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Proceedings of the 2008 ASEE North Midwest Sectional Conference

Study of Vibration Applications in Mechanical Engineering


Undergraduate Education Using Mathematics Software
P. B. Ravikumar
Professor, Mechanical Engineering, University of Wisconsin, Platteville, WI
ABSTRACT
The study of mechanical vibrations involves excellent applications of both science and
mathematics. The science component involves modeling and application of laws of motion and
energy. The mathematical means to analyze/design vibration systems can involve the use of
matrices, differential equations, and operations such as Fourier Transforms. This paper
discusses the use of mathematics software to study different areas of vibration study such as
mathematical modeling and study of idealized physical models, design, and reverse engineering.
Specific topics addressed in the paper include the study of single and multiple-degree of
vibration models, balancing problems, and reverse engineering of vibration systems by analyzing
experimental data through operations such as Fourier Transforms. A key objective is to
demonstrate that mathematics software can be a powerful resource to support undergraduate
engineering education on topics that have a strong mathematical component.
INTRODUCTION
The ME 4840 Vibration System Design course is an important technical elective for Mechanical
Engineering majors. Vibration studies have become increasingly important to mechanical
engineers due to demands placed on performance of mechanical systems. Vibration often
adversely affects performance due to noise and fatigue failures. Vibration studies are also
important in positive applications such as vibratory conveyors. The study of mechanical
vibrations involves excellent applications of both science and mathematics. The science
component involves modeling and application of laws of motion and energy. The mathematical
means to analyze/design vibration systems can involve the use of matrices, differential
equations, and operations such as Fourier Transforms. This paper discusses the use of
mathematics software to study different areas of vibration study such as mathematical modeling
and study of idealized physical models, design, and reverse engineering. Specific topics
addressed in the paper include the study of single and multiple-degree of vibration models,
balancing problems, and reverse engineering of vibration systems by analyzing experimental
data through operations such as Fourier Transforms. The topics and examples will demonstrate
that mathematics software can be a powerful resource that supports undergraduate engineering
education on topics that have a strong mathematical component.
TOPICS OF STUDY IN A VIBRATIONS COURSE
Some or all of the following topics are representative of a senior level undergraduate course in
mechanical vibrations:
Oscillatory Motion Harmonic Motion, Periodic Motion, Vibration Terminology
Free Vibration Vibration Model, Equations of Motion, Natural Frequency, Energy
Method, Rayleigh Method, Principle of Virtual Work, Viscously
Damped Free Vibration, Logarithmic Decrement, Coulomb
Damping
Proceedings of the 2008 ASEE North Midwest Sectional Conference
Harmonically Excited Harmonic Vibration, Rotating / Rotor Unbalance, Whirling of
Forced Motion Rotating Shafts, Support Motion, Vibration Isolation, Energy
Dissipated by Damping, Structural Damping, Sharpness of
Resonance, Vibration Measuring Instruments
Transient Vibration Impulse Excitation, Arbitrary Excitation, Laplace Transform
Formulation, Pulse Excitation and Rise Time, Shock Response
Spectrum, Shock Isolation, Finite Difference Numerical Method,
Runge-Kutta Method
Two or More Degrees Normal Mode Analysis, Initial Conditions, Coordinate Coupling,
Forced Harmonic Vibration, Digital
of Freedom Systems Computation, Vibration, Absorber, Centrifugal Pendulum
Vibration Absorber, Vibration Damper
Properties of Flexibility Influence Coefficients, Reciprocity Theorem, Stiffness
Influence Coefficient, Orthogonality, Eigenvectors, Modal Matrix,
Decoupling Forced Vibration Equations, Modal Damping in
Forced Vibration, Normal Mode Summation
Lagranges Equation Generalized Coordinates, Virtual Work, Lagranges Equation
Computational Various Computational Methods
Methods
Continuous Systems Brief Overview
EXAMPLES OF MATHEMATICS SOFTWARE TO SOLVE VIBRATION PROBLEMS
Mechanical vibrations is a field of study where solutions to problems are often found with an
excellent support of mathematical techniques. Almost all of the topics described above can be
studied with the support of mathematics. To illustrate the effectiveness of this approach, a
representative set of example topics and applicable mathematical modeling are considered next.
All mathematical software setups that address the topics discussed next are included in the
Appendix section as Examples.
Example 1 demonstrates the use of Mathcad [1] to solve vibration problems that do not involve
differential equations. The example calculates the damping factor, the logarithmic decrement,
and the ratio of any two successive amplitudes for a given single-degree of freedom vibration
system defined by its mass, spring constant, and damping coefficient. The response x(t) found
from solving the governing differential equation can be manipulated to get an expression for the
ratio of successive amplitudes. A program like Mathcad can be then used set up these
