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    Handbook of Machine Dynamics Chapters 3 and 4 PDF

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    3 Fundamentals of Vibrations Robert H. Fes Constant mene and Oman Sons Prow,Atne wrRoDUCTION the hum ofan leet razor the mbl ofan automobile co agave oad, and the motions of an eatdrum responding to the roar of jet engine ‘od the astruments of anorcbesta Viteationsean be benef ot bara, Jmtended or unintended. The vibration of a granite lsk's pendula ‘rode the timing reference forte insrument. Te vibration the rotor Sta steam Turbine contribute to the fatigue ofthe turbines components ‘Vibvatioos, easing or stating bene or harmful are pat of eer. shy contemporary Ie “This chapter provides hackpround onthe mature and analysis of mach nical vibrating stems that is applicable toa wide variety of systems fcouniered in the study of the dynamics of machinery. The mali Sod understanding of the simplest of systems, single-epree of feedom (DOF) stems, provides the foundation for the understanding of ‘ibatins of far moe comple systems 2, SINGLE-DEGREE-OF-FREEDOM SYSTEMS “The simples vibrating systems posses singe degre of freedom, meaning (lat tie stato fhe ration oft nal m/s ores Fl ‘eeies the motion of he entie system Figure {shows.asmple roles fe cceaasesesed awe 1 Sige eee fed ste Fre 2. Ropons of suble- dpe otetan stem. spring-masssjtem. For this s)te, he ne story of dsr the time History of the ete system For example ithe mas ofthe system in Fig. 5 diplaced by 3 sand elesed, the stem response, time history of x, is 8 show in Fig 2°The system has natural Frequency of 2 He, meng tht i competes ‘no oxlation cles per secon The response cosine anton of amp tage 3 in and tequeney 2 Hae 21. Formulation of Equations of Motion ‘The analysis and enderstanding of vibrating sens often eqs the formation of equation of motion, which a mathemati bstrstons representing the sstems of interes Sytem equtions of motion are ‘iereaial equations, or st of dierental equations for multiple degre ‘otfreedom prem, Lmped-pramersptens, sometime alld dite: parameter srtems, are. deeribos by orinay diferent eqations, whereas continuous sytem are describ by parti diferent equations “The focus in this chapter is on crete systems deserbed. by odin) Aierentit equations Vibrating systems contain both eee storage and eneay-disipating ‘ements. Energy i stowed a either potential energy or kine eer. In ‘mechanical systems, potential energy is stored castcally i compliant ‘ements mode as springs andit is aso sored as changes inte elevation” ff mises in a gravitational el ‘Vibeating frets nord not const of perelymschanihl eemeat In fyb ssteme, enerey storage is pole ia 2 wie range of forms 1 Tosdesker contains both mechanical and electrical elements stores ‘nergy elastically inthe cone due to its sifless, mechanically in the tinetic energy of moving mas, and clectromagneticaly the voce cal A mechanical system must poses mass inorder to exhibit vibratory sespons (re Fundamentl reiemen that kine energy be storable inthe system's mass} Its aot hess, however that energy be stored Stata sis equ only tht potent energ)bestored by some means fo that a a sjtem uabentes, energy is exchanged between potential and {nse entgy storage mechinisms, For example, simple pendula bas ‘0 sls storage element It exchange every Deleon kipelic ad poten. ‘al energy forms asthe ass changes Speed 2nd height 243, ansatona Systems The classical approsch to the formulation of equstons of motion uses Newion's second law of maton as its bai Simply sated, eam o the sumof the forces sting on amass equal the product of he mass adits tceveraton, in 4 consent unit sytem, In thet simplest forms, the flenents of wansatonal systems include masses, springs, and dames “he fore charteistics of ina sping ae F=Kes—w) ° U=ten—aF ° Figute 3 shows near spring in static equilibrium, Displacements andy re measured from the rseiched end othe sping Equation @) easy “eivable from Eq. (2) by ating that energy eat to displacement and force by aw a © oy ‘Newton's second lam, Ey. (1), desrbes the motion of a mass under the inleoses of forces sting 0 i. The kine ener of mass ete © ‘nd the change in potetal energy of «mass is ‘AU = mesh o er hs te ag insertion ofthe mas ete ome dt, cane ons engin sna so ‘puns aru repel inet mpen aetna ‘orce-velocity characteristics given by : : eae Fean—s) “ ‘The procedure for deriving the equation of motion of a tem isto sels a ovednate sytem