Jaap Wijker

Mechanical Vibrations in Spacecraft Design

With 120 Figures and 29 Tables

Springer

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1 Introduction 1.1 Why Another Book about Mechanical Vibrations? 1.2 A Short Overview of Theory
1.2.1 Single Degree of Freedom (sdof) Systems 1.2.2 Damped Vibrations 1.2.3 Multi-Degrees of Freedom (mdof) Dynamic Systems 1.2.4 Modal Analysis 1.2.5 Modal Effective Mass 1.2.6 Response Analysis 1.2.7 Transient Response Analysis 1.2.8 Random Vibrations 1.2.9 Shock-Response Spectrum 1.2.10 Acoustic Loads, Structural Responses 1.2.11 Statistical Energy Analysis 1.2.12 Inertia-Relief 1.2.13 Mode Acceleration Method 1.2.14 Residual Vectors 1.2.15 Dynamic Model Reduction 1.2.16 Component Model Synthesis 1.2.17 Load Transformation Matrices 1.3 Problems 1.3.1 Problem 1 2 Single Degree of Freedom System 2.1 Introduction 2.2 Undamped Sdof System 2.2.1 Solution of an Sdof System with Initial Conditions

1 1 5
5 6 7 8 9 9 10 11 12 13 13 14 14 14 15 16 17 17 17 19 19 20 23

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2.2.2 Solution of an Sdof System with Applied Forces 2.3 Damped Vibration and the Damping Ratio 2.3.1 Solution of the Sdof System in the Time Domain 2.3.2 Solution of the Damped Sdof System with Applied Forces 2.3.3 Solution in the Frequency Domain 2.3.4 State Space Representation of the Sdof System 2.4 Problems 2.4.1 Problem 1 2.4.2 Problem 2 2.4.3 Problem 3 2.4.4 Problem 4 2.4.5 Problem 5 2.4.6 Problem 6 2.4.7 Problem 7 2.4.8 Problem 8 3 Damping Models 3.1 Introduction 3.2 Damped Vibration 3.2.1 Linear Damping 3.2.2 Viscous Damping 3.2.3 Structural Damping 3.2.4 Loss Factor 3.3 Amplification Factor 3.3.1 Modal Viscous Damping 3.3.2 Modal Structural Damping 3.3.3 Discussion of Modal Damping 3.4 Method of Determining Damping from Measurements 3.4.1 The Half-Power Point Method 3.5 Problems 3.5.1 Problem 1 3.5.2 Problem 2 .

24 27 29 32 34 42 45 45 46 46 46 47 47 47 48 49 49 50 50 51 51 52 53 53 54 55 56 56 57 57 58 59 59 60 60 62 63

4 Multi-Degrees of Freedom Linear Dynamic Systems 4.1 Introduction 4.2 Derivation of the Equations of Motion 4.2.1 Undamped Equations of Motion with Newton's Law 4.2.2 Undamped Equations of Motion using Energies 4.2.3 Undamped Equations of Motion using Lagrange's Equations

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4.2.4 Damped Equations of Motion using Lagrange's Equations 4.3 Finite Element Method 4.4 Problems 4.4.1 Problem 1 4.4.2 Problem 2 5 Modal Analysis 5.1 Introduction 5.2 Undamped Linear Dynamic Systems 5.2.1 Natural Frequencies and Mode Shapes 5.2.2 Orthogonality Relations of Modes 5.2.3 Rigid-Body Modes 5.2.4 Left Eigenvectors 5.3 Damped Linear Dynamic Systems 5.3.1 The State Vector 5.3.2 Eigenvalue Problem 5.3.3 Eigenvectors 5.4 Problems 5.4.1 Problem 1 5.4.2 Problem 2 6 Natural Frequencies, an Approximation 6.1 Introduction 6.2 Static Displacement Method 6.3 Rayleigh's Quotient 6.4 Dunkerley's Method 6.5 Problems 6.5.1 Problem 1 6.5.2 Problem 2 6.5.3 Problem 3 6.5.4 Problem 4 6.5.5 Problem 5 7 Modal Effective Mass 7.1 Introduction 7.2 Enforced Acceleration 7.3 Modal Effective Masses of an Mdof System 7.4 Problems :

65 70 70 70 71 73 73 73 74 77 80 84 86 86 88 89 92 92 93 95 95 95 9& 101 107 107 107 107 108 109 111 111 111 114 122

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7.4.1 Problem 1 7.4.2 Problem 2 8 Response Analysis 8.1 Introduction 8.2 Forces and Enforced Acceleration 8.2.1 Relative Motions 8.2.2 Absolute Motions 8.2.3 Large-Mass Approach 8.3 Problems 8.3.1 Problem 1 8.3.2 Problem 2 8.3.3 Problem 3 9 Transient-Response Analysis 9.1 Introduction 9.2 Numerical Time Integration 9.2.1 Discrete Solution Convolution Integral 9.2.2 Explicit Time-Integration Method 9.2.3 Implicit Time-Integration Methods 9.2.4 Stability 9.3 Explicit Time-Integration 9.3.1 Central Difference Method 9.3.2 Runge-Kutta Formulae for First-Order Differential Equations 9.3.3 Runge-Kutta-Nystrm Method for S-0 Differential Equations 9.4 Implicit Time Integration 9.4.1 Houbolt Method 9.4.2 Wilson-theta Method 9.4.3 Newmark-beta Method 9.4.4 The Hughes, Hilber and Taylor (HHT) alpha-Method 9.4.5 The Wood, Bossak and Zienkiewicz (WBZ) alpha-Method 9.4.6 The Generalised-alpha Algorithm 9.5 Piecewise Linear Method 9.6 Problems 9.6.1 Problem 1 9.6.2 Problem 2 9.6.3 Problem 3

