MECHANICAL VIBRATIONS

BMM3553

LECTURE 6
Learning Objective
• Model, formulate and obtain the solutions to
vibration problems that contain forced-vibration
analysis of one degree of freedom damped
systems
Forced Damped Vibration
• Harmonic Response


mx  cx  kx  P cos t (1.23)

mx  cx  kx  Pe it

c k P
x  x  x  e it
m m m

x  2x  n2 x  qe it (Re al part ) (1.24)

P
q  force per unit mass
m
It does not matter if Psinwt is used but
solution has to be the Imaginary part
Forced Damped Vibration
• OUTPUT = TRANSFER FUNCTION . INPUT
x  H (  )qe it ( 1.25 )

x  iH (  )qe it

x   2 H (  )qe it

• From eq 1.24   2

 2i  02 H ( )qeit  qeit
1
H ( ) 
n2   2  2i

(02   2 )  2i
H ( )  2 (1.26)
(n   2 ) 2  (2 ) 2
Forced Damped Vibration
• Substituting equation (1.26) into equation (1.25)

(n2   2 )  2i it

x 2 qe (1.27)
(n   2 ) 2  (2 ) 2
(02   2 )  2i
Re x  Re 2 2 2 2
q (cos t  i sin t )
(0   )  (2 )

(n2   2 ) cos t  (2 ) sin t

x 2 2 2 2
q
(n   )  (2 )
a cos t  b sin t  a 2  b 2 cos(t   )
(n2   2 ) 2  (2 ) 2
x 2 2 2 2
q cos(t   )
(n   )  (2 )

1
x q cos(t   ) (1.28)  2 
2 2 2
(   )  (2 )
n
2
  tan  2
1
2 
 (1.29)
 (n   ) 
Forced Damped Vibration
• Total Solution For under-
damped system ζ < 1

• The solution is the superimposition

of the transient and the steady state
components.
• For large t, the transient
(complimentary) component can be
neglected and the solution consists of
the steady state (particular)
component only.
x  xtransient  xsteady state

1
xo  Ae t cos(d t   )  q cos(t   ) (1.30)
2 2 2 2
(   )  ( 2 )
n
Forced Damped Vibration
• Figures below shows the variation of amplitudes and phases wrt
excitation frequency for various of damping ratios, ζ




  

 






     
Forced Damped Vibration
• Step Response
mx  cx  kx  P
• If OUTPUT = TRANSFER FUNCTION . INPUT
x  H (  )P
x  0
x  0
Hence
1
H( ) 
k
and
P
x
k
Forced Damped Vibration
• The solution is the superimposition of the transient and the steady
state components.
• a) Total Solution for under-damped system  < 1
x  xtransient  xsteady state
t P
x  Ae cos(d t   )  (1.31)
k
• b) Total Solution for critically damped system  = 1

x  x transient  x steady state

P
x  A1  A2t  e nt  (1.32)
k
Example 1 [25 marks]
An air compressor of mass 80 kg is mounted on an elastic foundation and can be idealized as
mass-spring-damper system shown in Figure below. This spring-mass-damper system with the parameters,
c1 = c2 = 530 Ns/m, k1= k2 =10500 N/m and subjected to harmonic force of amplitude 200 N and
frequency 3.5 Hz act on the mass. If initial displacement and velocity of the mass are 7 mm and 5 m/s,
determine
a) Damping ratio, and justify your damping condition. (4 marks)
b) Steady state response to this excitation (8 marks)
c) Total solution representing the motion of the mass (13 marks)
P cos t

mass, m

k1 c1

c2
k2
Logarithmic Decrement
• It is defined as natural logarithm of the ratio of
any two successive amplitudes on the same side
of the mean line.
2 𝜋𝜁
= 𝛿=
√1 − 𝜁 2

x1 x2
x3
 x1
xn

𝑥1 2 𝜋𝜁 𝑁
𝛿=ln 𝛿=
𝑥𝑛 √1 − 𝜁 2
 SDOF – Damped Torsional System
• Torsional systems with Viscous Damping:
Consider a single degree of freedom torsional system
with a viscous damper as shown in figure.
The equation of motion can be derived as:

J 0  ct  kt  0

where J0 = mass moment of inertia of disc
kt = spring constant of system
θ = angular displacement of disc

𝑇 𝐺𝐼 𝜋 𝐺 𝑑 4
𝑘𝑇 = = =
= mass density 𝜃 𝑙 32 𝑙
= thickness of disc
= diameter of disc
W = weight of disc
• Torsional systems with Viscous Damping:

In the underdamped case, the frequency of damped

vibration is given by
d  1  2 n
where
kt
n 
J0

ct ct ct
   
and ctc 2 J 0n 2 kt J 0

ctc = critical torsional damping constant

 Response of Damped System Under the Harmonic
Motion of the Base

• From the figure, the equation of motion is

mx  c( x  y )  k ( x  y )  0

16 © 2011 Mechanical Vibrations Fifth Edition in SI Units

 • If y (t )  Y sin t

mx  cx  kx  ky  cy  kY sin t  cY cos t  A sin(t   )

 c 
• where A  Y k 2  (c ) 2 and   tan 1  
 k 

• The steady-state response of the mass can be

expressed as
Y k 2  (c ) 2
xss (t )  sin(t  1   )
(k  m ) 2 2
 (c ) 
2 1/ 2

 c 
1  tan 1  2 
•  k  m  
where
•
17 © 2011 Mechanical Vibrations Fifth Edition in SI Units
 • Equation 3.33 can also be written as

xss (t )  X sin(t   ) (3.67)

• where
• 1/ 2 1/ 2
X  k  (c ) 2
 2
 1  (2r ) 2

   2
(3.68)
Y  (k  m 2 )  (c ) 2  2 2
 (1  r )  (2r ) 

 1 mc 3  1  2r 3 
  tan  2 2
 tan  2 2
(3.69)
 k (k  m )  (c)  1  (4  1)r 

18 © 2011 Mechanical Vibrations Fifth Edition in SI Units