VIBRATIONS AND CONTROL

(ME F319)
 COURSE PLAN

Vibration Measurement and Analysis

Vibration of continuous systems

Energy Methods –Lagrange's Equation

MDOF Systems

Forced Vibration-SDOF Systems

Free Vibration-SDOF Systems

Causes and Reasons for vibration

Fundamental concepts of vibration

 Common Terms

MDOF

Damping
BASICS
System
• Aggregation of components acting
together as a whole
• For mechanical systems- Oscillatory
motion is – Vibrations
• Any motion that repeats itself after an
interval of time-vibration or oscillation
• Bodies possessing mass and elasticity –
capable of vibrations
• Example: Swinging of pendulum, motion of
plucked string
• How systems respond to various stimuli or
excitations?- Required for design of
structures
 Vibration good or bad??
Musical Instruments Eardrums vibrate Machines

Wind on structures Earth Quakes

 Why should I study vibration
• Tachoma Narrows Bridge (1940)

Collapse of the bridge was recorded on film separately by Barney Elliott and
by Harbine Monroe
 Engineering applications of vibrations

Design of machines
foundations
structures
engines
turbines

Causes & Reasons:

Imbalances in rotating parts, uneven friction, improper meshing of gear teeth
 Vibratory equipment

Vibratory conveyors
Hoppers
Washing machines
Dentists drills
 History
• Pythagoras investigated musical sounds on a scientific basis
Conducted experiments on a vibrating string using monochord

• Galileo observed swinging lamp in the church.

Found that time period was independent of amplitude of swing.

• Bernoulli investigated possibility of a string vibrating with several of

its harmonics present at same time.
Harmonic Motion Balance wheel of watch
 Types of Systems

• Discrete System/Lumped Parameter Systems: Systems with

finite number of degrees of freedom

• Continuous or Distributed Systems: Systems with infinite

degrees of freedom
Infinite number of mass points
Infinite number of coordinates required to specify its deflected
configuration

• Structural and machine systems –have many deformable,

elastic members, so infinite degrees of freedom

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 Types of Vibrations

• Free and Forced vibrations

• Damped and Undamped vibrations
• Linear and Non-linear vibrations
• Deterministic and Random vibrations
• Longitudinal, Transverse and Torsional vibrations

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 Types of Vibrations (Contd.,)

Free Vibrations
System oscillates under action of forces inherent in system and
external forces are absent
System after initial disturbance is left to vibrate on its own
System will vibrate at one or more of its natural frequencies

Natural frequency:
Frequency at which system tends to oscillate in absence of any
driving or damping force
Property established by its mass and stiffness distribution
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 Types of Vibrations (Contd..,)

Forced Vibrations
System subjected to an external force( often repeating force)
Oscillations arising from diesel engines

Resonance:
Frequency of external force coincides with one of natural
frequencies of system, system undergoes dangerous large
oscillations
For example; failure of bridges, turbines and airplane wings
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 Types of Vibrations (Contd..,)

Damped Vibrations
The vibratory system contains a damper
The motion of the system is opposed by damper and the energy
is dissipated in the form of friction

Undamped Vibrations
The vibratory system does not have the damper
No opposite force and no dissipation in the form of friction

Example: Tune Liquid Dampers:

https://www.youtube.com/watch?v=JaIdGw2lQ7g
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Taipei 101

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 Types of Vibrations (Contd..,)

Linear Vibrations
The elements of the vibratory system behaves in a linear
manner
These are governed by linear differential equations and follow
law of superposition

Non-linear Vibrations
The components of the vibratory system behaves in a non-
linear manner
These does not follow law of superposition

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 Types of Vibrations (Contd..,)

Deterministic Vibrations
Simplest form of simple harmonic motion (periodic motion)
The magnitude of force acting on the vibratory system is
known at any given point of time
Random Vibrations
In some cases, the magnitude of vibration can’t be predicted
These does not follow law of superposition

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 Types of Vibrations (Contd..,)

Longitudinal, Transverse and Torsional Vibrations

In longitudinal vibrations, the mass of the system moves
parallel to the axis
In transverse vibrations, the mass of the system moves
perpendicular to the axis
In torsional vibrations, the spindle twists/untwists about the axis

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 Vibration Terminology

• Amplitude – the maximum displacement of a vibrating body

from its equilibrium position
• Time period – the time required to complete one complete cycle
• Frequency – the number of cycles per unit rime

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Vibration Terminology (Contd.,)

Peak Value: Maximum stress that the vibrating part is

undergoing
Average value: A steady or static value

Square of displacement is associated with energy of

vibration for which mean square value is a measure.

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Vibration Terminology (Contd.,)

Mean Square value is found from average of squared values integrated

over some time interval T

Root mean square value: Square root of mean square value.

