Vibration Suppression and Control: William J. Palm III

William J.
Palm III : Mechanical Vibration
7. Vibration Suppression and Control
 Acceptable vibration levels

 Sources of vibration
 Isolator design for fixed-based systems
 Isolation with base motion
 Dynamic vibration absorbers
 Active vibration control
 Chapter review
Outline
This chapter considers how to design systems to eliminate or at least reduce
the effects of unwanted vibration.
Pukyong National University Intelligent Mechanics Lab.

Introduction
 Elimination or reduction of source causing the vibration :
 Balancing translating or rotating masses
 Minimizing clearances such as bearings and pin joints
 Streamlining objects exposed to wind or currents
 Redesign of the system :

 Changing the natural frequency
 Dissipating the energy of vibration by adding damping Wheel Weight
 Oil and friction dampers

 Damping treatments which is coatings of damping materials
 Isolating the source by using isolator
 Using a vibration absorber
 Using an active control system

Acceptable Vibration Levels
 What levels of vibration are harmful? Log-Log scale

 What levels affect health and comfort?
Vibration Nomographs
 For harmonic motion,
x(t )  A sin(t   )
x (t )  A cos(t   )
x(t )   A 2 sin(t   )
 Amplitude :
x  A, x   A   x ,
Vibration Nomograph
x   2 A   2 x   x
log x  log   log x  Velocity amplitude as a function of frequency  for given

displacement amplitude. All having a slope of +1
log x  log   log x
 Velocity amplitude as a function of frequency  for given
log x  log x  log  acceleration amplitude. Family of lines has a slope of -1

Vibration Nomograph

Vibration Nomographs : Example

 Maximum allowable amplitudes of displacement, velocity and acceleration
 Boundary formed by lines corresponding to these maximum values defines
the allowable operating region for the system
 Acceleration values are often

quoted as root mean square
(rms) values
For harmonic acceleration,
a
arms 
2
 Log-Log scale
Specification of vibration levels on nomograph

Effects of Vibration on People
 Difficult to quantify effects precisely, partly because of individual variability and
subjective responses in some cases
 Immediate mechanical damage to the body
 Longer-term health effects  Discomfort
 Maximum acceleration amplitude : limit most often specified for comfort & health
often specified by gravitational acceleration constant g
 Maximum displacement amplitude :
often a function of available space,
not usually related to discomfort
People fatigue
 Above 9kHz : beyond threshold of most quickly
perception by humans
 Tolerance of vibration : depend on

frequency and acceleration
Acceleration Comfort Level

0.03 g Not uncomfortable Duration
0.03 ~ 0.08 g Somewhat uncomfortable
0.08 ~ 0.13 g Uncomfortable
0.13 ~ 0.2 g Very uncomfortable 4 8
> 0.2 g Extremely uncomfortable

Effects of Vibration on People
 Safe Exposure Limit
 Recommended vertical acceleration limit to avoid health problems

when exposure time is 8 hours
 Vibration below the reduced comfort level allows activities
such as reading, writing and eating to take place comfortably

What are the Exposure Action and Limit Values (EAV/ELV)?

 The Control of Vibration at Work Regulations 2005 require you to take specific action
when the daily vibration exposure reaches a certain action value.
 Exposure Action Value (EAV) is a daily amount of vibration exposure above which
employers are required to take action to control exposure. The greater the exposure
level, the greater the risk and the more action employers will need to take to reduce
the risk. For hand-arm vibration the EAV is a daily exposure of 2.5 m/s2 A(8).
 Level of vibration exposure that must not be exceeded: Exposure Limit Value (ELV)
ELV is the maximum amount of vibration an employee may be exposed to on any
single day. For hand-arm vibration the ELV is a daily exposure of 5 m/s2 A(8).
 The Regulations allow a transitional period for the limit value until July 2010.
 Taken all reasonably practicable actions to reduce exposure as much as you can.
How vibration level and duration affect exposure (www.hse.gov.uk)

