Vibrating Beam

Vibration Behaviour of a Cantilever Beam

The University of Adelaide

School of Mechanical Engineering

Level III Laboratories

Practical Demonstrator
Ms. Xiaochen Wang
School of Mechanical Engineering
Email: [email protected]
Phone: 0415927771
Contact Hours: I am available for student consultation every Tuesday between 4 pm to 5 pm at
S324b.

Vibrating Beam PRAC

Some important information for students:
• Students must read through the lab handbook, laboratory guidelines and safety
guidelines before their lab session.
• Closed-in footwear must be worn in laboratories. No bare feet, thongs or sandals are
permitted.
• Eating, drinking and the application of cosmetics in laboratories is prohibited.
• Approved safety spectacles, goggles or safety shields must be worn during the lab
session.
• Students are required to read and sign the safety sign-off sheet so that they acknowledge
the information provided.
• Oscilloscopes will be used frequently for both the lab and prac. It is very important that
students know how to use an oscilloscope. A useful video to learn how to use an
oscilloscope: https://www.youtube.com/watch?v=u4zyptPLlJI
• For students that are facing difficulties, it is worthwhile reading the lab handbook
and/or vibration course notes for further details, then coming to the lab being prepared
to ask questions, or send an email ([email protected]) with your
question before the lab, so that I can address it during the lab session. Please don't sit
silently during the lab session if you are having difficulties with your calculations and
understanding of the content.
• Xiaochen Wang the Practical Demonstrator is available for student consultation every
Monday between 4 pm to 5 pm at S324b.

Introduction
It is important for engineers to gain some insight into the basic vibratory behaviour of diverse structural
components which may be encountered during the design and analysis of stationary structures and/or
moving machines. In any vibration problem, there exists a wide range of possibilities for the different

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structural systems from which a vibration problem may originate. However in many cases, the vibration
behaviour of these systems can be simplified and expressed in terms of much simpler sub-systems, often
in terms of the motions of a simple beam system.

For the case considered here, the vibration characteristics due to the resonance behaviour of a simple
cantilever beam are investigated. This simple system consists of a uniform beam which is fixed in
motion at one end and has free movement at the other. The purpose of this laboratory class is to
investigate the vibratory behaviour of this simple system, understand its resonant modal behaviour and
the procedures involved with determining this experimentally and theoretically.

Aims
1. To analyse the nature of the lateral vibrations of a simple cantilever beam system.

2. To determine the resonant modal properties of a cantilever beam system.

Background Theory
Part 1

The vibratory motion of a cantilever beam represents a relatively simple one-dimensional system and
can be easily solved theoretically. The primary task of this section is to outline the theoretical procedure
that is required to derive the characteristic frequency equation. From this equation, the resonance
frequencies for the different modes of vibration in the beam can be determined. The system modelled
for this purpose consists of the lateral vibration of a uniform cantilever beam (fixed at one end and free
at the other), with constant properties E, A, I and ρ (see figure below).

E, I, A, ρ

x x=L
x=0

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The partial differential equation defining the motion of an arbitrary beam is

∂ 4u ∂ 2u
EI + ρA =0 (1)
∂x 4 ∂t 2

Now, by the method of separation of variables, a formal solution to this beam equation can be written
in the general form

u ( x, t ) = φ ( x)q (t ) (2)

By assuming q (t ) = sin ω t , Equation (2) can be rewritten as

u ( x, t ) = φ ( x) sin ω t (3)

Differentiating Equation (3), four times, w.r.t x gives

∂ 4 u ∂ 4φ
= sin ω t (4)
∂x 4 ∂x 4

and, differentiating Equation (3), two times, w.r.t t gives

∂ 2u
2
= −ω 2φ sin ω t (5)
∂t

Substituting Equation (4 & 5), Equation (1) can be re-arranged in the form

∂ 4φ
4
− λ 4φ = 0 (6)
∂x

where

ρAω 2
λ =
4
(7)
EI

It can be shown from the theory of linear differential equations that the general solution to Equation (6)
can be written as

φ ( x) = C1 sin λx + C 2 cos λx + C 3 sinh λx + C 4 cosh λx (8)

The boundary conditions at the fixed end of the beam require that the deflection at the point x=0 is zero,
that is

u (0, t ) = 0 (9)

and the slope of the beam at x=0 is zero, that is

∂u
(0, t ) = 0 (10)
∂x

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The boundary conditions at the free end of the beam (x=L) require that the momentum is zero, that is

∂ 2u
EI =0 (11)
∂x 2

And the shear force at the free end (x=L) is zero, that is

∂ 3u
EI =0 (12)
∂x 3

Note: For the case where an additional mass, M, is attached to the free end of the cantilever beam, the
fourth boundary condition (Equation (12)) is modified to

∂ 3u ∂ 2u
EI = M (13)
∂x 3 ∂t 2

Now solving Equation (9) and Equation (10) respectively yields the following conditions:

C2 + C4 = 0 (14)

and

C1 + C 3 = 0 (15)

Now, applying the conditions in Equations (11,12) and Equations (14,15) yields:

(sin λL + sinh λL)C1 + (cos λL + cosh λL)C 2 = 0 (16)

− (cos λL + cosh λL)C1 + (sin λL − sinh λL)C 2 = 0 (17)

Therefore, the non-trivial solutions for C1 and C2 require that the determinant of their coefficients be
zero, that is

(sin λL + sinh λL) (cos λL + cosh λL)

=0 (18)
(− cos λL − cosh λL) (sin λL − sinh λL)

Expanding this determinant yields the frequency equation

cos λL cosh λL + 1 = 0 (19)

The values of λL which satisfy this equation for the first four modes are given in the following table:

λL
Mode
1 1.875104
2 4.694091
3 7.854757
4 10.995541

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Therefore, using the following properties for the cantilever beam,

Property Value
Length, L 0.388m
Height, h 0.003m
Width, b 0.02m
Young’s Modulus, E 68.97GPa
Density, ρ 2700kg/m3
Moment of Inertia, I (bh3)/12
Frequency, ω 2πf

the first four resonance frequencies for the cantilever beam system used in this experiment can be
evaluated analytically.

