Harmonically Excited Vibrations
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Transcript of Harmonically Excited Vibrations
Harmonically Excited Vibrations
ME-304 β Mechanical Vibrations
π π₯ + ππ₯ = πΉ cosππ‘
Undamped system under Harmonic Excitation:
ππ ππππ€ π‘βπ βππππππππ’π π πππ’π‘πππ π€ππ‘β πΉ = 0 :π₯β π‘ = A1 cosπππ‘ + π΄2 sinπππ‘
ππππ¦ π€ππ¦π π‘π ππππ π‘βπ ππππ‘πππ’πππ π πππ’π‘πππ.ππβ²ππ π’π π π‘βπ πππ‘βππ ππ π’ππππ‘πππππππ πππππππππππ‘π π₯π π‘ = π cosππ‘
ππβ²ππ πππ’π π‘βππ ππππ ππ π‘π π‘βπ πΈππ πππ π πππππππ¦πππ‘ππ πππππππππ‘πππ‘πππ π‘π€πππ:βπ2ππ + ππ = πΉ
πΏ =π
π βπππππ π =
π
π βππππππππ
πππ‘ππ π πππ’π‘ππππ ππ π₯ π‘ = π₯β π‘ + π₯π π‘ = A1 cosπππ‘ + π΄2 sinπππ‘ + X cosππ‘
ππ πππ πΌπΆπ : π₯ 0 = π₯π; π₯ 0 = π£ππ€π πππ ππππ π΄1πππ π΄2
π΄1 = π₯π β π
π΄2 =π£πππ
πππ‘ππ π πππ’π‘ππππ ππ
π₯ π‘ = (π₯π β π) cosπππ‘ +π£πππ
sinπππ‘ + X cosππ‘
π€βπππ π =πΉ
π β ππ2
π
πΏπ π‘=
1
1 β π2
π·πππππ π π‘ππ‘ππ πππππππ‘πππ: πΏπ π‘ =πΉ
π
πππ πππππ’ππππ¦ πππ‘ππ: π =π
ππ
This term is called the amplification factor, amplitude ratio, magnification factor or simply gain
Gain is a function of frequency ratio
In Phase Response(Frequency ratio, r < 1)
Out of Phase Response(Frequency ratio, r > 1)
Resonance(Frequency Ratio, r = 1)
π΄π π π’ππππ π§πππ ππππ‘πππ ππππππ‘ππππ : π₯ 0 = 0 ; π₯ 0 = 0
πππ‘ππ π πππ’π‘ππππ ππ π₯ π‘ = X (cosππ‘ β cosπππ‘)
π·πππππ πΏπ π‘ =πΉ
ππππ π =
π
ππ
π€βπππ π =πΉ
π βππ2
π₯(π‘) =πΏπ π‘
1 βπππ
2 (cosππ‘ β cosπππ‘ )
π₯(π‘) =πΏπ π‘
1 βπππ
2 (cosππ‘ β cosπππ‘ )
π΄π‘ π = 1,π = ππ; πβπ πππ ππππ π ππ π‘βπ π π¦π π‘ππ ππ πππ£ππ ππ¦π‘βπ πππππ€ πππ’ππ‘πππ, πππππππ π’ππππππππ
We can use L'HΓ΄pital's rule:
Beating Phenomenon(Frequency Ratio, r close to 1)
We found the response of the system with zero initial conditions to be:
Using trigonometric identities, we can rewrite:
π₯(π‘) =πΏπ π‘
1 βπππ
2 (cosππ‘ β cosπππ‘ )
When the difference between the driving frequency and natural frequency is small. We define a small quantity epsilon, Ο΅ :
Rewriting the response of the system:
π₯(π‘) =πΏπ π‘
1 βπππ
2 (cosππ‘ β cosπππ‘ )
π₯(π‘) =ππ2πΏ π π‘
ππ2 β π2
(2 sin(ππ + π
2π‘) sin(
ππ β π
2π‘) )
π₯(π‘) =
ππΓπΉπ
4ππ(2 sin(
ππ + π
2π‘) sin(
ππ βπ
2π‘) )
π₯(π‘) =πΉ
2πππ(sinππ‘ π ππ ππ‘ )
πππππ π ππ πππ‘βππ π ππππ: sin ππ‘ π€πππ βππ£ππ πππππ π‘πππ ππππππ
π΄ππ π ππ ππ’πβ ππππππ, sinππ‘ π€πππ βππ£ππ π ππππ π‘πππ ππππππ
π π₯ + π π₯ + ππ₯ = πΉ cosππ‘
Damped System with Harmonic Force
Many ways to get the particular solution.