Sources of Vibration
 Vibration can be caused by many types of excitation:
 Hydraulic and aerodynamic forces due to fluid flow
 Reciprocating machinery
 Rotating unbalanced machinery
 Motion induced in vehicles traveling surfaces
 Ground motion caused by earthquakes
Machine Primary Motion Vibration Type

Fans, Blowers Rotation Sinusoidal
Centrifugal Pumps
Compressors
Generators, Motors
Turbines, Lathes
Washing machines
Piston Engines Reciprocation Sinusoidal
Reciprocating Pumps
Screening Machines
Weaving machines
Forging Hammers Impact Transient
Molding Presses
Punching Machines

Vibration Induced by Fluid Flow
 Generated by forces exerted on object by fluid motion
 Motion of vibrating object can alter fluid flow conditions, thus changing fluid forces
 Examples of vibration caused by fluid motion :
 Wave action on structures
 Vortex-induced vibration
 Vibration caused by internal flows such as flow through pipes, horses with bends
 Structural vibration caused by fluctuating aerodynamic forces such as turbulence

Vortex-Induced Vibration
 Fluid flowing over object can sometimes separate from downstream side of object
 Vortices shed alternately from top and bottom of object, produces oscillating lift
 Resulting vibration of cylinder :
 Increase lift force generated by shedding vortices
 Cause shedding frequency to shift from that occurring with stationary cylinder
to natural frequency of cylinder
 Increase drag force on cylinder
 Change vortex pattern
Lift
Upstream Drag Downstream

Vibration from Reciprocating Engines

 Vibration of reciprocating engines caused by
 Unbalanced motions of piston, connecting rod, crank
 Fluctuating steam or gas pressure in cylinder
 Vibration is transmitted to chassis or foundation by engines
and crankshaft undergoes torsional vibration
 Designers try to balance engines as much as possible

but it’s not possible to eliminate all vibration
 Counterweight
 Piston displacement & acceleration for single cylinder :
 R2   R 
x p (t )   R    R  cos  t  cos 2 t 
 4L   4L 
 R 
x p (t )  R 2  cos  t  cos 2 t 
 4L 
 Excitation frequency : , 2
 This analysis is for single-cylinder, ignores dynamics
of crank & connecting rod, lateral force and effects of
pressure variation

Isolator Design for Fixed-base Systems
 Excitation acts on mass whose resulting motion will produce vibration
in adjacent objects unless it is isolated
 During forging hammer strikes object to be formed
 Impact can damage supporting structure and floor if system is not properly designed
 To isolate the vibration transmitted, insert isolator between

supporting structure and mass being excited
 Consider design of isolator
 Excitation : force transmitted to mass by vibration, Force isolation
 Excitation : motion transmitted to mass by vibration, Displacement isolation
Force transmitted Displacement transmitted

Fixed-Base Model
 Isolation system model which includes the mass of base :
 m2 : base or foundation mass
 k2 : stiffness of floor or other supporting structure
 Force f(t) is transmitted completely to base mass
 Isolation system model which treats the base as fixed :

 m2 : very large ( )
 k2 : very stiff ( )
 Example : concrete foundation
Pumping Station

Isolation for Harmonic Excitation

 Equation of motion : mx  cx  kx  f (t )
 Force transmitted to base : f t  cx  kx
 Transfer function :
X ( s) 1 Ft ( s) Ft ( s) X ( s) cs  k
 2   2
F ( s) ms  cs  k F ( s ) X ( s) F ( s ) ms  cs  k
 Frequency transfer function :

X (i ) 1 Ft (i ) k  ci
 
F (i ) k  m 2  ci F (i ) k  m 2  ci
 Amplitude ratio :
X 1 1 1
 
F (k  m 2 )2  (c )2 k (1  r 2 )2  (2 r )2  Displacement transmissibility
Ft k 2  (c )2 1  (2 r ) 2
   Force transmissibility
F (k  m )  (c )
2 2 2 (1  r 2 ) 2  (2 r ) 2
c  
 , r 
2 mk n k /m

