Vibration of Floating Structures Lecture 5

Indian Institute of Technology, Kharagpur
Ocean Engineering and Naval Architecture
VIBRATION OF FLOATING STRUCTURES
by
Dr. N. Datta
Teaching Assistants
Mr. R. K. Praharaj, Mr. A. Pal
Lecture # 5
Support Motion, Vibration Isolation, Rotating Unbalance
Main Machinery
Auxiliary Machinery
Transmissibility : Engine Mount
Excitation force : 𝐹 𝑡 = 𝐹0 𝑒 𝑖𝜔𝑒𝑡

The steady-state harmonic displacement of the mass is : 𝑥 𝑡 = 𝑋𝑒 𝑖𝜔𝑒𝑡
Governing Differential Equation (GDE) 𝑚𝑥ሷ 𝑡 + 𝑐 𝑥ሶ 𝑡 + 𝑘𝑥 𝑡 = 𝐹0 𝑒 𝑖𝜔𝑒 𝑡 … … 𝑁
Transmitted force to the ground 𝐹𝑇 𝑡 = 𝑘𝑥 𝑡 + 𝑐𝑥(𝑡)
ሶ
𝑇𝑟𝑎𝑛𝑠𝑚𝑖𝑡𝑡𝑒𝑑 𝑓𝑜𝑟𝑐𝑒 𝑘+𝑖𝜔𝑒 𝑐 𝑋𝑒 𝑖𝜔𝑒 𝑡 𝑘+𝑖𝜔𝑒 𝑐 𝑋𝑒 𝑖𝜔𝑒 𝑡
Transmissibility = = =
𝐸𝑥𝑐𝑖𝑡𝑎𝑡𝑖𝑜𝑛 𝑓𝑜𝑟𝑐𝑒 𝐹0 𝑒 𝑖𝜔𝑒 𝑡 (−𝑚𝜔𝑒2 +𝑖𝜔𝑒 𝑐+𝑘)𝑋𝑒 𝑖𝜔𝑒 𝑡
𝑘 2 + 𝜔𝑒 𝑐 2 1 + 2𝜁Λ 2
= =
𝑘 − 𝑚𝜔𝑒2 2 + 𝜔𝑒 𝑐 2 1 − Λ2 2 + 2𝜁Λ 2
1
Without damping, Transmissibility =
1−Λ2
Transmissibility ratio vs. Tuning factor
Support Motion : Vibration Isolation
The mass is supported by a linear spring and

a linear damper in parallel.
The support itself moves harmonically as :
𝑦 𝑡 = 𝑌𝑒 𝑖𝜔𝑒 𝑡
The main aim is to minimize the motion of
the body 𝑥 𝑡 .
Particular integral : Steady-State Solution
Newton’s 2nd law
Inertia force (mass × acceleration) = External force
𝑚𝑥ሷ 𝑡 = −𝑐 𝑥ሶ 𝑡 − 𝑘𝑥 𝑡 + 𝑐 𝑦ሶ 𝑡 + 𝑘𝑦(𝑡) … … … 𝑁
Governing Differential Equation (GDE)
𝑚𝑥ሷ 𝑡 + 𝑐𝑥ሶ 𝑡 + 𝑘𝑥 𝑡 = 𝑐 𝑦ሶ 𝑡 + 𝑘𝑦(𝑡) … … … 𝑁
Second-order, linear, non-homogenous, constant coefficient, ordinary differential
equation (ODE).
Assume 𝑥𝑃𝐼 𝑡 = 𝑋𝑒 𝑖𝜔𝑒𝑡 . (It oscillates at the excitation frequency).
Substituting in the GDE, 𝑋𝑒 𝑖𝜔𝑒𝑡 −𝑚𝜔𝑒2 + 𝑖𝑐𝜔𝑒 + 𝑘 = [𝑖𝑐𝜔𝑒 + 𝑘]𝑌𝑒 𝑖𝜔𝑒 𝑡
Amplitude ratio
|𝑋| 𝑖𝑐𝜔𝑒 + 𝑘 {𝑘 2 + 𝑐𝜔𝑒2 } 1 + 2𝜁Λ 2
= = =
|𝑌| −𝑚𝜔𝑒2 + 𝑖𝑐𝜔𝑒 + 𝑘 { 𝑘− 𝑚𝜔𝑒2 2 + 𝑐𝜔𝑒 2} 1 − Λ2 2 + 2𝜁Λ 2
𝑚𝑐𝜔𝑒3
The phase difference is 𝛼 = tan−1 .
𝑘 𝑘−𝑚𝜔𝑒2 + 𝑐𝜔𝑒 2
This is this phase difference between the support and the mass.
Displacement ratio vs. Tuning factor
If Λ > √2 , the mass displacement amplitude 𝑋 is always less than the support
displacement amplitude 𝑌, irrespective of the damping ratio 𝜁.
Rotating Unbalance
The big mass 𝑚 has a small unbalanced mass 𝑚𝑑 at
an eccentricity 𝑒 from the rotation axis. The internal
inertia of the unbalanced mass causes horizontal and
vertical forces in the big mass due to conservation of
momentum (no external force).
Reason for unbalanced mass : geometric non-
uniformity, material non-homogeneity, external
parts/appendages.
Displacement of the Big mass : 𝑥 𝑡
Displacement of the unbalance mass : 𝑥 𝑡 +
𝑒𝑠𝑖𝑛𝜔𝑡
Newton’s 2nd law :

