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ENME599

LAB #3: Kinematic Excitation (Forced Vibration) of a SDOF system

Students must read the laboratory instruction manual prior to the lab session. The prelab is due prior to
the beginning of the lab (One report per group) and the lab report is due at the start of the next lab
session (also one per group). The computer codes should be appended in the reports.

OBJECTIVES
1) Quantitative experimental analysis of the dynamic behavior of simple Single-Degree-of-Freedom,
SDOF mechanical systems:
a) Amplification of a harmonic excitation signal versus frequency
b) Phase shift versus frequency
2) Studying forced response of simple SDOF mechanical systems for the case of kinematic excitation,
3) Comparison of the experimental and analytical results (the latter obtained from models derived in
class)
4) Gaining experience with Experimental Modal Analysis.

SAFETY and instrument protection:

NOTE: Accelerometers used in this experiment are VERY DELICATE and EXPENSIVE (~$500/piece)
devices. They can be easily damaged by shock (e.g., dropping or otherwise hitting a hard object). Please,
HANDLE them with CARE.

AGENDA
1) Using the Function Generator to find the natural frequency
2) Using Labview for Sine sweep
3) Experimental Modal Analysis Demonstration

INTRODUCTION
Considered is a mass M at the end of a cantilever beam (shown in Figure 1, right) of negligible mass with
rectangular cross-section, as investigated in Lab #2. The left end of the beam is driven by an
electrodynamic exciter. The end moves vertically and its POSITION is given by a function yb (t)
𝑦𝑦𝑏𝑏 (𝑡𝑡) = 𝑦𝑦𝑏𝑏0 sin(𝜔𝜔𝜔𝜔)
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yb0 sin(wt)
y(t)

L
Vibrating
armature
Exciter

Figure 1. Simplified diagram of the tested system.

RELEVANT EQUATIONS
Steady state forced response:
𝑦𝑦𝑝𝑝 (𝑡𝑡) = 𝐷𝐷(𝜔𝜔)sin[𝜔𝜔𝜔𝜔 − 𝜃𝜃(𝜔𝜔)] (1)
Where:
𝑃𝑃0
𝐷𝐷(𝜔𝜔) = 2
(2)
2 −𝜔𝜔2 � +(2𝜁𝜁𝜔𝜔 𝜔𝜔)2 �
���𝜔𝜔𝑛𝑛 𝑛𝑛

2𝜁𝜁𝜔𝜔𝑛𝑛 𝜔𝜔
𝜃𝜃(𝜔𝜔) = arctan 2 −𝜔𝜔2 (3)
𝜔𝜔𝑛𝑛

Note: Refer to the class notes for the formulations of the Kinematic Excitations.

SETUP
1. Accelerometer Location on the Beam
Inspect the locations and attachment of the accelerometers on the beam. Check that they are SECURED
with a piece of electric tape (as instructed during the lab).

yb0 sin(wt)
y(t)
Accelerometer only or
L Accelerometer and
test mass (Ch. 3)
Vibrating
Accelerometer armature
mounted on the Exciter
shaker’s armature
(Ch. 2)

FOLLOW INSTRUCTOR’S GUIDELINES FOR SETTING UP THE EQUIPMENT

2. Procedure for Connecting and Turning On

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Note: Since we are using sensitive and expensive instrumentation, do not hesitate to ask for help if things
do not work as explained in this instruction.
1) Inspect connections from the front panel BNC outputs of the channels used to the scope (Ch. 2 and
Ch. 3)
2) Deflect the beam by approx. 10 mm and release it. You shall see an oscillating signal on the
oscilloscope, at least in Ch. 3 (vibrating mass). If you experience difficulties, ask for help with the
adjustments.

3. Shaker Description:
Model 300 Shaker (APS Dynamics, Inc., http://www.apsdynamics.com/):
The Model 300 Shaker is a small shaker designed for modal test excitation of structures and calibration
excitation of accelerometers and velocity pick-up systems. The shaker features portability with a rugged
self-cooled design. The unit includes an electrodynamic shaker capable of producing random or transient
as well as sinusoidal acceleration waveforms. Force generated by the shaker is proportional to the
instantaneous current supplied by the power amplifier.

