FUNDAMENTAL OF VIBRATIONS
VIBRATION ANALYSIS PROCEDURE
DR ANIL KUMAR
DEPARTMENT OF MECHANICAL AND INDUSTRIAL ENGINEERING
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CONTENTS
• VIBRATION ANALYSIS OF A PHYSICAL SYSTEM
• STEPS OF VIBRATION ANALYSIS
• ENERGY STORING (SPRING OR STIFFNESS) ELEMENT
• ENERGY DISSIPATING (DAMPING) ELEMENT
• INERTIA (MASS) ELEMENT
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VIBRATION ANALYSIS OF A PHYSICAL SYSTEM
• A vibratory system is a dynamic one as the variables such as the excitations
(inputs) and responses (outputs) are time dependent
• To understand the behaviour of a physical system we model it mathematically
• Usually, we make a discrete model representing it in terms of its basic elements
• Mass, Stiffness and Damping
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STEPS OF VIBRATION ANALYSIS
1. Mathematical modelling
2. Derivation of the governing equations
3. Solution of the equations
4. Interpretation of the results
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1. MATHEMATICAL MODELLING
• Represent all the important features of the system
• Include enough details to allow describing the system in terms of equations
• The mathematical model may be linear or nonlinear, depending on the behavior of
the system’s components
• Linear models permit quick solutions and are simple to handle
• However, nonlinear models sometimes reveal certain characteristics of the system
that cannot be predicted using linear models
• Sometimes the mathematical model is gradually improved to obtain more accurate
results
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MATHEMATICAL MODELLING
• In this approach, first a very crude or elementary model is used to get a quick
insight into the overall behavior of the system. Subsequently, the model is refined
by including more components and/or details so that the behavior of the system can
be observed more closely.
Modelling of a forging hammer
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2. DERIVATION OF GOVERNING EQUATIONS
• Use the principles of dynamics and derive the equations that describe the vibration
of the system
• Draw the free-body diagrams of all the masses involved
• The free-body diagram of a mass can be obtained by isolating the mass and
indicating all externally applied forces, the reactive forces, and the inertia forces
• The equations of motion of a vibrating system are usually in the form of a set of
ordinary differential equations for a discrete system and partial differential
equations for a continuous system.
• Newton’s second law of motion, D’Alembert s principle, and the principle of
conservation of energy
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3. SOLUTION OF THE GOVERNING EQUATIONS
• Solve the equations to find the response of the vibrating system
• standard methods of solving differential equations, Laplace transform methods,
matrix methods, and numerical methods
• Numerical methods involving computers can be used to solve the equations
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4. INTERPRETATION OF THE RESULTS
• The solution of the governing equations gives the displacements, velocities, and
accelerations of the various masses of the vibrating system
• These results must be interpreted with a clear view of the purpose of the analysis
and the possible design implications of the results
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MATHEMATICAL MODEL OF A MOTORCYCLE WITH A RIDER
• Develop a sequence of three mathematical models of the system for investigating
vibration in the vertical direction.
• Consider the elasticity of the tires, elasticity and damping of the struts (in the
vertical direction), masses of the wheels, and elasticity, damping, and mass of the
rider.
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keq: Stiffness of tire, strut and rider
ceq: Damping of struts and rider
meq: mass of wheels, vehicle body and rider
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ENERGY STORING (SPRING OR STIFFNESS) ELEMENT
• A spring is a type of mechanical link, which in most applications is assumed to have
negligible mass and damping
• In fact, any elastic or deformable body or member, such as a cable, bar, beam,
shaft or plate, can be considered as a spring
• A spring is said to be linear if the elongation or reduction in length x is related to the
applied force F as, F=kx
• k : spring constant or spring stiffness or spring rate
• The spring constant k is always positive and denotes the force (positive or
negative) required to cause a unit deflection (elongation or reduction in length) in
the spring
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ENERGY STORED IN SPRING ELEMENTS
• The work done (U) in deforming a spring is stored as strain or potential energy
in the spring, and it is given by, U= kx2/2
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EXAMPLES
• Stiffness of a rod
• Stiffness of a cantilever beam
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SPRING COMBINATIONS
• Case 1: Springs in series
• Case 2: Springs in parallel 𝑘𝑒𝑞 = 𝑘1 + 𝑘2
1 1 1
= +
𝑘𝑒𝑞 𝑘1 𝑘2
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ENERGY DISSIPATING (DAMPING) ELEMENT
• In many practical systems, the vibrational energy is gradually converted to heat or
sound.
• Due to the reduction in the energy, the response, such as the displacement of the
system, gradually decreases.
• The mechanism by which the vibrational energy is gradually converted into heat or
sound is known as damping.
• A damper is assumed to have neither mass nor elasticity, and damping force exists
only if there is relative velocity between the two ends of the damper.
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VISCOUS DAMPING
• Viscous damping is caused by such energy losses as occur in liquid lubrication
between moving parts or in a fluid forced through a small opening by a piston,
as in automobile shock absorbers. The viscous-damping force is directly
proportional to the relative velocity between the two ends of the damping
device.
F=Cv
F= damping force
C= damping constant
v= relative velocity
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COMBINATION OF DAMPERS
• Case 1: Dampers in parallel
𝑐𝑒𝑞 = 𝑐1 + 𝑐2
• Case 2: Dampers in series
1 1 1
= +
𝑐𝑒𝑞 𝑐1 𝑐2
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MASS OR INERTIA ELEMENT
• The mass or inertia element is assumed to be a rigid body; it can gain or lose
kinetic energy whenever the velocity of the body changes.
• From Newton’s second law of motion, the product of the mass and its
acceleration is equal to the force applied to the mass.
• Work is equal to the force multiplied by the displacement in the direction of the
force, and the work done on a mass is stored in the form of the mass’s kinetic
energy.
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