ad variable to deeb the motion of the ase caw a free-body diagram of the mass showing the foros acting tnd apply Newton's second law, The summation of forces ating oth ‘iy postive to height as shown in Fig, according to Newton's tend Dra r-ty-cke me ° mis ct the=F ao, Thus the inp syem of Fig Sis dei ya linear ond ‘nary differential equation, z na ere owe ftc-ody aga yee §. Fishy dig of spe nring- mas damper stem, system is comervative i no eneey i disipted bythe element of the stem and no work is done by extemal frees ating on the system, Tor the system of Fig. 5, the external forse, F, poder work andthe tamper disiates energy. P=0 and ¢=0, then the stem 3 coo ‘Sruti, in tat ess, te potential and kinetic energies ae ven y Eas {Ghand(6)-Foraconarvatve stem, the sum of potential sd Kinet ene Be is constant U4 T= constant a Diereatation of Ea. (11 yes the equation of motion: 4 fw+n=0 eh (hash) ec f a Gerad) eee eo ei mitke=0 ao For se consersatine ystems, the enery approsch provides am easier thea of formulating he equation of mation than dct appcation of ‘Neston scond law In 187, Lord Rayleigh published a method of hand- fing energy loner by wing dissipation functions. His Theory of Sound twas publihed inthe United Stats in 1985 [1] Lagrang’s equations [2] Provide anther convenient method for obiining equations of motion for” noacoaservative systems. Lagrange’s equations ae useful for Formulating equations of motion of complex stems, for which the direct ‘pplication of Newton's second law becomes dial "Numerous additonal methods for driving eqstons of motion are sao avaiable. Bonegraph metho [3] provide a tystematic and orderly thea fotaning easton of motion, their us bas been more appeal Ingo academicians than opactiones: Kane's method [hs growing folowing of analysts who prefer it for deriving equations of motion of| ‘somples; mulipe degree of feedom systems wth compl constants, 212 Rotational Systems In many vibratory s)tens, the motion ofthe lems are prey rotational ther than tatslatiooal For hese syste, detroation of he equations ft motion ret from application DMo=J08 us uation (15) applies to any tem whose mas is contained 1 rotate shout a fied point O, in an inert reference spe. The summation ‘moments onthe bay equal the product of mass moma of inertia about the fed point andthe angular acseraton of the body about the fed ‘ont, Equation (1) issometimes called Newtons second a er oatonal ‘ystems Is also sometimes referred tow Euler's equation Equation (1) 30 applies to the planar rotation of a igi by about ts center or mass fen if the center of mas mot constrained tobe satonry im an inet ‘elreae stem Figure 6 shows slender rod, fee to rotate about ane ed. Fr this system onl the component ofthe eaviationl fers nthe angen ies iow provides « moment about point O. Appiation of Eq. (15) gives, Tow Mant 5 ‘ t = ety om owe & Simple pendtin vn, ent sald bs Mlina=0 wy uation (17) is nonlinear Because the response variable, (appears asthe {rgument of he sine fantion. For small osslatons abou the eulbias postion, V=0, the equation of motion caa be lncarized by using the Tppronimation in 020. Tats momento neta of lender od about coal 08) 09) Eneray methods re applicable to rotational stems as well as trandatont!sytems athe tem of Fig, disk role without ping fon an ave of radius K. The kine eney of the disk having mas {nd ameter 2 has components due to the rotation of he disk about point ‘Ov the seer ofthe are, and the rotation Of the dak about plat, the sak enter Tm jo 1FP + i? eo The reationshipbeween 8 and can be obtained by noting that asthe dik roils without dipping long a are of lengths, and angle of coresponds tov rotation of te isk af 7 +0 en @ “The mass moment of insti of sk rotating about its enter of mai Jo bm? ey) ‘Substiuting Bs. 22) and (23) ito Eq. (20) and collecting tees gives inn? eo “The potential energy ofthe sytem, taking U0 a B= 0, C= ma(R 008) 5) autos (25) canbe neared about the equltelum poston wy on ees te o es Tam helo on Peace hes OA ma hich is he inaried equation of motion forthe system ia Fig. 7. 