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FOURIER Series Expansion of a Saw Tooth Wave
Vibration Analysis
Vibration Analysis
Consider a forging hammer shown in figure 1 below.

Figure 1

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 Steps in Vibration Analysis

• Mathematical Modeling

• Derivation of Governing Equations

• Solution of Governing Equations

• Interpretation of Results
 Elements of Vibratory system

• Means for storing P.E (Spring)

• Means for storing K.E (Mass)
• Means by which energy is gradually lost
(Damper)
Vibration involves – transfer of P.E to K.E and
K.E to P.E alternatively
Energy gets dissipated in each cycle of
vibration – if system is damped
Damper – has no mass no elasticity
Damping force exists – if there is a relative
velocity between ends of damper
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Vibration Analysis
Consider a forging hammer

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 Anvil is a massive steel block and tup is dropped on the
material placed on the anvil which is to be forged.

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 To avoid or reduce transmission of vibration to
foundation block that supports the anvil an elastic
pad is used between the anvil and foundation
block as shown.

And there is soil below the foundation block.

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Anvil and foundation block

Soil
stiffness K

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 Considering the over
all mass of the system,
net stiffness and total
damping in the system

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 Here equivalent stiffness includes stiffness
of tires, struts and wheels.

Net mass is the equivalent mass of

wheels, vehicle body and rider.

Equivalent damping includes damping of

struts and tires.
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 Refined form of the system is with masses of the
wheels, vehicle and rider.

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Another simplification of the model

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 Combination of springs
• Springs in Parallel

• Springs in series
 Mass or Inertia Elements
• A rigid body
• Gains or Looses K.E when velocity of body
changes
• Newton’s second law, F=ma
• Work=force x displacement in direction of
force
• Workdone on mass is stored as mass’s K.E
 Masses in combination

• Replacing multiple masses by a single

equivalent mass
• (a) Translational masses connected by a rigid
bar
• (b) Translational and Rotational masses
coupled together
Viscously Damped Free vibrations

Lecture 1 BITS Pilani, Hyderabad Campus

The solution of this equation has two parts.
If F(t)=0, we have the homogenous differential equation whose
solution corresponds physically to free damped vibration.
If F(t)≠0, we have a particular solution due to excitation
irrespective of homogenous solution.

(ms2+cs+ks) est = 0

Lecture 1 Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus

Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
The motion is an exponentially decreasing function of time and
is referred to as aperiodic.
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
Viscously Damped Free Vibrations BITS Pilani, Hyderabad Campus
 Logarithmic Decrement
A convenient way to determine the amount of
damping present in a system is to measure the rate of
decay of free oscillations. The larger the damping, the
greater will be the rate of decay.

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Consider a damped vibration expressed by the
general equation:
−ςωnt 2 -----------(1)
x = Xe sin( 1−ς ωnt +ϕ)

We introduce here a term called the logarithmic

decrement, which is defined as the natural
logarithm of the ratio of any two successive
amplitudes. The expression for the logarithmic
decrement then becomes

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 −ςωnt1 2
x1 e sin( 1−ς ωnt1 +ϕ)
δ = ln = ln −ςω (t +τ )
x2 e n 1 d
sin( 1−ς ωn ( t1 +τd ) +ϕ)
2

-----------(2)
And because the values of the sines are equal when
the time is increased by the damped period , the
preceding relation reduces to

−ςωnt1
e ςωτ
δ =ln −ςωn( t1+τd )
=lne nd
=ςωτ
n d
-----------(3)
e
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By substituting for the damped period,
2π
τd = 2
ωn 1−ς

The expression for the logarithmic decrement becomes

2πς
δ= -----------(4)
2
1−ς
Which is an exact equation

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When ζ is small, 1 − ς 2 ≅, and
1 an approximate equation is

δ ≅ 2πς

Plot of the exact and approximate

values of δ as a function of ζ

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Forced Vibrations

D is the damping ratio

Force Polygon

mω2X
Fo
cωX
φ
kX
Amplification Factor
Xo k/Fo
 These curves show that damping has
a large influence on amplitude and
phase angle near the resonance
condition.
k/Fo
Xo
 Fo mω2X

cωX
φ
kX
 Fo mω2X

cωX
φ
kX
 mω2X
Fo φ
cωX
kX
 mω2X
Fo
φ= 90 cωX

kX
 mω2X
Fo
φ= 90 cωX

kX
 Its complete solution including the
transient term is
• Adapted from
• (1) "Theory of Vibrations with Applications",
William T. Thomson, Marie Dillon Dahleh and
Chandramouli Padmanabhan, Pearson, Sixth Ed.
• (2) "Mechanical Vibrations", Singiresu S Rao,
Pearson, 4th Ed.

For remaining portions, refer class notes taken

down during lecture
THANKYOU

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