Displacement Isolation for Harmonic Excitation

 Static deflection caused by constant force F :
 Force transmitted to base :  st  F / k
 Nondimensional amplitude ratio : Displacement
Transmissibility
kX X 1
 
F  st (1  r 2 )2  (2 r ) 2
 At high forcing frequency, response

amplitude approaches zero
 System’s inertia prevents it from Amplification
following a rapidly varying forcing
Isolation
function
 This effect is due primarily to system’s
inertia, not its damping
 If m is given, must choose k so that not close to r = 1 to obtain good isolation

 In some cases, also increase or decrease mass m to improve isolation
 However, cannot decrease mass because minimized already for well-designed machine
 Whether or not increase mass depends on applications

Force Isolation for Harmonic Excitation

 All curves pass through r  2  1.414
 To obtain good force isolation,
to decrease transmitted force to Force
Transmissibility
foundation, need to make
Ft / F  Minimize
 Near resonance (r  1), Ft /F is highly

dependent on value of 
 When r < 1.414, increasing  will Isolation
decrease Ft /F  improve isolation
 When r > 1.414, Ft /F is not so highly

dependent on ,
decreases as  decreases
 If r > 1,  is small, then approximation formula

Ft 1 1  Tr
 2 , r2 
F r 1 Tr

Formulas for fixed-base harmonic excitation

Example : Undamped Isolator Design

Design an umdamped isolator for a 20 kg mass subjected to a harmonic forcing
function whose amplitude and frequency are 600 N and 17 Hz.
The isolator should transmit to the base no more than 10% of the applied force.
Determine the resulting displacement amplitude.
1  Tr 1  0.1
Tr  0.1, r2    11
Tr 0.1
 2 m 2
r  2 
2
n k
 Isolator stiffness :
m 2 20(2 17) 2
k 2   2.0744  104 N/m
r 11
 Displacement amplitude :
600 1 600 1
X   0.0029 m  2.9 mm
k r 2  1 2.0744 104 11  1

Isolation from Rotating Unbalance

 Equation of motion : Mx  cx  kx  f (t )
 Vertical component of unbalance force : f u  mRR sin R t
2
 Amplitude ratio : m  M , F  mRR2 ,    R

X X 1 1 1
  
F mRR2 (k  M R2 )2  (cR ) 2 k (1  r 2 ) 2  (2 r ) 2 c
 ,
2 Mk
Ft Ft k 2  (cR ) 2 1  (2 r ) 2  R
  Tr   r R 
F mRR2 (k  M R )  (cR )
2 2 2 (1  r 2 ) 2  (2 r )2 n k/M
System with rotating unbalance

Formulas for rotating unbalance

Example : Support Vibration due to Rotating Unbalance

AC motor runs at a constant speed, 1750 rpm. A motor mass of 8 kg is mounted
on a steel cantilever beam with 15 cm long, 10 cm wide, and 1 cm thick.
The rotating part of the motor has a mass of 4 kg and an eccentricity of 0.3 mm.
The damping ratio for beam is difficult to determine but  = 0.1.
Estimate the amplitude of vibration of the beam at steady-state.
Ewh3 2 1011  0.1 0.013

 Spring constant : k  3
 3
 1.4815 106 N/m
4L 4(0.15)
 System mass included 23% of beam mass :
M  M motor  0.23M beam  8  0.23(7.8  103 )(0.1)(0.01)  8.269 kg
 Unbalanced mass : m  4 kg
n  k / M  423rad/s, R  1750 rpm  183rad/s, r  R / n  183 / 423  0.433
F  mRR2  4(0.0003)(183) 2  40.4 N,   0.1
 Steady-state amplitude :
1 mRR2
X  3.3  105 m
k (1  r 2 )2  (2 r ) 2
 Total amplitude included static displacement :
3.3 105  8(9.8) /1.4815 106  8.59 105 m

Example : Support Vibration due to Rotating Unbalance
 For motor speed R  3500 rpm  366 rad/s,

forcing frequency very close to natural frequency r  R / n  366 / 423  0.865
 In this region, assumed value of  would be critical in amplitude calculation.