4. Turning on Procedure
1) Make sure the Power is OFF.
2) Turn the “INPUT AMPLITUDE CONTROL” knob maximum counter-clockwise (CCW) -> minimum
amplification from the input signal to the output force (safe setting).
3) Turn Power on.
On the Desktop computer:
1) Turn power on.
2) Select the user ID and password that will be provided during the lab.
3) Launch the LabView program (Consult with the instructor if not sure).
EXPERIMENTS
1) Compute the stiffness k of the tested beam (compare Lab 2). Use the analytical formula
𝑃𝑃∗𝐿𝐿3 𝑃𝑃
𝛿𝛿 = =
3∗𝐸𝐸∗𝐼𝐼 𝑘𝑘

Where L is the beam length, A is its cross-section area, I is the second moment of area (“moment of
inertia”) and E is the Young’s modulus (steel). Note: you can use results from Lab 2.
k=
2) Record the value of mass (engraved) at the end of the beam, m = . . . . (gram).
3) Compute the circular natural frequency ωn of the beam-mass system (neglect the beam mass)
𝜔𝜔𝑛𝑛 =
and the analytical “resonance frequency” of the system:
𝜔𝜔𝑛𝑛
𝑓𝑓𝑌𝑌𝑌𝑌 =
2𝜋𝜋
�1 − 2𝜁𝜁 2 = …
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𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛
Note that for low system damping (e.g. 𝜁𝜁 < 0.2) 𝑓𝑓𝑟𝑟 =
2𝜋𝜋
�1 − 2𝜁𝜁 2 ≈ 𝑓𝑓𝑑𝑑 = 2𝜋𝜋
�1 − 𝜁𝜁 2 ≈ 𝑓𝑓𝑛𝑛 = 2𝜋𝜋

1. Using the Function Generator to Find the Natural Frequency

1) Make sure BNC cables from DAQ box is disconnected from the shaker amplifier
2) Connect the generator output to Channel 1 on the scope and channel 0 on the DAQ
3) Function Generator – pull the offset knob
4) Attenuator 20 dB depressed
5) Set generator output to +/-1 V and have the instructor verify (fuse could be blown if improperly
done)
6) Connect the output of the generator to the input of the shaker amplifier
7) Slowly sweep the frequency from 5 Hz to 20 Hz and find the natural frequency using the oscilloscope
Group # fn (Hz) Mass (g)

2. Using Labview for Sine Sweep

IMPORTANT: The input voltage to the shaker amplifier must not exceed +/-1.4V). Please have the
instructor double check the connections before you begin.
• Lab instructor will demonstrate the Labview program to actuate the shaker and capture the data.
Follow instructor’s instructions to setup and test.
• In the current experiment the recorded signals (assuming ), stored as 4-column spreadsheet, are:
(1) Time reference,
(2) Output signal from the Digital-to-Analog Converter (DAC) which is fed to the shaker’s input, Ch. 0
on DAQ box,
(3) Accelerometer on the shaker armature, i.e., excitation, Ch. 1 on DAQ, and
(4) Accelerometer at the end of the beam, i.e., response), Ch. 2 on DAQ,