122 123 125 125 125 126 138 140 146 146 147 148 149 149 151 151 153 153 153 154 154 156 159 159 160 162 164 166 167 168 169 170 170 172 172

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10 Shock-Response Spectrum 10.1 Introduction 10.2 10.3 Numerical Calculation of the SRS, the Piecewise Exact Method 10.5 Matching Shock Spectra with Synthesised Time Histories 10.6 Problems 10.6.1 Problem 1 10.6.2 Problem 2 11 Random Vibration of Linear Dynamic Systems 11.1 Introduction 11.2 Random Process 11.3 Power-Spectral Density 11.4 Deterministic Linear Dynamic System 11.4.1 Force-Loaded Sdof System 11.4.2 Enforced Acceleration 11.4.3 Multi-Inputs and Single Output (MISO) 11.5 Deterministic Mdof Linear Dynamic System 11.5.1 Random Forces 11.5.2 Random Base Excitation 11.5.3 Random Stresses and Forces 11.6 Analysis of Narrow-Band Processes 11.6.1 Crossings, 11.6.2 Fatigue Damage due to Random Excitation 11.7 Some Practical Aspects 11.8 Problems 11.8.1 Problem 1 11.8.2 Problem 2 11.8.3 Problem 3 11.8.4 Problem 4 11.8.5 Problem 5 12 Low-Frequency Acoustic Loads, Structural Responses 12.1 Introduction 12.2 Acoustic Loads 12.3 Equations of Motion 12.4 Problems :

173 173 Enforced Acceleration 174 176 190 199 199 200 201 201 201 207 212 214 216 223 224 224 227 229 234 234 238 241 244 244 244 245 245 246 247 247 247 249 260

10.4 Response Analysis in Combination with Shock-Response Spectra... 181

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12.4.1 Problem 1 12.4.2 Problem 2 13 Statistical Energy Analysis..., 13.1 Introduction 13.2 Some Basics about Averaged Quantities 13.3 Two Coupled Oscillators 13.4 Multimode Subsystems 13.5 SEA Parameters 13.5.1 Subsystem Modal Densities 13.5.2 Source Power Input 13.5.3 Subsystem Energies 13.5.4 Damping Loss Factor 13.5.5 Coupling Loss Factor 13.6 Stresses and Strains 13.7 Problems 13.7.1 Problem 1 13.7.2 Problem 2 13.7.3 Problem 3 13.7.4 Problem4 13.7.5 Problem 5 13.7.6 Problem 6 13.7.7 Problem 7 13.7.8 Problem 8 14 Free-free Dynamic Systems, Inertia Relief 14.1 Introduction 14.2 Relative Motion 14.3 Relative Forces 14.4 Flexibility Matrix 14.5 Problems 14.5.1 Problem 1 15 Mode Acceleration Method 15.1 Introduction 15.2 Decomposition of Flexibility and Mass Matrix 15.2.1 Decomposition of the Flexibility Matrix 15.2.2 Decomposition of the Mass Matrix

260 261 263 263 264 270 277 283 283 288 289 294 295 298 299 299 299 300 300. 300 301 301 302 303 303 303 304 307 310 310 313 313 313 313 315

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15.2.3 Convergence Properties of Reconstructed Matrices 15.3 Mode Acceleration Method 15.4 Problems 15.4.1 Problem 1 15.4.2 Problem 2 15.4.3 Problem 3 15.4.4 Problem 4 15.4.5 Problem 5 16 Residual Vectors 16.1 Introduction 16.2 Residual Vectors 16.2.1 Dickens Method 16.2.2 Rose Method 16.3 Problems 16.3.1 Problem 1 17 Dynamic Model Reduction Methods 17.1 Introduction 17.2 Static Condensation Method 17.2.1 Improved Calculation of Eliminated Dofs 17.3 Dynamic Reduction 17.4 Improved Reduced System (IRS) 17.5 Craig-Bampton Reduced Models 17.6 Generalised Dynamic Reduction 17.7 System Equivalent Reduction Expansion Process (SEREP) 17.8 Ritz Vectors 17.9 Conclusion 18 Component Mode Synthesis 18.1 Introduction 18.2 The 18.2.1 18.2.2 18.2.3 Unified CMS Method Modal Truncation General Synthesis of Two Components General Example

316 318 325 325 325 326 326 327 331 331 331 331 334 340 340 343 343 344 350 351 352 355 358 362 365 367 369 369 370 371 372 374 379 379 384

18.3 Special CMS Methods 18.3.1 Craig-Bampton Fixed-Interface Method 18.3.2 Free-Interface Method

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18.3.3 General-Purpose CMS Method 18.4 Problems 18.4.1 Problem 1 18.4.2 Problem 2 , 19 Load Transformation Matrices 19.1 Introduction 19.2 Reduced Model with Boundary Conditions 19.3 Reduced Free-Free Dynamic Model 19.4 Continuous Dynamic Systems 19.5 Problems .' 19.5.1 Problem 1 19.5.2 Problem 2 19.5.3 Problem 3 19.5.4 Problem 4 References Author Index Subject Index

;....391 396 396 397 399 399 400 404 409 413 413 414 415 415 417 427 431