2.

4 Base Excitation
Important class of vibration analysis
Preventing excitations from passing
from a vibrating base through its mount
into a structure
Vibration isolation
Vibrations in your car
Satellite operation
Disk drives, etc.
D.J.Inman

MechanicalEngineeringat

FBD of SDOF Base Excitation

System Sketch
x(t)

m
k

y(t)

System FBD
m

c
k ( x y ) c(x y )

base

&
-y )=mx&
F =-k (x-y)-c(x&&
&+cx&+ kx = cy&+ ky
mx&

D.J.Inman

MechanicalEngineeringat

(2.61)

SDOF Base Excitation (cont)

Assume: y (t ) Y sin(t ) and plug into Equation(2.61)
&+cx&+ kx = cY cos(t ) + kY sin(t ) (2.63)
mx&
1 4 4 4 4 2 4 4 4 43
harmonic forcing functions
For a car,

2 2V

The steady-state solution is just the superposition of the

two individual particular solutions (system is linear).

}f0 s
64 7f0 c 48
&
x&+2n x&+ n2 x = 2nY cos(t ) + n2Y sin(t )
1 4 42 4 43
1 42 43
D.J.Inman

MechanicalEngineeringat

(2.64)

Particular Solution (sine term)

With a sine for the forcing function,
2
&
&
&
x +2n x + n x =f 0 s sin t

x ps As cos t Bs sin t X s sin(t s )

where
As
Bs

2n f 0 s

( ) 2n
2
n

2 2

( ) f 0 s
2
n
2 2

( ) 2n

D.J.Inman

Use rectangular form to

make it easier to add
the cos term

2
n

MechanicalEngineeringat

Particular Solution (cos term)

With a cosine for the forcing function, we showed

&
x&+2n x&+ n2 x =f 0 c cos t
x pc Ac cos t Bc sin t X c cos(t c )
where
Ac
Bc

( ) f 0 c
2
n
2 2

( ) 2n
2
n

2n f 0 c

( ) 2n

D.J.Inman

2
n

2 2

MechanicalEngineeringat

Magnitude X/Y
Now add the sin and cos terms to get the
magnitude of the full particular solution

f0c2 f02s

( ) 2 n
2
n

2 2

nY

(2 )2 n2

( n2 2 )2 2 n

where f0c 2 nY andf0 s n2Y

ifwedefiner n thisbecomes X Y

1 (2 r)2

(1 r ) 2 r
2 2

X
1 (2 r)2

2 (2.71)
2 2
Y
(1 r ) 2 r
D.J.Inman

MechanicalEngineeringat

(2.70)

The relative magnitude plot

of X/Y versus frequency ratio: Called the
Displacement Transmissibility

40

=0.01
=0.1
=0.3
=0.7

30

X/Y (dB)

20
10
0
-10
-20
0

0.5

1.5
2
Frequency ratio r

2.5

Figure 2.13
D.J.Inman
MechanicalEngineeringat

From the plot of relative Displacement

Transmissibility observe that:

X/Y is called Displacement Transmissibility Ratio

Potentially severe amplification at resonance
Attenuation for r > sqrt(2) Isolation Zone
If r< sqrt(2) transmissibility decreases with
damping ratio Amplification Zone
If r >> 1 then transmissibility increases with
damping ratio Xp~2Y /r

D.J.Inman

MechanicalEngineeringat

Next examine the Force Transmitted to the

mass as a function of the frequency ratio

&
FT k ( x y ) c( x& y&) mx&

From FBD

At steady state, x(t ) X cos(t ),

2
&
&
so x =- X cos(t )
x(t)

FT m X k r X
2

FT

k
c
y(t)

D.J.Inman

base

MechanicalEngineeringat

Plot of Force Transmissibility (in dB)

versus frequency ratio
40

=0.01
=0.1
=0.3
=0.7

F/kY (dB)

