechanical vibrations, including: 1) Developing a model representation using lumped/discrete elements like springs and dampers or continuous elements like beams. 2) Defining degrees of freedom and generalized coordinates considering constraints. 3) Deriving equations of motion using Newton-Euler laws by drawing a free body diagram and applying force balances.

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    ME 563

    Mechanical Vibrations
    Lecture #1
    Derivation of equations of motion
    (Newton-Euler Laws)

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    Define the
    vibrations of interest

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    Define the
    vibrations of interest
    (Degrees of freedom)

    Panel rigid body


    degrees of freedom

    Panel flexible body


    degrees of freedom

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    Define the
    vibrations of interest
    (Frequency range)

    Low-frequency (<50 Hz)


    response

    High-frequency (>100 Hz)


    response

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    Define the
    vibrations of interest
    (Amplitude range)

    Ceramic tile attached


    to orbiter using
    adhesive bond

    Strain isolation
    pad stress/strain

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    10

    Develop model
    representation
    (Lumped/discrete elements)
    K3
    M
    K2

    K4

    Airframe

    Airframe

    K1

    Parallel elements same motion


    Series elements same force

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    11

    Develop model
    representation
    (Continuous elements)
    Airframe

    Airframe

    12

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    13

    14

    Develop model
    representation
    (Excitation function)

    K2

    K4

    Base motion

    K3
    M

    K2

    K4

    Applied force
    (impact)

    Airframe

    K1
    Airframe

    K3
    Airframe

    Airframe

    K1

    Develop model
    representation
    (Excitation function)

    15

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    16

    Define motions (DOFs)


    (Generalized coordinates,
    Acceleration
    datum, gravity)
    K3

    M
    K2

    K4

    Airframe

    Airframe

    K1

    x is defined
    w/r/t equilibrium position
    (under acceleration of shuttle)

    Acceleration

    Dynamic response is
    large compared to
    gravitational response

    17

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    18

    Define motions (DOFs)


    (Constraints on
    coordinates)
    K3

    M
    K2

    K4

    Airframe

    Airframe

    K1

    Acceleration
    xairframe(t)

    # D.O.F. = # generalized coordinates - # constraints


    =21
    =1

    19

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    20

    21

    Derive equations of motion


    (Newton-Euler, force)
    Airframe

    K1

    FBD
    K3

    M
    K2

    f(t)

    K4

    Airframe

    K1x
    K2x

    K3x
    M
    f(t)

    K4x

    Derive equations of motion


    (Newton-Euler, base motion)
    FBD

    x
    K3
    M
    K2

    K4

    Airframe

    Airframe

    K1

    22

    xaf(t)

    K1(x-xaf)
    K2(x-xaf)

    K3(x-xaf)
    M

    K4(x-xaf)

    Derivation of Equation of Motion


    -Degrees of freedom (translational, rotational, etc.)
    -Frequency range (<5 Hz, >15 Hz, etc.)
    -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)

    Develop a model representation


    -Discrete/lumped elements (springs, dampers, etc.)
    -Continuous elements (beams, rods, membranes, plates, etc.)
    -Excitation function (ground motion, wind, machinery, etc.)

    Define motions (kinematics)


    -u, v, w, , etc.
    -Undeformed or deformed datum, direction w/r/t gravitational field
    -Constraints on/between the variables and #DOFs (base motion, gears)

    Derive equations of motion


    -Newton-Euler laws
    -Energy/power methods

    Calculate system parameters


    -Strength of materials or experimentation
    -Catalogues from vendors (bushings, mounts, couplings, etc.)

    Keep track of assumptions

    Define the vibrations of interest

    23

    24

    Calculate system
    parameters
    (Strength of materials)
    f

    K2

    Force = Stiffness Deflection


    f = K2
    f
    = K2

    fL3
    =
    3EI

    25

    What about the


    rotational motion?
    K1

    K3

    Icm
    K2

    K4

    26

    What about the


    rotational motion?
    K1

    K3

    K1

    Icm

    Icm
    K2

    K2

    What is K2?

    K3

    K4

    K4

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