221. Undamped Systems Equation (14), epeste.as (30) the equation of motion forthe system stows in Fig ithe co) Free vibration means tht oo external fore act onthe system. Its sponse follows from the ntl conditions imposed onthe mass. One way to save Eq (G0) is to assume a solution 5} of he fora a= Ce" on whee Cand sae constants tobe determined. Dieeniation of a, (31) Fundamental of Vraone ” and subtittion into Eq (90) yes the sharectrinic equation for the bes ‘4 sgn te fie reeiaies oe eee ces 1(-2) am nee Pd a legs ll ne oo esaise the characteristic equation has two Fos, two constants are required to express the solution w= Cem +e 6s) By wing the identis 8 mconat = sinat 69) 4, (5) cam be ewrten as MU) = A,cosout + Assinoyt en were and renew constants oe determined from the inal con- ‘ions For 0) = and 40) =, sling for 4 and sand substation into Eg. G7) ior x= nomet 4 Sino 08 [Equation 28) is the general solution to the single depree-of freedom, ‘iarsped, ee-ieation respons. Equation (8) shows thatthe response 'Shamoni i de natural fegoeney oy, whee oy bs expresed in units ‘of radians por second, The ata fequeny oy in rads) relied to {he natural equeny fim eyes pe second of bert By = 2th 9) “The natural period of osilation is gven by waded 0) oom ; (0) =3 in, i(0)=0, and fy =2 He, then the fee-ibaton response of the spon fas sown in Fig. 2 and canbe weil a8, s)=x)s028f) a ‘The free response of an undamged single depee-ofresdom system canbe expend the sum of two tarmone ters, asin Eq (38), oi can saul expres age amon ton ad hee HO) = Ausilont+ 4) « « “ Natura frequency is the most important dynamic charactrtic of « sSingledepree-offeedom sytem in most applications, Equation (30) can te rewrite at Stoie=o 9 ‘When the sytem equation i writen so tha the cei on the ¥ term is unity, then the coeicieat ofthe xterm the square ofthe system natural frequency. For the stem of Fig 7 and Eg. 29), the nara feguen fou VaR Blevins gives the natural requacies of «numberof wil mechanical ) 222 amped Systeme The equation of motion of an wore, damped syem iso the form ° « Equation ($7) describes the motions of the system in Fig, 5 when F=0, Dividing Ba, (47) by m sven, mit chk ey s+Sitkao ef hich i ofthe standard fers 42a aby (6) andamerae of VOraons » were ¢ isthe damping rato of the syste and is elated tothe stem ‘coeets by toa ‘ im ‘The damping sti the ti factual damping of a pstem tothe ria hmping ofthat system. Critical damping exists when =, which come ‘pons toe, = 2 soon o Eq (47) is assumed tobe ofthe form on 6D os was done forthe undamped system, then the characteristic equation i x0 Pe) a Ftnastoieo o soils uo es ameeessepaton ee (aaa) “9 “Tare posite ex forthe rots: For =<, the rot arco Fe und heey undordamped For! == .thetwo rots aul {nd teak and for @—t =A, the two roo av distinc an ea. The ‘ove lta method maybe spd odie he ita oiton ‘Some of he etm fore tee eae. i) (Case 1 underdamped: (<1 69) cr int Fnt + eos cos won For this case o=oyi-e 9) “The dampod natural foqueney is less than the undampedsatrl frequency. indicted by Eq (56) The underdamped response can ‘gale be writen 2s MO) = XE sinfayt +4) oo amped natural eguene i dined by yal wher and yar determined om the ntl eondions, The general inal conditn response of an underdamped sytem shown in Fg The respone contained within an envelope dened by tr The damped tual period ie tte aa ae (9 (Case 2 ciely damped: 1 A= io +68 + x) co {Case 3, verdamped: [> 1 soe Gf (<1 Fi) e248 where ond atl ET @ Figured showsie responses of stoms having al thes geeral cases of damping 1 also shows a specie response for ¢= 1/2 = 0.107 The asee#Ielis-ondion reponse or fur ming eae. Inia condition fr all four respones are (0) = and (0) =0. The Citcly damped reponse possstes the Fst posible return of the mass to ret positon without onion, Neither the overdamped noe the ‘Stal damped responses undersoo the rest postion. The underdamped Teepone reiches the nal value sooner tha the ete responses but con- tines to ost ter the othe esponsts hae eached hi al values. ‘Mechanical sytem designers frequently ive contol over the éamping ratio of the systems they design. Creal damping, {= 63 fal design goal when a fst return to the final postion i desired but ‘hen ao oily behavior san be lerated. ante return Co the fal Postion ie achieved with (1/42 0707 in eases whete undershoot Ss accel “The eicaly damped cas of greater heorctical interest than pra sical nee I epost the boundary between undedamped ad over amped systema In an actal dybamic system, ts as unitely tht the ‘drping aio would be exactly It that the semis exacty mole {linarssond-orer system. The likelihood zero Tor both instances, ical damping represents an appeopeate design goal for some sens. Tete actual Gapiogatiodifes lily from te design goal, the response Airs only shy snd a good system can res ‘None ofthe theoretical responses shown in Fig 9 ver aces 220, but all reponse