In practice, such a design must be avoided
 In vibration analysis, the most important

quantity to know is the natural frequency
Displacement
Transmissibility
 If natural frequency is not close to forcing
frequency, not usually necessary to know Resonance
precise amount of damping Region ( 20%)
Amplification
Isolation

Example : Isolation of a Motor

Motors are mounted to a base with an isolator consisting of an elastic pad.
Pad serves to reduce motor’s rotating unbalance force transmitted to the base.
A motor has a mass of 2 kg and runs at 5000 rpm.
Neglect damping in pad and calculate pad stiffness required to provide a 95%
reduction in force transmitted from motor to base.
 95% force reduction : Tr  0.05

1  Tr 1  0.05 R2 M
r 
2
  21 r  2  R2
2
Tr 0.05 n k
 Isolator stiffness :
R2 (5000  2 / 60) 2
k M 2 2  2.61104 N/m
r 21
 If pad’s damping is slight ( = 0.1), exact expression gives Tr = 0.07,
a 93% reduction that is close to desired value of 95%

Example : Transmitted Force

When machine is rotating at 3600 rpm, the effect of rotating unbalance is to exert
a force of 350 N on machine, whose total mass is 150 kg.
The isolator value are k  1.6 107 N/m,   0.3.
(a) Compute steady-state amplitude of displacement
(b) Compute magnitude of force transmitted to foundation at steady-state
mRR2  350 N, R  3600( 2 ) / 60  377 rad/s

350
mR  2
 2.463 103 kg m
(377)
R2 M 150
r  2  R2
2
 (377)2  1.333
n k 1.6  107
 Displacement :
mRR2 1
X   2.8 10 5 m
k (1  r 2 )2  (2 r ) 2
 Transmitted force :
1  (2 r ) 2
Ft  mR 2
 554 N
(1  r 2 ) 2  (2 r ) 2
R

Practical Isolator Design
 Commercially available isolator : mount, elastic material

 Vibration isolator design is to compute required values for material’s damping & stiffness
 Also, must take into account any requirements or constraints
on size, shape, weight imposed on mount by particular application
 Designers then must look at vendor catalogs for existing mounts and materials
that have values of damping & stiffness near required values
 If none can be found, there is often enough latitude to recompute another set of
damping & stiffness values  General case
 Other factors must also be considered such as cost, ease of installation, reliability,
and availability
 In many applications, inputs is not constant frequency, not harmonic
Example : reciprocating engines, vehicle suspension, earthquakes

Minimum Vibration Isolation Efficiency
Type of Equipment Critical Area: Non-Critical Areas:

Church, Restaurants, Laundries, Factories,
Stores, Office Bldgs, Subbasements, Garages,
Schools, Hospitals, Warehouses
Broadcasting Studios
Air-conditioners (self- 90% 70%
contained)
Air handling units 80% 70%
Compressors (centrifugal) 99% 80%
Compressors Up to 10 HP 85% 70%
(reciprocating) 15 – 50 HP 90% 75%
60 – 150 HP 95% 80%
Heating & Ventilating 80% 70%
Cooling Towers 80% 70%
Condensers Air cooled 80% 70%
Evaporative
Piping 90% 70%
Pumps Up to 3 HP 80% 70%
5 HP or over 95% 80%
Steam Generators (packaged) See selection guide See selection guide