Inertia force (mass × acceleration) = External force
𝑑2
𝑚 − 𝑚𝑑 𝑥ሷ 𝑡 + 𝑚𝑑 2 {𝑥 𝑡 + 𝑒𝑠𝑖𝑛𝜔𝑡} = −𝑐𝑥ሶ 𝑡 − 𝑘𝑥 𝑡 … … … … 𝑁
𝑑𝑡
⟹ 𝑚 − 𝑚𝑑 𝑥ሷ 𝑡 + 𝑚𝑑 𝑥ሷ 𝑡 − 𝑚𝑑 𝑒𝜔2 𝑠𝑖𝑛𝜔𝑡 = −𝑐 𝑥ሶ 𝑡 − 𝑘𝑥 𝑡 … … … … 𝑁
Governing Differential Equation (GDE)
𝑚𝑥ሷ 𝑡 + 𝑐 𝑥ሶ 𝑡 + 𝑘𝑥 𝑡 = 𝑚𝑑 𝑒𝜔2 𝑠𝑖𝑛𝜔𝑡 … … … 𝑁
Particular integral : Steady-State Solution
Second-order, linear, non-homogenous, constant coefficient, ordinary differential
equation (ODE).
Assume 𝑥𝑃𝐼 𝑡 = 𝑋𝑠𝑖𝑛𝜔𝑡. (It oscillates at the excitation frequency).
Substituting in the GDE,
𝑋𝑒 𝑖𝜔𝑡 −𝑚𝜔2 + 𝑖𝑐𝜔 + 𝑘 = 𝑚𝑑 𝑒𝜔2 𝑒 𝑖𝜔𝑡
𝑚𝑑 𝑒𝜔2
⇒𝑋=
2
𝑘 − 𝑚𝜔2 + 𝑐𝜔 2
𝑋 𝑚 𝑚𝜔2 /𝑘 Λ2
⇒ = =
𝑒 𝑚𝑑 2 1 − Λ2 2 + 2𝜁Λ 2
𝑚𝜔2 𝑐𝜔 2
1− 2 +
𝑘 𝑘
𝑋 𝑚 Λ2
With zero damping, =
𝑒 𝑚𝑑 1−Λ2
Phase difference between the rotating unbalance mass and the big mass displacement :
−2𝜁Λ
tan𝛼 =
1 − Λ2
Rotating Unbalance vs. Tuning factor
Wheel Balancing against Rotating Unbalance
End of Lecture #5
Thank you

Vibration of Floating Structures Lecture 5

Uploaded by

Copyright:

Available Formats

Vibration of Floating Structures Lecture 5

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Vibration of Floating Structures Lecture 5

Uploaded by

Copyright:

Available Formats

Indian Institute of Technology, Kharagpur

Ocean Engineering and Naval Architecture

VIBRATION OF FLOATING STRUCTURES

Excitation force : 𝐹 𝑡 = 𝐹0 𝑒 𝑖𝜔𝑒𝑡

The mass is supported by a linear spring and

Newton’s 2nd law :

You might also like