approsch airy else to zero as ime inteases. Dif Fereces between he response ful vibratory systems, whose responses sd ci outin time, hee theoretical tems sully results fom flare {o modal the damping sources completely and core w Fare 10 Undentimped stem sponse 225, Logarthme Decrement Ir the feeviration response of an underdamped system, (<1, hasbeen recotdl, itis posible to estimate the damping rato ofthe scm solely fom te recorded response, The method of obtsning the damping ratio fom system's response scaled the ogarithovedecromon. Ks la pos ‘he to obtain the natural frequency from the fee repone. nthe Fig. 10 system response, suscesive pes nthe response are abled sequently. “The ee response fan nderdarped sytem ca be wren asin Ey (67, or eguvaenty it canbe witen nthe form, a1) = doe Shae +6) cy ht an 9 ae cnt at canbe dtp rom he nl on tons. The lpm decrement it defn he tral gain a {me soci peak in he pom oa noe sna +8) co hers the damped atural period ofthe pte, ecase the sine ems in the numerator and denominator of Eq. (6) have the same value one ‘riod apart, Eq. (68) can be rewrten at datn(&) = nem = cyt 5, Solving forthe damping eto gives a Ce 0) oo aga ‘ [Note that tere is no nee 10 Slve forthe constants in E43) In practice, » more accurate estimate of the sytem damping rao results when the dotement over several socesive peaks i wed. When the decrement is taken overejles, the damping ato ca be obained frm Vases? ol 1 te system response decays to 0% ofits inal valu, the decrements san(2) =n cd earn em ry ee rp URTETE er ee ae + 0480 e ll ng aa od Stoversgira Steen so muerte re ee Sir caer ns oft ed atic teee ph Pe Sculcabboxsebtgpeaanyeroamessira tet SEARO Re IMR Snag fae eveteapestes enon garnet yeaa at ae Dag ALE te la 2 tpn enn The ged ar ee ‘ici ey fhe ie pnt of es Te eel SaTtenezy auto cbc! emiveg Se 6) Ames Seog A ‘ Ds ws) be 224, couemb Damping Condon damping is dened ss damping whote amplitude i dtsty Proportional othe coficiet of fiction and independent ofthe veloty [sf eotion tals ale dyfrition damping. It aries a many practical Systems that contin elements that rub on each otber in ay condition. ‘The defining force relationship 2 is Sr om i 3 sii ens, awe 1 Dusping mito vers ample rao or the foe reponse of « ale, ding rai, ¢ ore Rains dampsto mda ns cn ns ‘hs te coun ftom foe beet Tubing suracs. The direction ofthe force alnays opposes the velocity Sf fg Fete 1 sho «il yping-ms sytem wit Colom system ere 19 Srng-mne ten wi Colon damping For this system, the equation of motion is mitt he aN a ‘Equation (1) x pecewte ina. Te sign on the damping tem changes ‘hime te direction fshiging reverses. However the equation of motion ‘linear during any eye, Therefore, thesstem eguation can besolvedeyle Iyreyte [7]. There va feevibeaton response witha ine dcsying ‘Choco in contrast othe expnentally devaying envelope ofthe sem ‘Thies or linear damping. Theinial condition espone af thesstem {Sh Coulomb damping shown in Fi. 14 ‘The system eels atthe natal frequency cy = Rf, unlike a syste mil vscous damping, which brates at te damped natural = ‘Getey ous Thus, Coulomb damping has no infuene on the freayency response, Suave peaks decease in amplitude by nn ate ” he final displacement ofthe sem is ia general, not zo, becuse the Sling top when the sping ore sufiient o overcome the frtion Fone: The final poston othe mass isiaside band With mits £8, ashown in Pg. 1 23, Forced Vibrations Foreed seston: occur when a system responds to external extaton. Motion ofthe singledegre-oleedom stem of Fig 5 dsebed by mitch hem FU) oy where Fs) can be any time-varying fore. ewe Resp rig- mse sem wah Colo dani 221, Harmonic Fereing Hoamonic forcing oscars when system forcings sinusoidal in nature. The {tational approach tothe analy of harmony freed sstems i to ‘determine the steady-state magnitae and pase relationship ofthe response {elt tothe excitation, When ina sem forced barron, the ‘pstem's send-it response also harmonic atthe same frequency ‘The magnitude and phate angle ofthe response relative to the excitation Sompltlydefise the steady-state response. Fore Appa Mass When stem forcing is applied woth mass Ea (7) i the sem squsion of motion. A Spe and eomenient method fo ‘hain the tattoo of erential equation ike Eq, (73) or bar ‘moni forcing o let FY) Be represented bya function ofthe fora Fu =F" oo For lina sysem, the response wil be ofthe same form: siya te a5, fons tha sane 09, asd re! ™ Making these substations into Ea. 73) gives ou? + ert