30
20
10
0
-10
-20

0.5

Figure 2.14

D.J.Inman

1.5
2
Frequency ratio r

2.5

MechanicalEngineeringat

Figure 2.15 Comparison between force

and displacement transmissibility
Force
Transmissibility

Displacement
Transmissibility

D.J.Inman

MechanicalEngineeringat

Example 2.4.1: Effect of speed

on the amplitude of car vibration

D.J.Inman

MechanicalEngineeringat

Model the road as a sinusoidal input to

base motion of the car model
Approximation of road surface:
y(t) (0.01m)sin bt

1
hour 2 rad
b v(km/hr)
0.2909vrad/s

0.006km 3600s cycle

b (20km/hr)=5.818rad/s

From the data give, determine the frequency and

damping ratio of the car suspension:
n

4 10 4 N/m
6.303rad/s( 1Hz)
1007kg

c
=

2 km 2

D.J.Inman

2000Ns/m

4 10

N/m 1007kg

0.158

MechanicalEngineeringat

From the input frequency, input amplitude,

natural frequency and damping ratio use
equation (2.70) to compute the amplitude
of the response:
r

b 5.818

6.303

1 (2 r)2
X Y
(1 r 2 )2 (2 r)2
0.01m

1 2(0.158)(0.923)

1 0.923 2 0.158 0.923

2 2

0.0319m

What happens as the car goes faster? See Table 2.1.

D.J.Inman

MechanicalEngineeringat

Example 2.4.2: Compute the force

transmitted to a machine through base
motion at resonance
From (2.77) at r =1:
FT 1 (2 )

kY (2 )2
2

1/2

FT

kY
1 4 2
2

c
900

0.04
From given m, c, and k:
2 km 2 40, 000 g3000

From measured excitation Y = 0.001 m:

FT

kY
(40, 000 N/m)(0.001 m)
1 4 2
1 4(0.04) 2 501.6 N
2
2(0.04)

D.J.Inman

MechanicalEngineeringat

2.5 Rotating
Unbalance

Gyros
Cryo-coolers
Tires
Washing machines

m0
e

Machine of total mass m i.e. m0

included in m

e = eccentricity
k
mo = mass unbalance
= rotation
frequency
D.J.Inman
MechanicalEngineeringat

Rotating Unbalance (cont)

Rx

What force is imparted on the

structure? Note it rotates
with x component:

m0

Ry

xr e sin r t
a x xr e r2 sin r t

From sophomore dynamics,

Rx m0 a x mo er2 sin mo er2 sin r t
R y m0 a y mo er2 cos mo er2 cos r t

D.J.Inman

MechanicalEngineeringat

Rotating Unbalance (cont)

The problem is now just like any other SDOF
system with a harmonic excitation
m0e 2sin( t)
x(t)

m
k
c

D.J.Inman

2
&
&
&
mx cx kx mo er sin r t

(2.82)

mo 2
or &
x& 2n x& x
er sin r t
m
2
n

Note the influences on the

forcing function (we are assuming that
the mass m is held in place in the y direction as
indicated in Figure 2.18)

MechanicalEngineeringat

Rotating Unbalance (cont)

Just another SDOF oscillator with a
harmonic forcing function
Expressed in terms of frequency ratio r

x p (t ) X sin(r t )

(2.83)

mo e
r
X
m (1 r 2 ) 2 2 r 2

(2.84)

2 r
tan
2
1

(2.85)

D.J.Inman

MechanicalEngineeringat

Figure 2.20: Displacement magnitude vs

frequency caused by rotating unbalance

D.J.Inman

MechanicalEngineeringat

Example 2.5.1:Given the deflection at resonance (0.1m),

= 0.05 and a 10% out of balance, compute e and the amount of added
mass needed to reduce the maximum amplitude to 0.01 m.