1) Estimate experimentally the “resonance frequency” of the system frE1. Do this by exciting the beam
while varying the frequency in the vicinity of analytically computed ωn; the maximum amplitude of the
response occurs at fr.
𝜔𝜔𝑟𝑟 = 𝜔𝜔𝑛𝑛 �1 − 2𝜁𝜁 2
𝑓𝑓𝑟𝑟𝑟𝑟1 =. . . .
2) Set the data size to 10000 samples, sampling frequency to 1000 Hz, and a selected generator
frequency. Choose “Sine” waveform. Record the amplitudes of the acceleration signals in Ch 1 of the
DAQ box (armature vibration, “column 2” in LabView) and Ch. 2 (excited mass, “column 3” in
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LabView). Simultaneously, capture by pressing the “Stop/Run” key the acceleration signals in Ch. 2
and Ch. 3 of the oscilloscope.
3) At the frequency of excitation specific to your experiment, using the captured oscilloscope information
calculate the displacement amplitudes of the armature and the outboard mass. The lab instructor can
be utilized to demonstrate how to get the most resolution from your oscilloscope. Recall the
relationship
𝑡𝑡 𝜏𝜏
1
𝑦𝑦(𝑡𝑡) = 𝑌𝑌0 sin(𝜔𝜔𝜔𝜔) = � � 𝑎𝑎(𝑣𝑣)𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = − 𝐴𝐴 sin(𝜔𝜔𝜔𝜔)
0 0 𝜔𝜔 2 0
Where 𝐴𝐴0 and 𝑌𝑌0 are the amplitudes of acceleration and displacement, respectively, and 𝜔𝜔 is the
frequency of the excitation.
4) Compute the phase shift (it is recommended to express it in the ±180° range) using the capture
oscilloscope data
Δ Δ
𝜙𝜙 =
𝑇𝑇𝑟𝑟
360° =
𝑇𝑇𝑟𝑟
2𝜋𝜋 (𝑟𝑟𝑟𝑟𝑟𝑟) φ = …… ° = …... rad

Note: use degrees or radians whichever appropriate/convenient (Show this for at least one
measurement in the lab write up)
5) Compute the following values (conversion to the proper units):
• Shaker’s armature (base vibr.)
AoA = ....... V -> AoA = ....... m/s ; ω = ............ rad/s ; YoA = ....... mm
2

• Excited mass
AoM = ....... V -> AoM = ....... m/s ; ω = ............ rad/s ; YoM = ....... mm
2

6) Obtain the signal transmissibility (amplification and phase shift) between the armature and outboard
mass (acceleration signals in Ch 2 and Ch. 3) using the Labview Program.
𝑌𝑌𝑂𝑂𝑂𝑂
𝜔𝜔 = ; = 𝐷𝐷(𝜔𝜔) = ; 𝜙𝜙(𝜔𝜔) = ;
𝑌𝑌𝑂𝑂𝑂𝑂

7) Compare your results obtained from the oscilloscope screen data to those obtained from the Labview
analysis software. (pick 2 data points).
8) Collect about 10 similar measurements appropriately spaced using the analysis program. Select
frequencies between 0.5 and 2 fn with more points near the resonance. Tabulate the results as
follows

fi.i =1,.., 10 0.5 fn 0.7 fn 0.9 fn 0.95 fn 1 fn 1.05 fn 1.1 fn 1.4 fn 1.6 fn 2 fn

f [Hz]

ωI [rad/s]

AoA [V]

AoA [g]

YoA [mm]
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AoM [V]

AoM [g]

YoM [mm]

Y oM [mm]
YoA [mm]

φi

Note: In rows 4 – 9 compute results for only the first 2 columns.

9) Record with Labview two representative sets of signals, one slightly below (0.95) and the other
slightly above (1.05) the resonance frequency. Each set shall include three signals, i.e., generator,
base acceleration and mass acceleration.

LAB ASSIGNMENT
Due beginning of the next laboratory. Append Matlab or Mathematica codes.
Make sure you put the correct UNITS for all your analysis (including figures).

Answer the questions in the previous sections.

1) Plot representative waveforms recorded in Step 2 (Using Labview for Sine Input) of the instruction.
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Remember to express the accelerations in “m/s ” (rather than Volts).

2) Derive analytical expression for the transmissibility (magnitude and phase vs. frequency of excitation)
of the kinematically excited beam.

3) Plot in the same graph the magnitude of transmissibility vs. excitation frequency obtained
experimentally and analytically. The experimentally obtained magnitude of transmissibility is the
amplification between the vibrations of the armature and outboard mass (acceleration signals in Ch 2
and Ch. 3).
𝑌𝑌𝑂𝑂𝑂𝑂
vs. frequency
𝑌𝑌𝑂𝑂𝑂𝑂

Furthermore, plot on another graph the phase shift of transmissibility vs. excitation frequency
obtained experimentally and analytically.

4) Briefly discuss any differences between observed transmissibility and phase shift found from
experiments vs. analytical derivations.