Modeling of vibration systems

Actual system

Physical modeling Tests

Make simple approximations
based on engineering judgement

Make design Physical model

decision
Choose physical Mathematical modeling Actual
parameters, Apply physical laws to response
change or augment obtain equation of motion
system if
necessary
Math model

Analysis
Predicted
Solve EOM to predict dynamic response
characteristics and time response
Modeling example (1)

rider
rider
vehicle
strut
wheel
tire
 Modeling example (2)
Helical gear pair

Equation of motion
M&x& + Cx& + K (t )( x − e(t )) = W
θ2
W
θ1
J2 M
rb2

rb1 C
C
J1
K(t)
K e
T1
T2

Physical model Physical model

 Modeling example (3)
There is “no unique” physical models for one
particular hardware
Example: A Forging hammer
 Example: Rotating unbalance
Cause: Small irregularities in the distribution of the mass in
the rotating component
Example: Building
 Example: Reciprocating engine
A reciprocating engine is mounted on a foundation as shown.
The unbalanced forces and moments developed in the engine
are transmitted to the frame and the foundation. An elastic
pad is placed between the engine and the foundation block to
reduce the transmission of vibration. Develop the vibration
model.
 Example: An automobile
An automobile moving over a rough road can be modeled
considering (a) weight of the car body, passengers, seats,
front wheels, and rear wheels; (b) elasticity of tires,
suspension; (c) damping of seats, front and rare suspensions.
 Engineering judgement
Modeling requires good “engineering judgement” and
“experiences” with hardware.

Purposes of model

Assumptions Modeling

Model complexity & limitations

Analysis techniques
 Degree of freedom (1)
Degree of freedom (DOF): The minimum number of
independent coordinates required to determine completely
the positions of all parts of a system at any instant of time.

Single degree of freedom systems

 Degree of freedom (2)
Single degree of freedom systems

Two degree of freedom systems

 Degree of freedom (3)
Three-degree of freedom systems
 Degree of freedom (4)
Infinite-number-of-degrees-of-freedom systems
(continuous or distributed systems)

Increasing number of degrees of freedom

• More accurate result
• More complexity
 Equations of motion
Procedures

(1) Geometry
Define coordinates and their positive directions
Note degrees of freedom (DOF)
Write geometric constraints and compatibility
(2) Kinematics
Write necessary kinematic relations
(3) Force equations
Draw free-body diagram
Apply Newton’s 2nd law on the free body
(4) Combine all relations
Example 1: A spring-mass system (1)

kΔ
Unstretched k(Δ+x)
Position Δ Static equilibrium
x Position
m m
m
x& &x&
mg
mg

(1) Geometry
x = mass position measured from equilibrium position
1 DOF, only 1 EOM required
(2) Kinematics
position, velocity, and acceleration are x, x&, &x&
Example 1: A spring-mass system (2)

kΔ
Unstretched k(Δ+x)
Position Δ Static equilibrium
x Position
m m
m
x& &x&
mg
mg

(3) Force equations

At equilibrium [∑ F = 0] mg − kΔ = 0 ; mg = kΔ
During vibration [∑ F = ma ] mg − k (Δ + x) = m&x&

(3) Combine all relations

EOM: m&x& + kx = 0
Example 1: A spring-mass system (3)

kΔ
Unstretched k(Δ+x)
Position Δ Static equilibrium
x Position
m m
m
x& &x&
mg
mg

• What if x is measured from the other positions?

• What if there are the other forces applied to the system?
• What if a damper is added to the system?
 Example 2: m-c-k systems (2DOF) (1)
k1 k2

m1 m2 f(t)
c1 c2
l1
x1 x2
l2

(1) Geometry
l1, l2 = positions of m1 and m2 measured when both springs are
unstretched
x1, x2 = positions of m1 and m2 measured from their unstretched
positions
2 DOFs, 2 EOMs required
(2) Kinematics
x1 , x&1 , &x&1 and x2 , x& 2 , &x&2 for mass m1 and m2
 Example 2: m-c-k systems (2DOF) (2)
k1 k2 k1 x1 k 2 ( x2 − x1 )
f(t) m1
m1 m2
c1 x&1 c2 ( x&2 − x&1 )
c1 c2
l1 k 2 ( x2 − x1 )
x1 x2
m2 f(t)
l2
c2 ( x&2 − x&1 )

(3) Force equations

[∑ F x = ma x ] k 2 ( x2 − x1 ) + c&2 ( x&2 − x&1 ) − k1 x1 − c1 x&1 = m1 &x&1

f (t ) − k 2 ( x2 − x1 ) − c&2 ( x&2 − x&1 ) = m2 &x&2

In matrix form, EOM is

⎡m1 0 ⎤ ⎡ &x&1 ⎤ ⎡c1 + c2 − c2 ⎤ ⎡ x&1 ⎤ ⎡k1 + k 2 − k 2 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤

⎢0 ⎥ ⎢ ⎥ +⎢ ⎥ ⎢ ⎥ +⎢ ⎥ ⎢ ⎥ =⎢
⎣ m2 ⎦ ⎣ &x&2 ⎦ ⎣ − c2 c2 ⎦ ⎣ x&2 ⎦ ⎣ − k 2 k 2 ⎦ ⎣ x2 ⎦ ⎣ f (t )⎥⎦
Example 2: m-c-k systems (2DOF) (3)
In matrix form, EOM is

⎡m1 0 ⎤ ⎡ &x&1 ⎤ ⎡c1 + c2 − c2 ⎤ ⎡ x&1 ⎤ ⎡k1 + k 2 − k 2 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤

⎢0 ⎥ ⎢ ⎥ +⎢ ⎥ ⎢ ⎥ +⎢ ⎥ ⎢ ⎥ =⎢
⎣ m2 ⎦ ⎣ &x&2 ⎦ ⎣ − c2 c2 ⎦ ⎣ x&2 ⎦ ⎣ − k 2 k 2 ⎦ ⎣ x2 ⎦ ⎣ f (t )⎥⎦

or simply
M
x
C
x
K
x
F
(
)
&& + &+ = t

where M is “mass or inertia matrix”

C is “damping matrix”
K is “stiffness matrix”
x is position vector
F is input vector
Example 3

Draw the free-body diagram and

derive the EOM using Newton’s
second law of motion
 Example (4)
Derive the EOM of an airplane’s steering-gear mechanism for
the nose wheel of its landing gear. The mechanism is modeled
as the single-degree-of-freedom system illustrated in the figure.
[Inman/1.49]
 Example (5)
A Spring-loaded homogeneous plate of mass m pivots freely
about a vertical axis through point O. Derive the EOM.
[J.L.Meriam & L.G.Kraige /8.83]
Given: JG = (1/6)ml2
 Example (6)
The uniform solid cylinder of mass m and radius r rolls without
slipping during its oscillation on the circular surface of radius R.
Derive the EOM. [J.L.Meriam & L.G.Kraige /8.93]