Mechanical
Vibrations
Prof. Dr. Kenan Y. Şanlıtürk
[email protected] Content
1. Introduction to Vibration and Free response
2. Response to Harmonic Excitation
3. General Forced Response
4. Multi-Degree-of-Freedom systems
5. Design for Vibration Suppression
Page 1
1. Introduction to Vibration and Free response
• Springs and Spring constant
• Torsional Spring Constant
• Helical Springs
• Bending of beams and stiffness constant
• Does wn depend on g?
• Determination of natural frequency using static deflection
• Springs in series and in parallel.
Springs and Spring Constant
Beam in axial motion
A= Cross sectional area [m2]
E =Young’s modulus[Pa=N/m2]
l EA l =Length of the beam[m]
k
k =Extensional spring constant [N/m]
x(t)
Page 2
Torsional spring constant
Jp = Polar area moment of inertia of
GJ p the shaft cross section, [m4]
Jp k J = Mass moment of inertia of the
q(t) disc, [kg-m2]
G = Shear modulus, [Pa=N/m2 ]
0
J l = Length of the shaft, [m]
Note: Symbol I is also used for
mass moment of inertia,
area moment of inertia in the literature.
Sample Problem
The properties of a disc-shaft system are given as follows:
Length of the shaft=2 m
Diameter of the shaft=0.5 cm
Mass moment of inertia of the disc =0.5 kg-m2
Determine the natural frequency of the system. (Assume that mass moment of inertia
of the shaft is negligible).
M Jq Jq (t ) kq (t ) 0
k
q (t ) q (t ) 0
J
k GJ p d4
wn , Jp
J J 32
GJ p (8 1010 N/m 2 )[ (0.5 102 m) 4 / 32]
wn
J (2 m)(0.5kg m 2 )
2.2 rad/s
0.35 Hz
Exercise: How can you include the the effect of mass moment of inertia of the shaft?
Page 3
Helical springs
Bending Stiffness of Beams
If the mass of the beam is negligible:
3EI
If the mass of the beam is negligible: wn
m 3
Page 4
Example:
Assume that
Wing can be approximated as a beam
in bending
Fuel: mass at the tip of the wing
Wing mass is negligible
E, I m
Determine the natural frequency of the wing
l and the change of wn as the fuel is burned.
x(t)
The mass of the fuel tank is 100 kg when empty, and 1000 kg when
full. Beam properties: I = 5.2x10-5 m4, E =6.9x109 N/m2, Length = 2 m
3EI 3(6.9 109 )(5.2 105 )
wfull
m full 3 1000 23
11.6 rad/s=1.8 Hz
3EI 3(6.9 109 )(5.2 105 )
wempty
mempty 3
100 23
36.3 rad/s=5.8 Hz
Page 5
Is natural frequency affected by gravitational acceleration?
In static equilibrium
F 0 k mg
Dynamic motion:
F mx k ( x ) mg
mx kx k mg 0
mx kx 0 !
BUT:
g g
q (t ) q (t ) 0 wn
Static Displacement and Natural Frequency
st Displacement due to the weight of the mass
m at the tip of the spring
mg
mg k st st
k
The symbols xs or x0 are also used for static displacement
If static deflection is known, the ratio of k/m, hence,
natural frequency can be estimated as:
k g k g
k st mg , wn
m st m st
Page 6
Springs in parallel and in series
Equivalent spring
constant
Recommendations for design:
Springs with standard spring constants can be selected from
catalogues
The masses of the individual springs with similar
characteristics are approximately the same.
Different combinations of springs can be used to control the
natural frequency wn .
Total deformations should not exceed acceptable levels.
Page 7
Example
Determination of Equivalent Spring
Determination of Mass Moment of Inertia (J) About an Axis
Disc: radius r0
Mass m0
Mass moment of inertia: J0
J m
m0 Object:
J0 Mass m
Mass moment of inertia J ?
q
Determine J by vibration measurement ?
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If n number of cables are used,
(m m0 ) g
Tension in each cable: P (1)
n
EOM
( J J 0 )q n( P sin( ))r0 (2)
rq
l r0q 0 (3)
l
For small oscillations, sin( ) (4)
Insert (1), (3) and (4) in (2)
r0q g (m m0 )r02
( J J 0 )q n( P )r0 = q
l l
g (m m0 )r02
( J J 0 )q q 0
l
g (m m0 )r02
wn Measure wn, then determine J
l(J J0 )
g (m m0 )r02
wn
l(J J0 )
Measure T: the period of free oscillation
1
fn Hz
T
2
wn 2 f n
T
g (m m0 )r02 2 gT 2 (m m0 )r02
J J0
l(J J0 ) T 4 2l
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