ky te" = Re" cy (nF +t bt) = BO) » one eee ot Tas tee treo and redid Fa. (4) ad ensctey.Reder fam Trea Lopes tunforn atecealtienir E.0)sGeLaics ‘ane ogo [et omg of apace testo eed forthe preen anasto determine the harmon response, we can make the substation ao) fe. ep [Noting that # = 1, the result i Axo) Fai) oo) “The sight side of Eg (82) sa complex number, whic can also be expres sss ringnitede and ange (10k pves the magne aod apa of he "spon relive t the inp fore. The mapa isthe aguare root of ‘he sum ofthe gates of the real and imaginary parts, 3) ‘nd the phase amples the inverse tangent ofthe ato of the iaginary and eal parts tata) ae Equation 42 and is equivalents, Eas. (83) and (84), ae referred 0 inthe viteaton an system dynamics ierature by 2 numberof eames inlding requncy response fation, aso ual ransfr funtion. ample rato ‘and phase angie amplification factor and. dimensionless response factor ihe system foreng function FU)= yim ot then the sedate ole Fue 15 Ample rao for end second ont 9m, response eo uations (and () ae pated in Fi, 1 nd 16 reaped igre 18 shows tha the reposts ge when ih damped stom oe sear ronan The peak spose cus a =o 6) whichis tower tha he satura fussy they. The ak equeney nbe obtanedy dierent (3) with espet io seins theres auf ro. an sng oe. Ie a sysem not dazed by operation at speak fegueny he in dmension and represent te response ‘lable stand the force set. 122, The Eigenalue—tignevactor Problem ‘The classe! modal ansyss approach uses the mas and sie portions ‘tthe general equation of motion obtain wansformation hat uneoupes ‘he equrtion sot Consouenty, we Bega withthe marx equation Ms Ke = (23) 1 we assume a harmonic Solution, as was done forthe singl-degre- ‘freedom sytem, then awe 02 ‘Sebatituting Bq, (124) nto Eg (123. premuiplying by the inverse ofthe sts male, A! and rearanging terms ives We iKem ae «as rik -ete=0 026) thick ar common formulations ofthe eigenvalue eigemctor problem. In Eg. (125) and (126), 1 ithe Menity mate A vil and, therefore, {unteresting solution ofthe problem i x. The soition to ether Eq (025) oF (136 that provides the elgenvales or system natural quencies etka on “The solution of Ea (127) requires nding roots ofan moder polynomial (Once the eignvales are found, the dgsrnector, which are aomzeto ® Sectors, cam be determined. We wil use Pt desanate ann mati con taining all he eigenvector. ‘Stamerous methods ext for performing te computations necessary to soe the eigenvave-cgenvector problem, Three fener approaches having overlapping boundaries exis: 1. Peal paper, and cleat for small problems 2 Rertive metho for larger problems 3. Numerical methods employing digital computers for problems of allies, bat especially for lage problems ‘Readers interete in approach are refered to books on vibrations such x [Ref Ivor Te Readers ness in approse 3 are ered to books on ‘numerical methods, such as Ref 17,18, oF 19. A number of numeric analy 0) may be sbsttated into Bg. (123) 10 obtain MP5 + KPy=0 0) Premulipying by the transpose of P, which wil be designated by P ves PME} + PRPy=0 3%») uation (130) represents the uncoupled equations of motion for the damped free response ofthe sytem. or the system n Fig 29,8 soon to Eq, (126) gives eigenvalues [ES] ay O16 and the eigenvector matrix is 0652 07120 ous pa] 076 osito 04530 D135 03352 Obs 3) ‘The eigenvalues are unique However, the eigenvectors, which are the columns of canbe sealed by any constant vale, Its conveient to le P such that PAIP =I in which case the diagonal elements of the ase Formed stfens mati contin the coeffcents of the squat ofthe aul Frequenses Retuing to the thrcedsk example of Fig, 28, performing the oorinate transformation operations inated by Eq, (130) gives 100) fs107 go sJo 1 olssa) 0 12ms 0 oo oO uns hich demonsates thatthe equations of motion are wncovple inthe ‘ecto y Each row of the mati equation represets x sage uncoupled ution of motion, 33) | i nue 20. Mode saps or he re-ik sen “Te natural froquences obtained rom Eg, (131) are sey «39 i sas 139 uaa (3s) K ose) 136 = 03s6 [5 (36 “The ti of highe-toowet mitral freuen 6 wery $1 for shi The egenvecor give the shapes ofthe natural modes f vibration Figure 30 plots the relative ampites ofthe thee egeaectors, Figure shows dit in mode 1 dake and 3 are in pase with each ober, nd ok 2 elo oto pas. In mode 2 ks Land 2 ae in pase Sith ach ote and dink ona ot of pase 1a mode 3, al disks Tien phase wih each oer, Mode haste Towest tera eaueney ‘Tale modes. Crossings