Commercially Available Isolators

 Many companies offer vibration isolators which is a wide range of designs available
 Common type of isolator is made of rubber or another elastomer
Nonlinear springs
Rubber isolators Belleville springs
Nonlinear springs Hardening

with mechanical stops springs

Isolation with Base Motion
 Common input : motion of a base support (base excitation)
 Force transmitted to mass : ft  c( y  x )  k ( y  x)
 Equation of motion : mx  ft  c( y  x )  k ( y  x ) or mx  cx  kx  cy  ky
 Ratio of mass motion to base motion
X ( s) cs  k 2n s  n2
 2  2
Y ( s ) ms  cs  k s  2n s  n2
 Ratio of transmitted force to base motion
Ft ( s ) ms 2
 (cs  k ) 2
Y ( s) ms  cs  k
c  
 Dimensionless amplitude ratio :   , r 
2 mk n k /m
X 1  (2 r ) 2
  Displacement transmissibility
Y (1  r 2 ) 2  (2 r ) 2
Ft 1  (2 r ) 2
r 2
 Force transmissibility
kY (1  r 2 ) 2  (2 r ) 2
Ft X
 r 2 , Ft  r 2 kX
kY Y
 Displacement transmissibility X/Y :
 r  1(resonance region), curve is at maximum
 This means that maximum base motion is transferred to mass (amplification)
 If r  2, X / Y  1; r  2, X / Y  1
 If r  2, displacement transmissibility decreases as r,  are increased
 Force transmissibility Ft / kY :
 r  1(resonance region), curve is at maximum
 If r  2, force transmissibility does not necessarily decreases as r is increased
For example, if  = 1, this increases with r
 Formulas and plots can be used to design isolators to protect objects from
unwanted vibration

Amplification
Isolation

Formulas for base excitation

Example : Transmissibility of PCB

PCB (printed circuit board) supported by a chassis that is attached to vibrating
motor. The board is 1.6 mm thick, 178 mm wide, 200 mm long, mass of 0.45 kg.
Neglect damping, model the board as a fixed-fixed beam.
Determine its stiffness & natural frequency, and compute displacement
transmissibility if chassis vibrates at 60 Hz due to motor unbalance.
Young’s modulus of epoxy fiberglass board is E  1.38 1010 N/m 2
16 Ewh3 16 1.38 1010  0.178  0.00163

 Board stiffness : k 3
 3
 2.012 104 N/m
L 0.2
 Equivalent mass (= 1/2 of beam mass) : me  0.45 / 2  0.225 kg
2.012 104
 Natural frequency : n   299 rad/s
0.225
 60(2 )
 Frequency ratio : r    1.261
n 299
 Displacement transmissibility :
1
Tr   1.69 or 169%
1 r 2
PCB may be sensitive to vibration because vibration can loosen the soldered joints
attaching the components (resisters, capacitors)

Dynamic Vibration Absorbers
 Vibration Isolator :
 Device consisting of a stiffness and damping elements
 Intended to isolate one part of structure from an excitation or from another part
 Vibration Absorber :
 Useful for situation with constant forcing frequency
 Device consisting of another mass and a stiffness element that are attached
to main mass to be protected from vibration
 2 DOF system consisting of main mass and absorber mass
 Two natural frequencies
 If forcing and natural frequency are known, we can select values for absorber’s
mass and stiffness
 Vibration energy of main mass is transferred to absorber system
Then resulting absorber motion will be large
 Another term : dynamic vibration absorber or turned mass damper

Example of Dynamic Absorbers
m1 m2
Cantilever beams
m1 m2
Primary system Auxiliary system

Example of Dynamic Absorbers

 Devices that run at constant speed such as
saws, sanders, shavers, passenger cars, power lines,
buildings, bridges, devices powered by AC motors
Vibration absorber for tall building
Vibration absorber for exhaust pipe Stockbridge damper for power line

