ME 563

Mechanical Vibrations
Lecture #8
Linearizing Equations of Motion
(Direct Method)

Sprung Pendulum
g
r

One option for linearizing is to

derive the equations of motion
FIRST and then:
- Identify equilibria
- Transform coordinates
- Discard higher-order terms

Identify Equilbria

Makes sense
a)Pendulum can be straight down or straight up.
b)Spring compresses accordingly.

Transform Coordinates
req = ru + Mg /K, eq = 0
M rd ( rd + req )d 2 + K ( rd + req ru ) Mgcos( d + eq ) + Crd = 0

M rd ( rd + req )d 2 + K ( rd + req ru ) Mg(cos d cos eq sin d sin eq ) + Crd = 0

Mg
2

M rd ( rd + req ) d + Crd + K rd +
Mgcos d = 0

M 2( rd + req ) rd d + ( rd + req ) d + Mg( rd + req ) sin( d + eq ) = 0

2
M 2( rd + req ) rd d + ( rd + req ) d + Mg( rd + req )(sin d cos eq + sin eq cos d ) = 0

2
M 2( rd + req ) rd d + ( rd + req ) d + Mg( rd + req ) sin d = 0

Transform Coordinates

Mg
2

M rd ( rd + req ) d + Crd + K rd +
Mgcos d = 0

Mg
2
2
Mrd + Crd + K rd +
Mg + O d , d = 0

K
2
2

Mrd + Crd + Krd + O d , d = 0

(
(

)
)

M 2( rd + req ) rd d + ( rd + req ) d + Mg( rd + req ) sin d = 0

3
2

Mr + Mgreq d + O rd d ,rd d ,rd d , d = 0

2
eq d

Physical Meaning of
Linearization (Pendulum)

g
L

Simple Pendulum

Simple Pendulum

Sprung Linkage
Preloaded mechanical components can exhibit
multiple equilibrium points, so the vibrations
change depending on the equilibrium point.

Sprung Linkage
To find the equilibrium
points, we can either:
- Set the rate of change in
the states to zero.
- Set the derivative of the
potential energy to zero.
Two-well potential

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Sprung Linkage
Then the procedure described previously is followed to
transform the coordinate and linearize the equation of motion.

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Lagranges Approach
To linearize the equations of motion, it is also possible to
eliminate higher order terms in L = T V.

g
L

Keep quadratic
terms only.

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Example of Multiple
Equilibrium Points

After operation in
the field

Solenoid

Butterfly valve

Vibrations about one equilibrium

point lead to more damage in the
bushing than for the other point.

Hammer
Plunger

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Engine Shutoff Valve

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Engine Shutoff Valve

When simulations are carried out for various initial conditions,
it is clear that the impacts can be severe for long periods of time
whenever the hammer hops up onto the lip of the plunger.

Lower damage
Higher damage
accumulation rate
accumulation
Higher
damage rate
accumulation rate

___ Equil. state #2

----- Equil. state #1