of he eo axa y ines contecting the elaine SInplitvaes represen ne (Lei lato om the shal Me tee so motion 2.3, Moda Analyse “The seer modalanalyis problem can now be addressed. The approach je'to uneouple the etre set of stem equations, solve each singe. gros otfiecdom system equation, sod then compute the response of Ihe cate sytem at 2 weighted sm of the lndiadual modal responses. “The general mates equation of motion is M+ C+ Ke «an etorming the transformation into modal coordinates ives PME) + PCP) + FKP) = PY 38 IF the damping mates is proportions iter the mass matic oF the sullbess mates, then the equations of motion are uncoupled. Raph damping (6) exists if the damping mate cane related tothe mas and speng matrices by cma 0K 49) in which case the system equations are als uncoupled, and each uncoupled equation i ofthe form Bit Rea toby =F ae) where jan element ofthe transformed fore vestor ere aay, sd {scaled the modal damping rat, al conditions are generally known in the physical coordinates rather than the modal oocditaes, 4 tix ocetary to determin te ital onions inthe medal coordinates. Solving for y ia tems of = (rom eq (128) vet 10) = 0) ae) nd silaty for the velit intial conto, The following steps summarize the pros: 1. Write the equation of motion in matee form a in Eq (137, 2. Solve the egemalue-eigevecor problem to obai the tal FRequencies and the normaled moda mat. | Unenuple the equstion of motion asin the transformation of Ey (38). ‘Obtain the forces in modal coordinates using Ea, (141), ‘Compute the sit conditions in modal cordate wing Ea, ay 6, Solve the equations in modal coorin 7. Teanstorm the solution ack fo physi! soowdinats wig Ey 28, Asan exampte of modal analysis consider tat unitstep moms, Mo, ‘plied to disk 3 ofthe thre-isk sytem in Fig 29. The foreing function iS momen in his case that an be writen sing the notation of Eq (137) 0 fam] as In aditon, let the damping matrix be cal |] vs Pyscly thi damping matrix would result if rotational damper ented in poral to each of the thre shall Fig. 29. The damping matric Proportional othe sifess mati, 50 the modal tansformaton already ‘Setemined in Eq (132) uncouples the ene equation set. The modal ‘Samping eats exo Be obtained from the wncoupled equations of modon, which ate ofthe form of Eq. (40) c= 070 045) Gs =04s 046) nous aay tn this example, and typealy for MDOF vibrations, the mode with the lowest satura ruse) bas the lowest damping at. For ths cramp AM ial conditions are zero. Figure 31 shows the reipomses ofthe he ‘ependent variables, "The rsponse dominated by the made possessing the lowest natura Srequency. situation that is typlal of the response of multiple: Asgrecrareedom systems, Besa all thro sgment of the shal ae Ssental and the momen is the same in all segments, the sendy state responses are 0, 2) = 3040 20) as > 90) = 2040 20) 0) [A response consisting primarily of the thd-modecontbuton woud be capeted qualitatively because the steady-state postions closely resemble theshape othe hed nod. The modal damping slowest in the third mode, fad the stand second modes have higher frequencies. Hoth conditions tend to make the lowest frequency mode dominate the response. The intl ‘ely in thet respomse relative to the 8 eipose i alo typi: recall thatthe ep moments applied to dik 3. ‘Ava note onthe modal aly ofthe thre-sk sstem, coe sider the response when the ep moment i applied to disk I. To this ‘ase, thestendy-stte responses of all modes wil be identical because the moment inte sscond and third safes er. This spose showa pre 31 Response rs independent arises in Fig 32. When the step momen is applied to dik 1, te presence ofthe ‘gher-requeney modes is more apparent, particulary inthe response Tn many instances, the damping Tair nota nea combation ‘of the must and stines matics This stanton in refered 10 a8 honproportional damping. Solutions tothe mods-analsis problem are Sil obtainable with a ore comps procedure dan i ocluded hee The proedure requires recasting the oviginal n second-order diferent ‘sustons of modon into 2 s-order diferent equations of motion, To Re I ‘Occasional sytem wll poses repented eigenvalue. The chances ‘sucha occurrence are highe in textbook examples than they ae 3 ‘ctual systems. Nosetelos, the above method fils when ste hs two or more identical egenalue Foran extension ofthe above method "hak works for repel eigenvales, intrested readers are spun celerred toe a ime 32. Repose fhe ek ten 0 pp ik 34. Harmonie Forcing ‘The general