Analysis of Vibration Absorber

 Equation of motion : m1 x1  k1 x1  k2 ( x1  x2 )  f
m2 x2  k 2 ( x1  x2 )
(m1s 2  k1  k2 ) X 1 ( s )  k 2 X 2 ( s )  F ( s ) Main
mass
k2 X 1 ( s)  (m2 s 2  k 2 ) X 2 ( s )  0
X 1 (s) m2 s 2  k2
T1 ( s )  
F ( s ) (m1s 2  k1  k 2 )(m2 s 2  k 2 )  k22 Absorber
mass
X 2 (s) k2
T2 ( s )  
F ( s ) (m1s  k1  k2 )(m2 s 2  k 2 )  k 22
2
 Frequency transfer function : m2 2

1 
k2  m2 2
1 k2
T1 (i )  
(k1  k2  m1 2 )(k2  m2 2 )  k22 k1  k2 m1   m2 2  k2
1    1    
 k1 k1   k2  k1
1 1  r22
    
k1  k2 2 k2 r1   , r2  
 1   r1   1  r2   n1 n 2
2
k1 / m1 k2 / m2
 k1  k1


k2 1 1
T2 (i )  
(k1  k2  m1 2 )(k2  m2 2 )  k22 k1  k2 2 k2
 1   r1   1  r2
2
 
 k1  k1
 Define some parameters :
2 2 2
 m k m m k       n 2  
b  n 2 ,   2 , 2  2 1 2    n 2   b 2 , r12       b r2
2 2
n1 m1 k1 m1 k1 m2  n1   n1   n1 n 2 
 Frequency transfer function :

X 1 (i ) 1 1  r22 1 1  r22
T1 (i )   
F (i ) k1  1  b 2  b 2 r22   1  r22   b 2 k1 b 2 r24  [1  (1   )b 2 ] r22  1
X 2 (i ) 1 1
T2 (i )  
F (i ) k1 b 2 r24  [1  (1   )b 2 ] r22  1
 Both frequency transfer functions are real numbers
 Because X 1 ( s )  T1 ( s ) F ( s), we have X 1 (i )  T1 (i ) F (i )

 If f (t )  F sin t , steady-state motion of m1
x1 (t )  X 1 sin(t  1 ), X 1  T1 (i ) F If T1 (i )  0, X 1  0

If 1  r22  0, T1 (i )  0  r2  1
 Because r2 cannot be negative by definition, absorber design equation is given

by r2 = 1
 k2
r2   1 or n 2  
n 2 m2
 Thus mass m1 will be motionless if we select an absorber having same natural

frequency n2 as frequency  of applied force
 If this is done, absorber is said to be tuned to input frequency
 If r2 = 1, expression for T2 (i) becomes

X 2 (i ) 1 1 1
T2 (i )    
F (i ) k1 b 2  1  (1   )b 2  1 k2
 Thus, if absorber is designed so that r2 = 1, then

1
X 2 (i )  T2 (i ) F (i )   F (i )
k2
1
 Amplitude of absorber’s motion : X 2  X 2 (i )  F
k2

 Because transfer function T2 (i) is real and negative, absorber’s spring force
acting on main mass is
k2 ( x2  x1 )  k2 x2  k 2 X 2 sin(t   )  k2 X 2 sin t
 Because X2 = F/k2, k2 x2   k2 ( F / k2 )sin t   F sin t

 Thus, if absorber is tuned to input frequency and its motion has reached
steady-state, force acting on absorber’s mass has same magnitude F as
applied force but is in opposite direction
 Net force acting on main mass to be zero, therefore, it does not move
 In practice, allowable clearance for absorber’s motion X2 puts a limit on allowable
range of absorber’s stiffness k2
 Absorber’s stiffness k2 must be able to support force F and resulting compression
or extension X2
 Frequency range over which absorber is effective  k1 X 1 / F  1
1  r22
 By setting k1T1 (i )  1, k1T1 (i )   1
 1  b2  b2r22   1  r22   b 2
r2  1   , b 2 r24  (2  b 2   b 2 ) r22  2  0

