Mathematical Modelling Presentation

MECHANICAL VIBRATIONS UZB 220E
Assoc. Prof. Dr. Özge ÖZDEMİR

DISCRETE AND CONTINUOUS SYSTEMS
The degrees of freedom of a system are defined by the minimum number of inde pendent coordinates
necessary to describe the positions of all parts of the system at any instant of time
Two DOF Three (Multi) DOF

Single DOF
Systems with a finite number of degrees of freedom are called lumped-parameter, discrete, or finite-
dimensional systems, and those with an infinite number of degrees of freedom are called distributed,
continuous, or infinite-dimensional systems.
DISCRITE AND CONTINUOUS SYSTEMS
The beam has an infinite number of mass points, and hence

an infinite number of coordinates are required to specify its
deflected shape. The infinite number of coordinates, in fact,
define the elastic deflection curve of the beam. Thus, the
cantilever beam is considered a system with an infinite
number of degrees of freedom.
• The motion of an n-degree-of-freedom system is

governed by a system of n coupled second-order
ordinary differential equations.
• For a continuous system, the governing equation of

motion is in the form of a partial differential
equation.
VIBRATION ANALYSIS
• What is the purpose of the analysis and the expected accuracy of the results?
 The excitation and response of the system are both time-dependent. Vibration analysis of a given
system involves determination of the response for the excitation specified.
VIBRATION ANALYSIS
The analysis usually involves,

 Physical modeling,
 Mathematical modeling,
 Derivation of the governing equations of
motion,
 Solution of the equations of motion
 Interpretation of the response results.
VIBRATION ANALYSIS
PHYSICAL MODELING
 A physical model abstracted from unnecessary details is created for the real system.
 Over-simplification may lead to overlooking significant effects, while under-simplification can cause
difficulties in subsequent steps of the analysis.
 Therefore, the ideal approach is to establish the simplest model that adequately represents the system
with sufficient sensitivity to the purposes pursued in the investigation.
MATHEMATICAL MODELING
Creating the mathematical representation of the problem, which
involves obtaining the motion equations of the physical model.
This requires recourse to the laws of motion. Since these laws
are differential in nature, the resulting mathematical model
consists of one or more differential equations. With this step, the
physics problem transforms into a mathematical problem. Within
the rules of mathematics, reshaping this problem or
transforming it into another mathematical problem that
represents it identically or approximately is also an important
part of mathematical modeling, which influences subsequent
steps of the analysis.
PHYSICAL MODELING
• What is the purpose of the analysis and the

expected accuracy of the results?
Continuous
System
Physical
Modeling
Lumped
System
Real System
PHYSICAL MODELING
PHYSICAL MODELING
PHYSICAL MODELING
EXAMPLE: PHYSICAL MODEL OF A MOTORCYCLE
A motorcycle with a rider is shown in the figure.

Develop a sequence of three physical models of the
system for investigating vibration in the vertical
direction. Consider the elasticity of the tires, elasticity
and damping of the struts (in the vertical direction),
masses of the wheels, and elasticity, damping, and
mass of the rider.
We start with the simplest model and refine it

gradually. When the equivalent values of the mass,
stiffness, and damping of the system are used, we
obtain a single-degree of freedom model of the
motorcycle with a rider as indicated in Fig. (b). In this
model, the equivalent stiffness (keq) includes the
stiffness of the tires, struts, and rider. The equivalent
damping constant (ceq) includes the damping of the
struts and the rider. The equivalent mass includes the
mass of the wheels, vehicle body and the rider.
EXAMPLE: PHYSICAL MODEL OF A MOTORCYCLE (conts.)
This model can be refined by representing the masses

of wheels, elasticity of tires, and elasticity and damping
of the struts separately, as shown in Fig.(c). In this
model, the mass of the vehicle body (mv) and the mass
of the rider (mr) are shown as a single mass, mv + mr.
When the elasticity (as spring constant kr) and
damping (as damping constant cr) of the rider are
considered, the refined model shown in Fig. (d) can be
obtained.
Note that the models shown in Figs.(b) to (d) are not

unique. For example, by combining the spring
constants of both tires, the masses of both wheels,
and the spring and damping constants of both struts as
single quantities, the model shown in Fig.(e) can be
obtained instead of Fig.(c).
EQUIVALENT TORSIONAL SPRING CONSTANT OF A
PROPELLER SHAFT
We need to consider the segments 12 and 23