mati equation of motion for & muliple-sgresoeeedom MEE Ce Ae 0) ‘When the steady-state solution of Eq, (150) fr karmonic Forcing is sought iti convenient to use the same approach as was previously tned for Ssngle-depreeatrestom systems. In terms of the + operator, Ea (150) can he rowriten (U2 ++ KW = FO) ash (K-a2M + loti) = Fla) 2) ‘The solution of Ea. (152) sobtined by premuliplying both sides of the auation by the fverse ofthe complex mat: Xia) = CaF + 100) 'FUo) ass) Evaluation of Ea. (132) requires inversion of a complex matrix and ‘mukipisation by the frsing matrix foreach frequency of inteert. For slut the simplest of systems and perhaps even forthe simplest of esters {hist good jo foradistaleompater The response, No) genera omples numer, ofa complex vector if evaluated for large umber of ‘Requenie Is most cs visualized ia terms ofan amplitude and phase gle As was the case withthe sagledeyre-offteedom system, the ‘magnitude of the response i the square root ofthe sum of the squares ‘tthe real and imaginary pats, the phe ange the inverse tangent ‘ofthe imaginary and rel part “Avan ample, come the thre astm of Fig. 29. Fo the b ‘monic reponse example, we wll consider the case of sinusoidal moment Spied to ds 1 otha the forcing function i tio) = Moti) 0 us 6 “Tie approach tothe solution ofthe MDOF harmonic forsing problem allo the damping matrix to have any values, ithout reard tthe Troportonaity requirement that wan needed Tor the above oreed sponse olution” For the example salon, we wl st abilead c=2000V] 12 ~ as hich is proportional the stifaess mars although, aindicated.it has0 ‘ewitementt be proportions n thi method. The sete damping matt ovis light damping for thissystem, Figures 38nd sow the resting Sopitade tion nd phase angle forall three response variable ‘As Fig. 33 shows the resonant frequencies correspond tothe stem satura frequencies computed eater and ate given by Eqs. (134) (13), Inaiton the response o ds 1 which slosated mos closely tothe rid ‘asin hit sytem, exhibits two antrevonancer, at about 7 nd 1 08 ‘he nondimensioalized frequency sun The response of dak 2 exe ‘neantresonane at about 71 onthe nondimersonlized frequency 38 Its also worth noting hat atthe thee resonant fequencs, the disk ‘motions have the same pase relationship during harmon forcing a they fave during free seme, ak indent by the natural mode shaper com: ‘ated eat fr thissyatem See (132) and Fig 30. The relate sharp "ransitons in the phase angle curves between angles of about 0, 180 Soo" and ~$40" are characterise of lighly damped systems Pinre 9. Amplinde rat fr hernn epons of he-k ae 35. stabity “Thesabily of ner single degree recdomystemmodelcan be deter: rial by inspection of the equation of motion Ifthe eoefsients of the Feafonie arable ands tine derivatives have the same sign, then the sy temisstable. The situation snot so simple for mulpl-degres-o freedom ‘pstoms Foran MDOF system, the equations of motion sannot be ealy inspected to determine system sabi Tes particulary important when Performing harmonic response analyse, show i the previous secon thar thestabity of complex system be detesmined. The harmonic analysis resents results that may appea tobe perfectly reasonable ven for usable ‘ystems. Asa furtber cation, man common mechanical systems ean xb instability under certain crcumsanees. Rotting machine. Sulomotie, rin, seal wings, and bridges ae well know to possess Potentials for insta. Ta some cases, stability deteminaton sth primary, and oeasonally ‘he only eson for analysing sytem In these stations, the performance Sf asptem s deme suitable is stable, sd the forced of fe response Iay never be computed Other times, when a sytem exists im hardware ee 34 Phase angle carmen rapons of hed stem. nn observed to be unstable stbiltyanalpsiscan indicate the sources of The problem and focus on remedial actions. “The Rouh- Hurwitz rerio [20 provides a method of determining the stability of ynem without the neces of Boding ous f the charac: tert polynomial, This method wors wel for small systems and can po- ‘ide considerable night ito stably boundaries Tan say has acess to computer rstines capable of performing system dynamics or vibration analyse, then 4 raightforward snd easly "complished system stability check can be performed by computing the Toots of the characteristic equation, which are aso cll tbe stem "Heenslue, This proces was demonstened i the olution ofthe unforced SDOF system. See Eq. (5) To general, the eigenvalues are