Example : Sensitivity Analysis in Absorber Design

A machine with supports has a measured natural frequency of 3.43Hz.
Machine will be subjected to a rotating unbalance force of 13 N and
frequency of 3 Hz. Design a dynamic vibration absorber for this machine.
Available clearance foe absorber’s motion is 25 mm.
 Natural frequency of machine : n1  2 (3.43)  6.86 rad/s

 Frequency of applied force :   2 (3)  6 rad/s
 Absorber’s design requires that n 2    6

k2 k2
n 2   6  m2 
m2 36 2
 Maximum allowable clearance : 25 mm
F 13
0.025    k2  520 N/m
k2 k2
 Thus absorber’s mass :
k2 520
m2    1.46 kg
36 2
36 2
 If absorber’s natural frequency is not exactly equal to input frequency, main mass will vibrate
 Vibration amplitude depends on difference between input and absorber’s frequency

Example : Sensitivity Analysis in Absorber Design

Suppose main mass m1 = 7.3 kg in previous example.
Evaluate sensitivity of absorber design to variation in input frequency
 Absorber values from previous example : k2  520 N/m, m2  1.46 kg

 Natural frequency of machine : n1  6.86 rad/s n1 n 2
 Thus stiffness : k1  (6.86 ) 2 7.3  3391 N/m

Forcing frequency
 Resonance occurs when   n1 ,   n 2 (18.85 rad/s)
n1  16.22 rad/s, n 2  25.075 rad/s

 Mass ratio :   1.46 / 7.3  0.2
 Frequency ratio :
b  n 2 / n1  6 / 6.86  0.8746
 Frequency range : r2  0.946, 1.095, 1.708

 Since r2   / 6 ,   17.8, 20.7, 32.2 rad/s Frequency response plot
 First two frequencies define effective frequency range of absorber (17.8    20.7 rad/s)
 However, for discussing sensitivity of design to changes in forcing frequency from nominal value,
third solution ( = 32.2) is not needed for this analysis

Assignment : Vibration Absorber

Rotating unbalance of motor is at 3.15 rad/s.
Is vibration of M1 significantly absorbed?
M1  50 kg, k1  450 N/m, M 2  10 kg, k 2  90 N/m
M1 : Total mass of machine, motor, motor unbalance

K1 : Mount stiffness
M2 : Absorber mass
K2 : Absorber stiffness

Assignment : Design of Vibration Absorber
Motor-generator set is designed to operate between 2,000~4,000 rpm. However,

this set vibrates violently at 3,000 rpm due to unbalance in rotor. When a cantilever
with a 2 kg trial mass tuned to 3,000 rpm is attached to the set, the resultant natural
frequency are 2,500 and 3,500 rpm.
Design the vibration absorber (mass and stiffness) so that the natural frequencies of
the total system fall outside the operating speed range of the motor-generator set.
 n1  2,500 rpm  261.80 rad/s,  n 2  3,500 rpm  366.52 rad/s

  3, 000 rpm  314.16 rad/s

Damping in Vibration Dampers
 Equation for a model with no damping are strictly true only if system is stable
and at steady-state
X 1  T1 (i ) F , X 2  T2 (i ) F
 Because absorber model has no damping, its not stable but neutral stable
 Nevertheless, these equations are widely used because inclusion of damping
complicates mathematics
 Transient response could affect acceptability of absorber design
 Existence of damping is a very complicated topic,

the results are not easily presented in a concise form
 In practice, design of vibration absorber is based on steady-state response

Torsional Dampers Fluidampr®

Chapter Review
We have studied several ways to reduce unwanted vibration including

redesign of system by
 Changing natural frequency either by increasing or decreasing the mass

or by increasing the stiffness
 Dissipating the energy of vibration by adding damping
 Isolating the source by using an isolator consisting of a stiffness element

and a damping element placed between source and surrounding environment
 Using a vibration absorber

어느 날 죽음의 신이 찾아와 당신의 문을 두드릴 때
빈손으로 그를 돌려보내서는 안 된다 .
내가 이룩한 소중한 업적을 생명의 광주리 속에 가득 담아서
죽음의 신 앞에 내어놓아야 한다 .
죽음의 신이 아무 예고도 없이 어느 날 갑자기 찾아와
나의 문을 노크할 때
나는 일생 동안 내가 이룩한 활동의 유산을
죽음의 신 앞에 바쳐야 한다 .
그를 빈손으로 돌려보낸다는 것은 부끄러운 일이다 .
타고르 ‘ 기탄잘리 ’ 에서
세상에 올 때 우리는 모두 빈손이었습니다 .