At resonance r = 1 and
mX
1
1
0.1 m 1

10

10 e 0.1 m
m0e 2 2(0.05)
e
2
Now to compute the added mass, again at resonance;
m X

10
m0 0.1m

Use this to find m so that X is 0.01:

m m 0.01 m
m m
100 m 9m

10
m0 0.1 m
(0.1)m

D.J.Inman

Here m0 is 10%m or 0.1m

MechanicalEngineeringat

Example 2.5.2 Helicopter rotor unbalance

Given

Fig 2.21

k 1 10 5 N/m
mtail 60kg
mrot 20kg
m0 0.5kg

Fig 2.22

=0.01
Compute the deflection at
1500 rpm and find the rotor
speed at which the deflection is maximum
D.J.Inman

MechanicalEngineeringat

Example 2.5.2 Solution

The rotating mass is 20 + 0.5 or 20.5. The stiffness is provided by the
Tail section and the corresponding mass is that determined in Example
1.4.4. So the system natural frequency is
k
105 N/m
n

46.69 rad/s
m
60 kg
20.5 +
m tail
3
3
The frequency of rotation is

rev min 2 rad

r 1500 rpm = 1500
157 rad/s
min 60 s rev
157 rad/s
r
3.16
49.49 rad/s
D.J.Inman

MechanicalEngineeringat

Now compute the deflection at r =

3.16 and =0.01 using eq (2.84)
m0 e
r2
X
m (1 r 2 ) 2 (2 r ) 2
0.5 kg 0.15 m

20.5 kg

3.16

1 (3.16) 2(0.01)(3.16)
2 2

0.004 m

At around r = 1, the max deflection occurs:

At r = 1:

rad rev 60s

r 1 r 49.69rad/s=49.69
474.5rpm
s 2 rad min

0.5 kg 0.15 m

X
20.5 kg

D.J.Inman

1
0.183 m or 18.3 cm
2(0.01)

MechanicalEngineeringat

2.6 Measurement Devices

A basic transducer
used in vibration
measurement is the
accelerometer.
&
-y )=mx&
This device can be F =-k (x-y )-c(x&&
modeled using the mx&&= -c( x& y&) - k ( x y )
base equations
(2.86) and (2.61)
developed in the
Here, y(t) is the measured
previous section
response of the structure

D.J.Inman

MechanicalEngineeringat

Base motion applied to

measurement devices
Let z (t ) x(t ) y (t ) (2.87) :

& cz&(t ) kz (t ) mb2Y cos bt (2.88)

mz&
Z
r2

Y
(1 r 2 ) 2 (2 r ) 2

(2.90)
Accelerometer

and
2 r
2
1 r

tan 1

(2.91)

These equations should be familiar

from base motion.
Here they describe measurement!

D.J.Inman

MechanicalEngineeringat

Strain Gauge

Magnitude and sensitivity

plots for accelerometers.
Effect of damping on
proportionality constant

Fig 2.27
Fig 2.26
Magnitude plot showing
Regions of measurement
In the accel region, output voltage is
nearly proportional to displacement

D.J.Inman

MechanicalEngineeringat

2.7 Other forms of damping

These various other forms of damping are all nonlinear. They can
be compared to linear damping by the method of equivalent viscous
damping discussed next. A numerical treatment of the exact response
is given in section 2.9.

D.J.Inman

MechanicalEngineeringat

The method of equivalent viscous

damping: consists of comparing the energy
dissipated during one cycle of forced response

Assume a stead state resulting from a harmonic

input and compute the energy dissipated per one cycle

xss X sin t
The energy per cycle for a viscously damped system is
E
Fd dx

2 /

dx
cx& dt
dt

2 /

cx&2 dt

(2.99)

xss X sin t x& X cos t

E c
D.J.Inman

2 /

X cos t dt c X 2
2

MechanicalEngineeringat

(2.101)

Next compute the energy dissipated

per cycle for Coulomb damping:
E mg

2 /

sgn( x&&
) xdt mg

/2

3 / 2

/2

mgX (

cos udu

cos udu

cos udu ) 4 mgX

3 / 2

Here we let u = t and du =dt and split up the

integral according to the sign changes in velocity.
Next compare this energy to that of a viscous system:

4 mg
ceq X 4 mgX ceq
X
2

(2.105)

This yields a linear viscous system dissipating the same amount of

energy per cycle.