expressions as follows to find the values of unknown parameters from known parameters as
illustrated below. In this example, no explicit use is made of differential equations in the
Mathcad setup. Example 1 can be set up in other different practical ways. For example, an
existing vibration system can be physically tested and the average ratio of successive amplitudes
measured over a few cycles. Modifying the Mathcad setup of Example 1, the damping
coefficient can be found if values of other easily measurable parameters such as mass are also
known. Such a set-up will be an example of reverse engineering.
Proceedings of the 2008 ASEE North Midwest Sectional Conference
Example 2, an inverted pendulum supported by a spring, demonstrates the use of Mathcad to
solve vibration problems that involve differential equations. The system consists of a uniform
slender bar of mass m
1
kg and length l meters, a point mass m
2
kg, and a spring of stiffness k
N/m. The example demonstrates the use of differential equations command syntax and the use
of graphing techniques to visualize responses. The particular example also demonstrates
verifying the condition of stability of the system. The system in this example is stable.
Example 3 addresses the important topic and application of balancing in vibration. The example
illustrates the use of computing software such as Mathcad to balancing problems. The problem
solved using Mathcad here is a single-plane balancing problem [2]. The system consists of a
thin disk supported on spring-mounted bearings. When run at 300 rpm counterclockwise (ccw),
the original disk indicates maximum amplitude of 3.2 mm at 30 deg ccw from a reference mark
on the disk. Next a trial weight of 2.5 oz is added to the rim at 143 deg ccw from the reference
mark, and the wheel is run again at 300 rpm ccw. The new amplitude of 7 mm is then found at
77 deg ccw from the reference mark. The correction weight (1.494 oz) and the location on the
rim where it should be placed (250.09 deg ccw from reference mark) are calculated by setting up
the balancing equations as shown in the example.
Example 4 is an illustration of the use of Mathcad to solve vibration problems involving Fourier
Transforms. The example simulates a hypothetical signal gathered from a vibrating source such
as a voltage or sound by defining a series of values from a mathematically defined signal
consisting of two frequencies of 100 Hz and 110 Hz [3]. Real signals with these two dominant
frequencies will of course have some noise but a Fourier Series analysis would identify these
two dominant frequencies. So sampling from an ideal signal would be a very good
approximation. The Mathcad set up shows the signal, although periodic, has no easily
identifiable pattern with each cycle. The Fast Fourier Transform analysis using Mathcad shows
the frequency spectrum results which identify the two dominant frequencies. Once the dominant
harmonics are identified, physical and mathematical modeling of the system from which the
signals were gathered can be done to gain a better understanding of the systems behavior. The
example thus highlights how math software such as Mathcad can be an effective tool in reverse
engineering.
The use of software in the manner stated above provides additional benefits such as enabling
students to more thoroughly investigate vibration project problems and to better understand
vibration concepts. Preliminary assessment of students performance in exams and projects
support these observations. It may be noted that although Mathcad has been used exclusively in
the examples, other mathematical software can be used. The author has used Matlab and
Simulink [4] to develop some demo examples for vibrations but has not had the opportunity to
introduce them to the same level as Mathcad due to infrequent offering of the course. The author
plans on implementing Matlab and Simulink in the next offering of the course and getting
student feedback on the pros and cons of using alternative software.
CONCLUSIONS
The examples outlined in the above section addressed the use of software to specific application
problems in vibrations such as spring-mass-damper models, balancing, and analysis of
experimentally gathered response signals from vibratory systems. Various capabilities of
mathematical software, when used suitably as demonstrated in the above examples, are
applicable to other vibration applications (such as door-damper-spring in torsion, automobile
suspension behavior on different roads, accelerometers, and vibration isolation systems).
Proceedings of the 2008 ASEE North Midwest Sectional Conference
Bibliography
1. Mathcad is a product of Parametric Technology Corporation.
Web site: http://www.mathsoft.com/
2. Thompson, William T., Dahleh, Marie, D. Thoery of Vibration with Applications.
Example 3.3-2 (pp 58-59). Saddle River, NJ: Prentice-Hall Inc.
3. Iannone, M. (1999). Exploring Fourier Transform Techniques with Mathcad: Document
1: Introduction to the Fourier Transform. Website: http://jchemed.chem.wisc.edu
/JCEDLib/symmath/collection/008/jceSubscriber/FTIntro.mcd
4. Matlab and Simulink are products of the Mathworks.
Web site: http://www.mathworks.com/
Proceedings of the 2008 ASEE North Midwest Sectional Conference
APPENDIX
EXAMPLES
EXAMPLE 1
Ratio of Successive Amplitudes of Oscillation for a Spring-Mass-Damper System
ANS (a)
e
n
k
m
:= e
n
20 =
rad / s
e
d
e
n
1
2
:= e
d
19.9 =
rad /s ANS (b) or
f
d
e
d
2 t
:= f
d
3.167 =
Hz ANS (b)
o
2 t
1
2