1. Using undetermined coefficientsa. Assume a particular solution of the form:
b. Plug it back in to the EOM:
c. Use trigonometric identities to expand cos and sin terms:
d. Equate the coefficients of cos(Οt) and sin(Οt) in above equation
e. Solve for Ξ± and X
f. Solution may be expressed in terms of dimensionless numbers
π πππ π
2. Using Complex Form
π π₯ + π π₯ + ππ₯ = πΉππππ‘
ππ πππ ππππππ πππ‘ π βπππππππ πππππππ ππ’πππ‘ππππ’π πππ πππππππ₯ πππ‘ππ‘πππ:πΌπ π€π π’π π π πππππππ ππ’πππ‘πππ ππ π‘βπ ππππ πΉππππ‘ , π‘βπ ππππππππ‘ ππ πΉππππ‘ ππ πΉ cosππ‘ . ππ π‘βπ ππππ ππππ‘ ππ π‘βπ π πππ’π‘πππ π€πππππππππ ππππ π‘π π‘βπ π πππ’π‘πππ π€ππ‘β πππππππ ππ’πππ‘πππ πΉ cosππ‘
π΄π π π’ππ π ππππ‘πππ’πππ π πππ’π‘πππ ππ π‘βπ ππππ:
π₯ π = πππππ‘
π·ππππππππ‘πππ‘π π‘π€πππ πππ ππ’π‘ ππ‘ ππππ ππ π‘βπ πΈππ:
βππ2πππππ‘ + ππππππππ‘ + ππππππ‘ = πΉππππ‘
π π βππ2 + πππ = πΉ
π π βππ2 + πππ = πΉ
This is called the βMechanical impedanceβ of the system: π ππ = π βππ2 + πππ
π =πΉ
π βππ2 + πππ
π =πΉ
π βππ2 + πππΓπ βππ2 β πππ
π βππ2 β πππ
There is an imaginary term in the denominator. We can get rid of that and separate the real and imaginary parts by multiplying and dividing by the complex conjugate of the denominator.
π = πΉπ βππ2
π βππ2 2 + ππ 2β π
ππ
π βππ2 2 + ππ 2
π ππ ππ π‘βπ ππππ π β ππ
ππππ π‘π πππ€πππ‘π π ππ π‘ππππ ππ π ππππππ‘π’ππ πππ πβππ π πππππ:
π = π΄πβππ, π€βπππ π΄ = π2 + π2 πππ π = tanβ1π
π
π΄ = πΉπ βππ2
π βππ2 2 + ππ 2
2
+ππ
π βππ2 2 + ππ 2
2
π΄ =πΉ
π βππ2 2 + ππ 2 π = tanβ1ππ
π βππ2
π₯ π = πππππ‘ = π΄ππ(ππ‘βπ) =πΉ
π βππ2 2 + ππ 2ππ(ππ‘βπ)
Use these results to rewrite the particular solution of the system:
π₯ π =πΉ
π βππ2 2 + ππ 2cos ππ‘ β π
The real part of the particular solution is the same as what we got before:
The equation,
can rewritten in terms of dimensionless numbers:
π
πΏπ π‘=
1
1 β π2 + π2ππβ‘ π»(ππ)
This term is called the βFrequency Response Functionβ
π =πΉ
π βππ2 + πππ
π =πΉ/π
1 βππ2
π+ππππ
ππ¦ π’π πππ π =π
ππ; ππ =
π
π; πΏπ π‘ =
πΉ
ππππ π =
π
2 ππ
Total Solution:
πΌ
Using ICs, we can find unknowns
Note that only the particular solution doesnβt decay exponentially, whereas the homogenous part will decay and die out eventually. So the particular part is often called the βSteady Stateβ solution, and the homogenous part is called the βtransientβ solution
f. Solution may be expressed in terms of dimensionless numbers
π =πΉ
π βππ2 2 + ππ 2
π =πΉ/π
1 βπππ2
2+ 2
π
2 πππ
ππ
2
π
πΏπ π‘=
1
1 β π2 2 + 2ππ 2
πππππππππ¦ π = tanβ1ππ
π βππ2= tanβ1
2ππ
1 β π2
This expression gives us the Gain of the system as a function of βfrequency ratioβ r and damping ratio ΞΆThis is plotted on the next slide, for different damping ratios
Base Excitation
Lets look at the response of the system when the base of a mass-spring-damper system undergoes harmonic motion.
The Equation of Motion of the system (using the free-body diagram) looks like:
π π₯ = βπ π₯ β π¦ β π( π₯ β π¦)
πΉ =π π₯
π π₯ + π π₯ + ππ₯ = π π¦ + ππ¦
πΌπ π¦ π‘ = π sinππ‘
π π₯ + π π₯ + ππ₯ = πππ cosππ‘ + ππ sinππ‘
πβπ πππππππ ππ’πππ‘πππ: πππ cosππ‘ + ππ sinππ‘πππ ππ rewritten in the fom A sin(ππ‘ β πΌ)
A sin(ππ‘ β πΌ) = πππ cosππ‘ + ππ sinππ‘π΄ sinππ‘ cos πΌ β π΄ sin πΌ cosππ‘ = πππ cosππ‘ + ππ sinππ‘
Must find A and Ξ±, by comparing the terms on either side of the equation
π΄ sin πΌ = βππππ΄ cos πΌ = ππ
π΄ = π ππ 2 + π2
πΌ = tanβ1 βππ
π= tanβ1(β2ππ)
π π₯ + π π₯ + ππ₯ = π΄ sin(ππ‘ β πΌ)
And the equation of motion is:
This shows that giving excitation of the base is equivalent to applying a harmonic force of magnitude A.