comple, posesing bt el and imaginary prt. Note hat the egenals om buted in the proses of determining 4 sytem’: natral modes were real Seca of the method sed to formulate the eigenvalue problem, which ignored daring dhe system eigenvalues hae no poste real pars, then the systems stable, Recall hat a system wll possess a response mode of the Fem une (36) sos has positives component, then the esponse grows boundless with [A number of perfectly good formulations of the dampesjtem cieenvalue problem fxs, so 90 Tormulatio i uigue. One approach i to.asemble «dynamical maria, D, rom the mass, damping, na siffess mates ofthe stem by computing a= [-mte -Mee] am 1B. (157), isthe entity mati and Osa mates of zs ofthe same Aimension a8 M, C, and K. This formation ofthe eigewalue problem hav the advantage of ietly producing eigenvalues that can be interpreted ‘response modes ascording to Eq, (156) For two dileent, but useful focmltons ofthe egeovalue problem, sce Refs 11 and 21, The cha =o ass) nd the roots ofthe characteristic equation ate the system eigenvalues ‘Asan example, conser the damped, thresh rotational stem sed inthe above modahanass example, For this sysiem, the mati guation of motion fora sep moment on dsk 3 canbe weiten as Ado 8 hag) is) ‘Computation of te cigeovalus considers only the system mates nd not the forcing vector. Carrying out the operations indicated in Eq, (157 (0 bush the dyamical mate ves aa) where the D matrix is shown partiond to ilustete the submaties. ‘andamenals ot Vbratons | “The igenvalesof D are thre complex conjugate prs coresponding re ieee esate ere 2403 412500 240 “13500 0550 410067, =05090 *1.00471 Snoser 403528 Sans? “039% ast) ‘The system is sable, 1s we have aeady sen, because all el pars of he penal ae negative. The egeavluey of, (161) can te rlted 10 the modal natural fequensin and damping ratios alendy determined ‘by ning that | a) 263) Ir he real prt of ay eigenvalue computed from the dynamical matrix of Fy. (157) postive thea the systems uasabe. From Eq (163), ea ‘ obsered that any eigenvalue having posisve real part would have ‘an assocated damping rato that is negative, meaning that ener is added ‘othe system rather than dispated the, 3) element ofthe ming matrix fo thisexampleismodied, sch that (as) 16 -08 0-08 ol [tt Ne ‘hen the system eigenvalues are 1257 +1201 Tidsn Tass Loans Stones: Soars “otess ‘nwo: 303886 ows “03356 (ass) (One pai of eigenvalues has postive ral parts. Therefore, the sstem is ‘nea 44. METHODS FOR NONLINEAR SYSTEMS Subsaotil night can be gained from the aalsif linear system modes Furthermore many rstem opefate sh feuimes where they are described ‘ery wally linear system modes. Nonetheless, virtually all mechanical - tems hae rpm of operation tit cannot adequately be dented By I tr spem model, The extreme ranges of motion, paral large motions, are ikl to proce nonlinear exposes. Eglnerng materials ‘eld or separate tage sais soa sao that experiences suienty [beg dsplcementssubet to thse noise ees For snall motions near viscous damping models are prone to inadequately describe energy ‘sition mechanisms, hseae. of tion in contacting pert and Sainmagntede dependence of internal damping chaactersis. Av 8 ren, analyst are Tregenty faced withthe prxpets of desing with Donlinearsyrem mode A fuer of boaks are devoted to the sujet Of tbration of aoninear systems See for example, Rel. 2. 4, Lnearzation Nonlinear equations of motion ofthe systems of Figs. 6 and 7 were pre owly linearized to obtain near equations deiehing thse systems ‘The incnronton ete that was wed inthe earpls of Fen. 6 sod 7) am be generained by comsidering an arbitrary stem nonlseel s(0) ‘The Taslor sees expansion (10] 0) =e10) +8040) 196) “The approach sto approximate the nrlinea enprestion by taking the et. two terms of the expansion, whih are ear in'x. The ineariztion i ‘evformed about an operating ponte. I'x as smal, thenallx~ erm Ise to powers greater thin I wl be propresively smal “To lst the mst with simple stem consider he nonlin sping-mass system of ig 35. The spring has foree-dsplacement charac teri given by| Fae) sn ‘The response variable, iszero atthe location whee the force in he spring inser’ Therlore, the equilibrium positon of the ster it lrated a @ Potive value of © From the fee-bady dagram, the equation of notion OF this system is n+) me 6s) v oye ‘ecetody diagram Fute 35. Noolesseing-mas sem. ‘The eqlitvium posion ofthe system can be solved fom 105)

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