of the shaft as springs in combination. From
the figure, the torque induced at any cross
section of the shaft (such as AA or BB) can be
seen to be equal to the torque applied at the
propeller, T. Hence, the elasticities (springs)
corresponding to the two segments 12 and
23 are to be considered as series springs. The
spring constants of segments 12 and 23 of
the shaft (kt12 and kt23) are given by
GJ G ( D  d ) (80  10 ) (0.3  0.2 )
4 4 9 4 4
k 
t12
 12
 12 12
l 32l
12
32(2)12 Since the springs are in series,
 25.5255  10 N - m/rad
6
k k (25.5255  10 )(8.9012  10 ) 6 6
k   t12 t 23
k k (25.5255  10  8.9012  10 )
t eq 6 6
G ( D  d ) (80  10 ) (0.25  0.15 )

t12 t 23
GJ 4 4 9 4 4
k 
t 23
 23
 23 23
 6.5997  10 N - m/rad 6
l 23
32l 32(3)
23
 8.9012  10 N - m/rad
6
EQUIVALENT SPRING CONSTANT OF A CRANE
The boom AB of crane is a uniform steel bar of

length 10 m and x-section area of 2,500 mm2.
A weight W is suspended while the crane is
stationary. Steel cable CDEBF has x-sectional area of
100 mm2. Neglect effect of cable CDEB, find
equivalent spring constant of system in the vertical
direction.
A vertical displacement x of point B will cause the
spring k2 (boom) to deform by x2 = x cos 45º and
the spring k1 (cable) to deform by an amount x1 = x
cos (90º – θ). Length of cable FB, l1 is as shown.
The angle θ that satisfies the relation:
l12  32  2(l1)(3) cos   102
cos   0.8184,   35.0736
The total potential energy (U):

1 1
U  k1 ( x cos 45)  k 2 [ x cos(90   )]2
2
2 2
EQUIVALENT SPRING CONSTANT OF A CRANE
(conts.)
A1E1 (100  106 )(207  109 )

k1    1.6822  106 N/m
l1 12.0355
6
A2 E2 (2500  10 )(207  10 ) 9
k2    5.1750  107 N/m
l2 10
 Potential Energy of the equivalent spring is:

1
U eq  keq x 2
2
 By setting U = Ueq, hence:
keq  26.4304  10 N/m 6

MASS OR INERTIA ELEMENTS
In figure on the right, the mass and damping of the beam

can be disregarded; the system can thus be modeled as a
spring-mass system as shown.
Assume that the mass of the frame is negligible

compared to the masses of the floors. The masses
of various floor levels represent the mass
elements, and the elasticities of the vertical
members denote the spring elements.
MATHEMATICAL MODELING
 The mathematical model is established by writing the differential equation(s) that govern the motion
of the physical model. The nature of these differential equation(s) is a major determinant of the
difficulty level of the problem that needs to be solved in the continuation of the analysis.
 According to the current state of the theory of differential equations,
 Ordinary differential equations are generally easier to handle than partial differential equations,
 Linear equations are simpler than nonlinear ones, equations with constant coefficients are easier
than those with variable coefficients,
 A single equation presents a simpler problem compared to a system of equations.
Derivation of the Equations of Motion: The vibration analysis usually involves,

 Physical modeling,
1. Newton’s Law of Motion
 Mathematical modeling,
2. Energy Method  Derivation of the governing
equations of motion,
3. Lagrange Method
 Solution of the equations of
4. D’Alembert’s Principle motion
 Interpretation of the response
5. Principle of Virtual Work
results.

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MECHANICAL VIBRATIONS UZB 220E

Assoc. Prof. Dr. Özge ÖZDEMİR

Two DOF Three (Multi) DOF

The beam has an infinite number of mass points, and hence

• The motion of an n-degree-of-freedom system is

• For a continuous system, the governing equation of

The analysis usually involves,

• What is the purpose of the analysis and the

A motorcycle with a rider is shown in the figure.

We start with the simplest model and refine it

This model can be refined by representing the masses

Note that the models shown in Figs.(b) to (d) are not

We need to consider the segments 12 and 23

G ( D  d ) (80  10 ) (0.25  0.15 )

The boom AB of crane is a uniform steel bar of

The total potential energy (U):

A1E1 (100  106 )(207  109 )

 Potential Energy of the equivalent spring is:

keq  26.4304  10 N/m 6

In figure on the right, the mass and damping of the beam

Assume that the mass of the frame is negligible

Derivation of the Equations of Motion: The vibration analysis usually involves,

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