Weβve already solved this for a slightly different forcing function, we donβt really need to solve this again. We can just borrow results we derived before with a few modifications.
One way of doing this, is by comparing with the solution we got using complex notation
π π + π π + ππ = πππππ π π + π π + ππ = π¨ππ(ππβπΆ)
π π = πΏππππ
π π =π
π βπππ π + ππ πππ(ππβπ)
Assume particular solution: Assume particular solution:
π π = πΏππ(ππβπΆ)
π π =π¨
π βπππ π + ππ πππ(ππβπΆβππ)
πβπ πππππππ ππ’πππ‘πππ πΉ cosππ‘ ππ ππππππππ ππ¦ π‘βπ ππππ ππππ‘ ππ πΉ ππππ‘
πβπ πππππππ ππ’πππ‘πππ π΄ sin(ππ‘ β πΌ) ππ ππππππππ ππ¦ π‘βπ πππππππππ¦ ππππ‘ πππ΄ππ(ππ‘βπΌ)
Solution in complex form: Solution in complex form:
πππππ π = πππβπππ
π βππππππππ ππ = πππβπ
ππ
π βπππ
The real part of this solution represents the solution for the forcing function F cos ππ‘
The imaginary part of this solutionrepresents the solution for the forcingfunction π΄ sin(ππ‘ β πΌ)
Base ExcitationHarmonic Excitation
π₯ π =πΉ
π β ππ2 2 + ππ 2ππ(ππ‘βπ) π₯ π =
π΄
π β ππ2 2 + ππ 2ππ(ππ‘βπΌβπ1)
π
πΏπ π‘=
1
1 β π2 2 + 2ππ 2
Here, we were trying to compare the βstatic displacementβ Ξ΄st with the magnitude of the particular solution, (or steady state solution), X
π₯ π =π π2 + ππ 2
π β ππ2 2 + ππ 2ππ(ππ‘βπ)
Weβre trying to compare the magnitude of the input displacement, Y and the magnitude of the particular solution, X
π
π=
π2 + ππ 2
π β ππ2 2 + ππ 2
π
π=
1 + 2ππ 2
1 β π2 2 + 2ππ 2
We can rewrite this in terms of frequency ratio and damping ratio:
π€βπππ π = πΌ + π1
This term is called displacement transmissibility:
Base Excitation β Force Transmissibility
In base excitation, a force F is transmitted to the base or support due to the reactions from the spring and the dashpot. This force can be determined as:
πΉ = π π₯ β π¦ + π π₯ β π¦ = βπ π₯
π₯ π =π π2 + ππ 2
π βππ2 2 + ππ 2ππ(ππ‘βπ)
Consider the particular solution:
π₯ π = π sin(ππ‘ β π)
π€βπππ π =π π2 + ππ 2
π β ππ2 2 + ππ 2
πΉ = ππ2X sin ππ‘ β π
πΉ = ππ2π π2 + ππ 2
π βππ2 2 + ππ 2sin ππ‘ β π
The maximum value of this force FT is given by:
πΉπ = ππ2π π2 + ππ 2
π βππ2 2 + ππ 2
πΉππ= ππ2
π2 + ππ 2
π βππ2 2 + ππ 2
πΉππ= ππ2
1 + 2ππ 2
1 β π2 2 + 2ππ 2
Lets try to rewrite this in terms of frequency ratio and damping ratio:
πΉπππ
=π
ππ2
1 + 2ππ 2
1 β π2 2 + 2ππ 2
πΉπππ
= π21 + 2ππ 2
1 β π2 2 + 2ππ 2
This term is called the βforce transmissibilityβ
Rotating Unbalance
Rotating Unbalance
Rotating Unbalance
π π₯ + π π₯ + ππ₯ = moeπ2 sinππ‘
πΉ =π π₯
π₯ π =ππππ
2
π β ππ2 2 + ππ 2ππ(ππ‘βπ)
π€βπππ π = tanβ1ππ
π β ππ2
This is effectively the same problem as before, with F= moeΟ2
π₯ π = π sin(ππ‘ β π)
π =ππππ
2
π βππ2 2 + ππ 2
Time to make this non-dimensional. Rewrite in terms of zeta and r
π =ππππ
2
π βππ2 2 + ππ 2 π =
ππππ2
π
1 β π2 2 + 2ππ 2
π =
ππππ2
πΓππ
1 β π2 2 + 2ππ 2
ππ
πππ=
π2 Γππ
1 β π2 2 + 2ππ 2
ππ
πππ=
π2
1 β π2 2 + 2ππ 2
This term is the βdimensionless displacement magnitudeβ of the system.
The force F is transmitted to the foundation due to the rotating unbalanced force is given by:
πΉ π‘ = ππ₯ π‘ + π π₯(π‘)
πΉπ = ππππ2
1 + 2ππ 2
1 β π2 2 + 2ππ 2
The maximum value of this force FT is given by: