CHAPTER 02

Review of Vibration Fundamentals

ME 708
708 Techniques for Vibration Control and Isolation

Prepared by Asst.Prof.Dr.
Asst.Prof.Dr. Gökhan
Gökhan O. Özgen
Fall 2012-
2012-201
2013
3
Monday 09:40-11:30 @ B202
Department of Mechanical Engineering
Middle East Technical University
06531 AnkaraTURKEY

ME 7708
08 Techniques for Vibration Control and Isolation
1

1. Introduction

Mechanical vibrations
 Oscillatory displacements or deformations of a mechanical system
around a defined equilibrium position.

Animations courtesy of Dr. Dan Russell, Kettering University

ME 7708
08 Techniques for Vibration Control and Isolation
2

1
 1. Introduction

 Vibrations can occur in the engineering systems where dynamic

forces are existing.

 In order for vibrations to occur, mechanical system must have an elastic

behavior.
 Elasticity is the ability of a mechanical system which is deformed under the
action of external forces, to recover its original undeformed state when it
is unloaded.
 The simplest example for an elastic member is a simple elastic spring.

 Inertia plays an important role in vibration behavior (recall basic

dynamics)

ME 7708
08 Techniques for Vibration Control and Isolation
3

1. Introduction

 Most real structures and systems behave as multiple degrees of

freedom (DOF) systems.
 Many2
resonances, many mode shapes.
10

|H |
1 1 0
10

-2
10
0 200 400 600 800 1000 1200 1400

Animations courtesy of Dr. Dan Russell, Kettering University

ME 7708
08 Techniques for Vibration Control and Isolation
4

2
 1. Introduction

 Great deal of time is spent on single DOF (SDOF) systems before

working on multi DOF (MDOF) systems.

WHY?

 SDOF system is the building block for modeling MDOF systems.

ME 7708
08 Techniques for Vibration Control and Isolation
5

1. Introduction

 SDOF System
 Single Equation of motion
 Second order ordinary
differential equation (ODE)
mx  cx  kx  f (t )
 MDOF System (with N DOF)
 N equations of motion
 N Second order ordinary
differential equations (coupled)
 THROUGH MODAL ANALYSIS M x  C x  K x   f (t )
 N uncoupled ODES
 N equivalent SDOF systems
defined in MODAL
COORDINATES
ME 7708
08 Techniques for Vibration Control and Isolation
6

3
 1. Introduction
Forced Response of a SDOF system (Particular
Solution)
 Excitation in form of a force persisting for an extended period of time.
 RESULT: FORCED RESPONSE (PARTICULAR SOLUTION)

 Response due to initial condiitons: TRANSIENT RESPONSE, FREE

VIBRATION RESPONSE (HOMOGENIOUS SOLUTION)

FORCED RESPONSE+ TRANSIENT RESPONSE = TOTAL RESPONSE

 W
We will
ill start
t t with
ith the
th simples
i l form
f off excitation:
it ti SIMPLE HARMONIC
 Then comes PERIODIC excitation (Can be defined in terms of multiple
harmonic functions using Fourier Series)
 NON-PERIODIC excitation: CONVOLUTION INTEGRAL
 LAPLACE TRANSFORM may also be used to calculate total response
for any non-periodic excitations for given initial conditions.
ME 7708
08 Techniques for Vibration Control and Isolation
7

4
 Laplace Transformation
• Consider a sample system with an input r(t) and an output y(t)
d 3 y (t ) d 2 y (t ) dy (t )
a3 + a2 + a1 + a0 y (t ) = r (t )
dt 3 dt 2 dt
¾ The physical input-output relation is not explicit.
¾ We have to apply a suitable ODE solution technique to find y(t) for a given
r(t), which can be quite time consuming.

• Applying Laplace transformation to both sides of this equation we obtain

an algebraic equation that relates the input and output

Solve Y(s)
Y ( s) M ( s) = R( s) → Y ( s) = G ( s ) R( s)

¾ Input-output relationship is more explicit: Physical insight.

¾ Inverse Laplace transformation gives us the output y(t) (solution of the DE) in
the time domain.
3
 Laplace Transformation II
• Laplace transformation is an integral transformation:

∞
L[ f (t )] = F ( s) = ∫ f (t )e − st dt
0

Function of time, t Function of Laplace variable, s

∞
where for the real function f(t) → ∫ f (t )e − σt dt
0

4
 Examples
• Laplace transform of a unit step function:

Unit step function : f(t)=1 for t >0

f(t) f(t)=0 for t <0

∞ ∞

L[ f (t )] = L[1] = ∫ (1)e dt = − 1 e − st
− st
=
1
time, t 0
s 0 s

5
 Examples II
L[ e ]= ∫ e
∞ ∞ ∞
−α t −α t − st − (α + s )t 1 − ( s +α )t 1
• Exponential Function: e dt = ∫ e dt = − e =
0 0 s +α 0 s +α

Some transforms must be evaluated by integration by parts, partial fractions, or other creative
approaches.

∞
Unit ramp function: L [ t ] = ∫ te dt =
− st 1
•
0 s2

∞
• Cosine function: L[ cos(ω t ) ] = ∫ cos(ω t ) e − st dt = s
0 s2 + ω 2

There are transform tables available such as the one on the inside back cover of the book.

6
 Properties of Laplace Transform
• Laplace transforms take time-domain functions and transform them into
s-domain functions, where s is a complex variable:
s = σ + jω

Real part Imaginary part

• Multiplication by a Constant: L[kf (t )] = kF ( s)

• Sum and Difference: L[ f1(t ) ± f 2 (t )] = F1( s) ± F2 (s )

For more properties See Table 2-1.

7
 Differentiation
Subtract the
• Differentiation: L ⎡⎢ df (t ) ⎤⎥ = sF ( s) − f (0) initial condition
⎣ dt ⎦

First Derivative Multiply by s

• Example:
f (t ) = e −αt with f (0) = 1 and f& (t ) = −αe −αt
∞ ∞
L[ ]
&f (t ) = ∫ (−αe −α t )e − st dt = −α ∫ e − (α + s )t dt = − α
0 0 s +α

L[ ]
&f (t ) = − α = sF ( s ) − f (0)
?

s +α
s s s +α −α
sF ( s ) − f (0) = −1 = − =
s +α s +α s +α s +α
8
 Differentiation in General…
⎡ d 2 f (t ) ⎤
• Second Order Differentiation: L ⎢ 2 ⎥ = s 2 F ( s) − sf (0) − f& (0)
⎣ dt ⎦

• General form for higher order derivatives is similar to the expression above. See Table 2-1

• Differentiation in the time domain is equivalent to multiplication of the

Laplace transform of the original function by s.
¾ In the time domain, we work with differential equations
¾ In the s-domain, we work with algebraic equations

9
 Example
• Consider the second order vibrating system (say, this is our plant):

r(t), input (force)

y(t),
output (disp.)
m

k c

[ Assuming zero initial conditions ]

( ms2 + cs + k ) Y (s) = R(s)

Laplace Transform
m&y&(t ) + cy& (t ) + ky (t ) = r (t ) ⇒

R( s ) Solution of the sytem

Y ( s) = response (output) in Can we go back to the time domain?
2
ms + cs + k the s-Domain

10
 Inverse Laplace Transform…
• …is, given the Laplace transform F(s), obtaining the time function f(t)
through the following integral equation.

c + j∞

f (t ) = L-1 [F(s)] =
1
∫ F ( s )e st ds
2πj c − j∞

• Solving this integral is not a practical approach for a complicated function

like Y(s).

• If we can break a function like Y(s) into simple components which exist in
the Transform pair table, we could avoid using equation above.

• Partial-fraction expansion can be used for this purpose.

11
 Partial-Fraction Expansion
• Consider the rational function G(s) (similar to Y(s)):

Q( s)
G ( s) =
P( s)

¾ it is assumed that P(s) and Q(s) are polynomials with constant coefficients.
¾ also, the order of P(s) is assumed to be greater than that of the Q(s).

P( s ) = s n + an −1s n −1 + L + a1s + a0

12
 Partial-Fraction Expansion II
• CASE 1: Y(s) has n simple poles. Pole: values of s that make the
denominator of Y(s) equal to zero.

Q( s)
G ( s) =
( s + s1 )( s + s2 ) L ( s + sn )

• Y(s) can be rewritten as follows:

C1 C2 Cn
G ( s) = + +L+
( s + s1 ) ( s + s2 ) ( s + sn )

• Question: How do we find unknown coefficients of the fractions?

13
 Partial-Fraction Expansion III
• To solve for C1:
¾ Multiply both sides by (s+s1)
¾ Set s equal to -s1
¾ Find C1
¾ Repeat the same thing for all C’s.

• Once all constants are found, Laplace transform table can be used to find the time
domain counter parts of all fractional terms, i.e.
Transform
Cn Table
C1 C2
G (s) = + +L+ → g (t ) = C1e − s1t + C2e − s2t + L + Cn e − snt
( s + s1 ) ( s + s2 ) ( s + sn )

• Compare PFE approach with 1 c + j∞ ⎡ Q( s) ⎤ st

g (t ) = ∫ ⎢ ⎥ e ds
this integral: 2πj c − j∞ ⎣ ( s + s1 )( s + s2 ) L ( s + sn ) ⎦

14
 Example: PFE
• Example: Inverse Laplace transform the following s-domain function:

6 s + 12
G ( s) =
s 3 + 7 s 2 + 12s

• …Applying the PFE technique….

6s + 12 6s + 12 1 2 3
G(s) = = = + −
s 3 + 7 s 2 + 12 s s( s + 3)( s + 4) s s + 3 s + 4

• From Table of transform pairs:

g (t ) = 1 + 2e −3t − 3e −4t for t<0

15
 Partial-Fraction Expansion IV
• CASE 2: Y(s) has simple but complex conjugate poles.

Q( s ) s1 = −σ + jω
G ( s) =
( s + s1 )( s + s2 ) L ( s + sn ) s2 = −σ − jω

• Apply the same procedure where you have simple real poles.

• Coefficients of the fractions with conjugate complex poles will probably

turn out to be complex valued too.

16
 Example: PFE II
• Example: Inverse Laplace transform the following s-domain function:

1
G ( s) =
s 2 + 2s 2 + 2

• …Applying the PFE technique….

1 1 1 1
G ( s) = = = +
s 2 + 2s + 2 ( s + 1 + j )( s + 1 − j ) − 2 j ( s + 1 + j ) 2 j ( s + 1 − j )

• From Table of transform pairs:

g (t ) = e −t sin(t) for t>0

17
 Partial-Fraction Expansion V
• CASE 3: Y(s) has multiple-order poles.
EXAMPLE
Q( s)
G (s) =
( s + s1 )( s + s2 ) L ( s + sn − r )( s + si ) r G ( s) =
1
s ( s + 3)( s + 4)( s + 2)3

• Y(s) can be rewritten as follows:

C1 C2 Cn A1 A2 Ar
G ( s) = + +L+ + + +L+
( s + s1 ) ( s + s2 ) ( s + sn − r ) ( s + si ) ( s + si ) 2 ( s + si ) r

• Apply the same procedure for the terms for single poles (for C’s).

18
 Partial-Fraction Expansion VI
C1 C2 Cn A1 A2 Ar
G ( s) = + +L+ + + +L+
( s + s1 ) ( s + s2 ) ( s + sn − r ) ( s + si ) ( s + si ) 2 ( s + si ) r

• For the coefficients of the multiple-order pole terms use the following
formulas:

[
Ar = ( s + si ) r G ( s ) ] s = − si
[Eq. 2 - 40]

Ar −1 =
d
ds
[
( s + si ) r G ( s )
s = − si
] [Eq. 2 - 41]

Ar −1 =
1 d2
2! ds 2
[
( s + si ) r G ( s ) ]
s = − si
[Eq. 2 - 42]

A1 =
1 d ( r −1)
(r − 1)! ds ( r −1)
[
( s + si ) r G ( s ) ] s = − si
[Eq. 2 - 43]

19
 Example: PFE III
• Example: Inverse Laplace transform the following s-domain function:

1
G(s) =
( s + 1)( s + 2) 2

• …Applying the PFE technique….

1 1 1 1
G ( s) = = − −
( s + 1)( s + 2) 2 ( s + 1) ( s + 2) ( s + 2) 2

• From Table of transform pairs:

g (t ) = e −t − e −2t − te −2t for t>0

20
 Solution of Linear ODE via Laplace…
• Transform the differential equation to the s-domain.

• Manipulate the transformed algebraic equation to solve for the output Y(s).
¾ The input R(s) is specified ( step function, ramp function, harmonic, etc. ).
¾ Initial conditions should also be taken into account.

• Perform Partial Fraction Expansion (PFE) of the transformed algebraic equation.

¾ Perform this step if needed (if the output expression is not easily inverse Laplace
transformable).
¾ PFE allows us to decompose the solution into its characteristic modes.
¾ This is equivalent to identifying the homogeneous and the particular parts of the solution.
¾ The characteristic modes can be clearly interpreted in the s-domain.

• Obtain the inverse Laplace transform of the response using the Laplace transform
table.

2
 Example I: 1st order DE
• Recall the 1st order differential equation for the spring-damper
component.

dy r (t ) : input (force)
c + ky = r y (t ) : output (displacement)
dt

dy (0)
• Define initial conditions as: y( 0 ) = y0 and = y& 0
dt

• Question: Find the solution of this DE for a unit step input.

y(t) = ? for r(t) = u s(t)

3
 Example I : 1st order DE
• Laplace transforming both sides, we obtain:

L[c dy + ky] = L[r ]

dt

dy
cL[ ] + kL[ y ] = L[r ]
dt
csY ( s ) − cy0 + kY ( s ) = R( s )

• Finally the response in Laplace domain can be solved for as:

1 R( s) y0
Y (s) = +
c ( s + k c) ( s + k c)
4
 Example I : 1st order DE
• Recall that the input is a unit step function, i.e. R(s)=1/s. Also let’s
assume that the initial conditions are zero (y0 = 0) .

1 1
Y (s) =
c s ( s + k / c)

• Rewrite the response in PFE form.

C1 ⋅ u s (t ) C2 e − ( k c ) t

1 1 C1 C2
Y (s) = = +
c s ( s + k / c) s ( s + k c)

5
 Example I : 1st order DE
• PFE coefficients are found as follows:

⎡1 ⎤
C1 = [sY ( s )] s =0
1 1
=⎢ ⎥ =
⎣ c ( s + k c) ⎦ s =0 k

⎡1 1⎤
C2 = [( s + k c) Y ( s )] s = − k c = ⎢ ⎥
1
=−
⎣ c s ⎦ s =−k c k

• Finally the response is obtained as:

11 1 1 1 1 −(k c) t
Y (s) = − y (t ) = u s (t ) − e
k s k ( s + k c) k k

6
 Example I : 1st order DE
• Same as the solution from the “classical approach” that we have
discussed last lecture [ subsitute b0=1, a1=c and a0=k ].

1 1 −(k c) t
y (t ) = u s (t ) − e t >0
k k

• Plot the response for k=1 and c=1.

Unit step response of a sample 1st order system
1.5

t = 0.:0.05:10;
k=1; 1
c=1;
y=1/k-1/k*exp(-(k/c)*t);

y(t)
figure
plot(t,y); 0.5
xlabel('Time (t)')
ylabel('y(t)')
title('Unit step response of a sample 1st order system')
0
0 2 4 6 8 10
Time (s)

7
 Example II : 2nd order DE
• Consider the following differential equation.

d2y dy dr r (t ) : input
2
+ 7 + 12 y = 6 + 12r y (t ) : output
dt dt dt

dy (0)
• Define initial conditions as: y( 0 ) = y0 and = y& 0
dt

• Question: Find the solution of this DE for a unit step input.

y(t) = ? for r(t) = u s(t)

8
 Example II : 2nd order DE
• Laplace transforming both sides…

d2y
L[ 2 + 7 dy + 12 y ] = L[6 dr + 12r ]
dt dt dt

d2y
L[ 2 ] + 7L[ dy ] + 12L[ y ] = 6L[ dr ] + 12L[r ]
dt dt dt
0
s Y ( s ) − sy0 − y& 0 + 7 sY ( s ) − 7 y0 + 12Y ( s ) = 6 sR ( s ) − 6r (0) + 12 R ( s )
2

s 2Y ( s ) + 7 sY ( s ) + 12Y ( s ) = 6sR ( s ) + 12 R ( s ) + sy0 + 7 y0 + y& 0

( s 2 + 7 s + 12) Y ( s ) = (6 s + 12) R ( s ) + ( s + 7) y0 + y& 0

9
 Example II : 2nd order DE
• The response can be solved as follows.
(6s + 12) R( s ) ( s + 7) y0 + y& 0
Y (s) = +
( s 2 + 7 s + 12) ( s 2 + 7 s + 12)

• Recall that the input is a unit step function, i.e. R(s)=1/s.

(6 s + 12) ( s + 7) y0 + y& 0
Y (s) = +
s ( s 2 + 7 s + 12) ( s 2 + 7 s + 12)

• Factoring the denominator

(6s + 12) ( s + 7) y0 + y& 0

Y (s) = +
s ( s + 3)( s + 4) ( s + 3)( s + 4)

10
 Example II : 2nd order DE
• For zero initial conditions, response reduces to:

(6s + 12)
Y (s) =
s ( s + 3)( s + 4)

• Using PFE, the response can be written as the summation of three

fractions:

(6 s + 12) C1 C2 C3
Y ( s) = = + +
s ( s + 3)( s + 4) s ( s + 3) ( s + 4)

11
 Example II : 2nd order DE
• The solution in the time domain would be

y (t ) = L-1[Y ( s )] = C1 + C2 e −3t + C3e −4t

• Compute the PFE coefficients

⎡ (6 s + 12) ⎤
C1 = [sY ( s )] s =0 = ⎢
12
⎥ = =1
⎣ ( s + 3)( s + 4) ⎦ s =0 12

⎡ (6 s + 12) ⎤ −6
C2 = [( s + 3)Y ( s )] s = −3 = ⎢ ⎥ = =2
⎣ s ( s + 4 ) ⎦ s = −3 − 3

⎡ (6s + 12) ⎤ − 12
C3 = [( s + 4)Y ( s )] s = −4 = ⎢ ⎥ = = −3
⎣ s ( s + 3) ⎦ s = −4 4

12
 Example II : 2nd order DE
• Finally, the response is obtained as:

y (t ) = 1 ⋅ u s (t ) + 2e −3t − 3e −4t t >0

Forced part of the

response –
particular solution Transient parts of
the response –
homogeneous
solution

13
 Example II : 2nd order DE
• What if the initial conditions were not zero?

• Find the response for y0 = 1 and y& 0 = 1

• Response with non-zero initial conditions

(6 s + 12) ( s + 7) y0 + y& 0 (6 s + 12) s +8

Y ( s) = + = +
s( s + 3)( s + 4) ( s + 3)( s + 4) s( s + 3)( s + 4) ( s + 3)( s + 4)

• Combining two terms…

( s 2 + 14s + 12)
Y (s) =
s ( s + 3)( s + 4)
14
 Example II : 2nd order DE

• Compared to the response expression for zero initial conditions, the

numerator has changed.

• The denominator is the same, which means the functional form of the
response in the time domain does not change.

• For the PFE, the coefficients are going to be different for this case.

~ ~ ~
( s 2 + 14s + 12) C1 C2 C3
Y (s) = = + +
s ( s + 3)( s + 4) s ( s + 3) ( s + 4)

15
 Example II : 2nd order DE

~ ~ ~
• PFE coefficients are found as: C1 = 1 and C2 = 7 and C 3 = −7

• The response becomes:

y (t ) = 1 ⋅ u s (t ) + 7e −3t
− 7e
Solution with non-zero
initial conditions
−4t y (t ) = 1 ⋅u s (t ) + 2e −3t − 3e −4t
Solution with zero
initial conditions

• Initial conditions changes the transient behavior of the response.

• The steady state value is not affected (as time goes to infinity)

16