그러나 갈 때는 무언인가 남겨놓아야 합니다 .
그렇다고 거대한 업적을 남겨야만 하는 것은 아닙니다 .
내 지난 발자취 , 내가 모범으로 생을 산 흔적은
후세의 누군가에게 귀감이 될 것입니다 .
또 누군가가 나를 기억해 주기도 할 것입니다 .
무엇을 이 세상에 남겨놓고 가시렵니까 ?

Vibration Suppression and Control: William J. Palm III

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William J.

Palm III : Mechanical Vibration

7. Vibration Suppression and Control

 Acceptable vibration levels

Pukyong National University Intelligent Mechanics Lab.

 Redesign of the system :

 Oil and friction dampers

Pukyong National University Intelligent Mechanics Lab.

 What levels of vibration are harmful? Log-Log scale

log x  log   log x  Velocity amplitude as a function of frequency  for given

Pukyong National University Intelligent Mechanics Lab.

Pukyong National University Intelligent Mechanics Lab.

Vibration Nomographs : Example

 Acceleration values are often

Specification of vibration levels on nomograph

Pukyong National University Intelligent Mechanics Lab.

 Tolerance of vibration : depend on

Acceleration Comfort Level

Pukyong National University Intelligent Mechanics Lab.

Effects of Vibration on People

 Safe Exposure Limit

 Recommended vertical acceleration limit to avoid health problems

Pukyong National University Intelligent Mechanics Lab.

What are the Exposure Action and Limit Values (EAV/ELV)?

How vibration level and duration affect exposure (www.hse.gov.uk)

Pukyong National University Intelligent Mechanics Lab.

Machine Primary Motion Vibration Type

Pukyong National University Intelligent Mechanics Lab.

Pukyong National University Intelligent Mechanics Lab.

Upstream Drag Downstream

Pukyong National University Intelligent Mechanics Lab.

Vibration from Reciprocating Engines

 Designers try to balance engines as much as possible

Pukyong National University Intelligent Mechanics Lab.

 To isolate the vibration transmitted, insert isolator between

Force transmitted Displacement transmitted

Pukyong National University Intelligent Mechanics Lab.

 Isolation system model which treats the base as fixed :

Pukyong National University Intelligent Mechanics Lab.

Isolation for Harmonic Excitation

 Frequency transfer function :

Pukyong National University Intelligent Mechanics Lab.

Displacement Isolation for Harmonic Excitation

 At high forcing frequency, response

 If m is given, must choose k so that not close to r = 1 to obtain good isolation

Pukyong National University Intelligent Mechanics Lab.

Force Isolation for Harmonic Excitation

 Near resonance (r  1), Ft /F is highly

 When r > 1.414, Ft /F is not so highly

 If r > 1,  is small, then approximation formula

Pukyong National University Intelligent Mechanics Lab.

Pukyong National University Intelligent Mechanics Lab.

Example : Undamped Isolator Design

Pukyong National University Intelligent Mechanics Lab.

Isolation from Rotating Unbalance

 Amplitude ratio : m  M , F  mRR2 ,    R

System with rotating unbalance

Pukyong National University Intelligent Mechanics Lab.

Pukyong National University Intelligent Mechanics Lab.

Example : Support Vibration due to Rotating Unbalance

Ewh3 2 1011  0.1 0.013

Pukyong National University Intelligent Mechanics Lab.

Example : Support Vibration due to Rotating Unbalance