:= o 0.6315 =
ANS (c)
o ln x1_over_x2 ( )
or
x1_over_x2 exp o ( ) :=
(that is, e
o
)
x1_over_x2 1.88 =
ANS (d)
Spring - mass - damper system
m 17.5 :=
kg
k 70 :=
N / cm
c 0.7 :=
N / cm / s
k k 100 := k 7000 =
N / m
c c 100 := c 70 =
N / m / s or N-s / m
(a) . Damping ratio or factor

= ? (b) Natural frequency of damped oscillation


e
d
= ?
(c). Logarithmic decrement = ? (d) Ratio of any two consecutive amplitudes = ?
c
c
2 mk := c
c
700 =

c
c
c
:= 0.1 =
Damping ratio or factor
Proceedings of the 2008 ASEE North Midwest Sectional Conference
EXAMPLE 2
Stable Inverted Pendulum: Use of differential equation solver and graphs
1
m
m
2
k
l
For k = 158.46, the response is stable. If you changed k to 55, as an example, you will find
unstable response.
Note : y axis
is radians.
Verify by IC.
0 0.450.91.351.82.252.73.15 3.64.05 4.5
0.4
0.2
0
0.2
0.4
u t ( )
t
t 0 0.001 , 4.5 .. :=
Right Clicked on Odesolve and chose Adaptive rather than
fixed because output otherwise had numerical errors of
slight damping type response decay for some value trials (not
for the ones chosen finally here, so fixed would still be ok)
although there is no damping. Adaptive choice fixed it !
u Odesolve t 4.5 , ( ) :=
u' 0 ( ) 0 u 0 ( ) 0.3
1
3
m
1
m
2
+
|

\
|
|
.
l
2
u'' t ( ) k l
2
m
1
g
l
2
m
2
g l +
|

\
|
|
.

(
(

u t ( ) + 0
Given
t 2.3433 = t
1
f
:=
f 0.4267 = f
e
n
2 t
:= e
n
2.6813 = e
n
k l
2
m
1
g
l
2
m
2
g l +
|

\
|
|
.

1
3
m
1
m
2
+
|

\
|
|
.
l
2

:=
k 158.46 := l 0.5 := m
2
5 := m
1
2 := g 9.81 :=
Inverted Pendulum (Stable)
Proceedings of the 2008 ASEE North Midwest Sectional Conference
Example 3
Single-Plane Balancing
x11 x11 x1 := x11 1.197 =
y11 y11 y1 := y11 5.221 = Alone x11
2
y11
2
+ := Alone 5.356 =
r1
x1 x11 y1 y11 ( )
2
x1 y11 y1 x11 ( )
2
+

x11
2
y11
2
+
:= r1 0.597 =
BWphi1 atan2 x1 x11 y1 y11 x1 y11 y1 x11 , ( ) := BWphi1 1.869 = BWphi1 107.09deg =
BALANCING SOLUTION:
BWphi1 107.09deg = BW_New_phi1 BWphi1 TW1_Angle + := BW_New_phi1 250.09deg =
BWmag1 r1 TW1 := BWmag1 1.494 =
ENTER INITIAL VIBRATION AMP AND PHASE IN THE PLANE BELOW
z1 3.2 := ph1 30 deg :=
x1 z1 cos ph1 ( ) := x1 2.771 =
y1 z1 sin ph1 ( ) := y1 1.6 =
ENTER TRIAL WEIGHT AT THE REFERENCE LINE ON THE PLANE:
TW1 2.5 :=
ENTER TRIAL WEIGHT ANGLE FROM REFERENCE LINE:
TW1_Angle 143 deg :=
ENTER VIBRATION AMP AND PHASE IN THE PLANE DUE TO TW1 BELOW:
z11 7 := ph11 77 deg :=
x11 z11 cos ph11 ( ) := x11 1.575 =
y11 z11 sin ph11 ( ) := y11 6.821 =
Proceedings of the 2008 ASEE North Midwest Sectional Conference
Example 4
Fast Fourier Transform
k 9 :=
k = Total number of samples of the waveform
m 2
k
:=
m 512 =
m = Number of data points in sample
FFT requires an array with 2
k
elements.
t 10
3
:=
t = sampling interval = 0.001
i 0 m 1 .. :=
t
i
i t :=
time (sec)
For example, t
0
= 0, t
1
= 0.001
t
2
= 0.002.
t
m 1
0.511 =
Total sampling time (sec) = t * (m-1) = 0.001 * (512-1) = 0.001*511 = 0.511 sec
v1 100 :=
v2 110 :=
y
i
sin 2 t v1 t
i

( )
cos 2 t v2 t
i

( )
+ :=
Graph of waveform y vs t
0 0.1 0.2 0.3 0.4 0.5 0.6
5
0
5
y
i
t
i
j 0
m
2
.. :=
f
j
j
t
m 1
:=
Frequency , cps
Y FFT y ( ) :=
Fourier Transform of y: Frequency spectrum of waveform graphed as amplitude vs frequency
0 100 200 300 400 500 600
0
0.5
Y
j
f
j

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