Part 2

A cantilever beam with a mass, M, mounted to the free end can be approximated by a single degree-of-
freedom mass-spring system as follows
M – mass mounted to the end of the beam
m – the total mass of the beam

E, I, A, ρ
M

x x=L
x=0

The equivalent mass of the end-loaded cantilever beam system is

Meq = M + 0.23m (20)

The spring constant for the end-loaded cantilever beam system is

3EI
keq = (21)
L3

The fundamental frequency for the system is found from the expression

keq
ω1 = (22)
Meq

Now, to find the mass when the fundamental frequency is found from experiment (assume that
the spring has no mass)
keq
M = 2 − 0.23m (23)
ω1

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 Experimental setup

Signal 4 Channel
Generator Oscilloscope
Measured signal

Measured
signal Accelerometer

Control Box

Cantilever beam
Input signal Control signal

Cantilever beam test rig

• The cantilever beam is driven using a piezoelectric crystal. (Note: the crystal should be driven
using a sine wave input; the maximum input voltage should not be more than 10 volt peak to
peak)

• Acceleration, at various positions along the length of the beam, is measured using an
accelerometer (Note: use 1volt = 3.924 m/s2 to convert output voltage to acceleration)

• Acceleration divided by the square of the resonance frequency gives displacement of the beam.

Procedure

Please not that the questions highlighted in italics are

not to be solved during the lab session.
1. Using the theory for determining the resonance frequencies for a cantilever beam, calculate the
beam’s first four theoretical resonance frequencies.

2. Make connections as shown in the experimental setup. At this moment do not connect the signal
generator output to the control box input. First, generate a 10 Hertz, 6 volt peak-peak sine wave
signal using the signal generator and test the signal on the oscilloscope.

3. Now, connect the output of the signal generator to the input of the control box. Adjust the frequency
of excitation of the beam using the signal generator. Note how the end displacement of the beam
varies with frequency.

4. Using the output (at the free end of the beam) from the accelerometer (displayed on the
oscilloscope), find the first resonance frequency of the beam experimentally. In few words explain
how the resonance frequency was determined experimentally.

5. Compare the theoretically and experimentally determined resonance frequency. Suggest reasons
for any differences.

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6. Record the output of the accelerometer (for the first resonance frequency) at various positions
along the length of the beam. Using the output from the accelerometer, determine the displacement
of the beam along its length. Using this information, plot the mode shape for the first mode.
Compare this with the theoretical mode shape for the first mode.

7. Add a 15.55 gram test mass (50 cent coin) to the end of the beam. Measure the first resonance
frequency of the beam with the mass in place. Comment on the effect of adding mass to the end of
a cantilever beam. Suggest how this might be used to solve a practical vibration problem.

8. Using the theory (outlined in this handout) for determining the resonant frequencies of a cantilever
beam, show that the frequency equation for the case of an added mass M, at x=L is:

EIλ3 [1 + cos λL cosh λL] + ω 2 M [cos λL sinh λL − sin λL cosh λL] = 0 (24)

{Hint: redo the problem using the boundary condition defined in Equation (13)}.

9. Using the derived frequency equation (Equation (24)), calculate the mass added to the beam using
the first resonance frequency that you measured.

10. Using the theory outlined in Part 2 (background theory) calculate the added mass using the
equivalent spring-mass analogy. Comment on how the mass calculated using these methods
compares with the actual mass of 15.55 gram.

11. Generate a 400 Hertz, 200 mili-volt peak-peak, sine wave signal using the signal generator and test
the signal on the oscilloscope. Now, connect the output of the signal generator to the input of the
control box. Using the output (at the free end of the beam) from the accelerometer (displayed on
the oscilloscope), find the fourth resonance frequency of the beam experimentally. Record the four
accelerometer outputs, and using the concept of nodes, justify that the fourth mode has been
excited.

12. Would it be a good idea to place actuators at node location? Explain.

13. IF TIME PERMITS: Find the second and the third resonance frequency of the beam
experimentally. To do this drive the beam using a 1.5 volts peak to peak sine wave input.

Group Report
The group report for this laboratory should be written as a technical document. It should be written in
third person. You must convey all the relevant information in a clear and concise manner.

Executive Summary
Write a short summary about why the practical was undertaken and what was done.

Aim
Define the aims of the investigation.

Background
Write a short literature survey on modes and nodes. (Provide references wherever necessary)

Provide a short description on piezo crystal and accelerometer.

Experiment

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 Draw a schematic diagram of the experiment.

Explain, in detail, the experimental setup.

Results / Discussion
Answer Questions 1-12. Discuss any other findings that YOU believe are relevant.

Conclusion
Conclude on the results and discussions of your report. Ensure that the conclusion address the
aims that you have stated.

Comments
This will not be marked and will not bias your report grade. You can comment on anything
related to this practical, good or bad.

NOTE:

• Do not reiterate, paraphrase or copy anything out of the practical notes. You will not get any
marks for copying out of the notes.

• Include, in the report, a quantification of the effort put in (during the lab and while writing the
report) by each member of the group. Grades will be given based on this quantification. Equal
grades will be assigned if no quantification is provided.

Reference
Tse, F.S., Morse, I. E. and Hinkle, R. T. “Mechanical vibrations: theory and applications, 2nd edition”
Allyn and Bacon (1978), pp 262-265, 274, 280.