D.J.Inman

MechanicalEngineeringat

Using the equivalent viscous damping

calculations, each of the systems in Table 2.2
can be approximated by a linear viscous system

In particular, ceq can be used to derive

amplitude expressions. However, as
indicated in Section 2.8 and 2.9 the response
can be simulated numerically to provide
more accurate magnitude and
response information.

D.J.Inman

MechanicalEngineeringat

Hysteresis: an important concept

characterizing damping
A plot of displacement
versus spring/damping
force for viscous
damping yields a loop
At the bottom is a stress
strain plot for a system
with material damping
of the hysteretic type
The enclosed area is
equal to the energy lost
per cycle
D.J.Inman

MechanicalEngineeringat

The measured area yields the energy

dissipated. For some materials, called
2
(2.120)
hysteretic this is E k X
Here the constant , a measured quantity is called
the hysteretic damping constant, k is the stiffness
and X is the amplitude.
Comparing this to the viscous energy yields:
k
ceq

D.J.Inman

MechanicalEngineeringat

Hysteresis gives rise to the

concept of complex stiffness

Substitution of the equivalent damping coefficient

and using the complex exponential to describe a
harmonic input yields:
k
&
mx&
x& n2 x F0 e jt

Assuming x(t ) Xe jt and x&(t ) Xje jt

yields
&
mx&
(t ) k (1 j ) x(t ) F0e jt
14 2 43
complex stiffness

D.J.Inman

MechanicalEngineeringat

2.8 Numerical Simulation and

Design
Four things we can do computationally to help
solve, understand and design vibration
problems subject to harmonic excitation
Symbolic manipulation
Plotting of the time response
Solution and plotting of the time response
Plotting magnitude and phase

D.J.Inman

MechanicalEngineeringat

Symbolic Manipulation
Let

n2 2 2 n
A
2
2
2 n n

and

f0
x
0

What is

An A 1 x
This can be solved using Matlab, Mathcad or Mathematica

D.J.Inman

MechanicalEngineeringat

Symbolic Manipulation
Solve equations (2.34) using Mathcad symbolics :
Enterthis

2. . n.

D.J.Inman

. f0

4. . n .

Chooseevaluate
undersymbolicsto
getthis

n
2. n .

. f0
0

2. . n.

2. . n.

2 2
2. n .

2
2 2
4. . n .

. f0

MechanicalEngineeringat

In MATLAB Command Window

>>
>>
>>
>>

syms z wn w f0
A=[wn^2-w^2 2*z*wn*w;-2*z*wn*w wn^2-w^2];
x=[f0 ;0];
An=inv(A)*x
An =
[ (wn^2-w^2)/(wn^4-2*wn^2*w^2+w^4+4*z^2*wn^2*w^2)*f0]
[ 2*z*wn*w/(wn^4-2*wn^2*w^2+w^4+4*z^2*wn^2*w^2)*f0]
>> pretty(An)
[
2 2
]
[
(wn - w ) f0
]
[ --------------------------------- ]
[ 4
2 2 4
2 2 2]
[ wn - 2 wn w + w + 4 z wn w ]
[
]
[
z wn w f0
]
[2 ---------------------------------]
[ 4
2 2 4
2 2 2]
[ wn - 2 wn w + w + 4 z wn w ]

D.J.Inman

MechanicalEngineeringat

Magnitude plots: Base Excitation

%m-file to plot base excitation to mass vibration
r=linspace(0,3,500);
ze=[0.01;0.05;0.1;0.20;0.50];
X=sqrt( ((2*ze*r).^2+1) ./ ( (ones(size(ze))*(1-r.*r).^2) + (2*ze*r).^2) );
figure(1)
plot(r,20*log10(X))
40

The values of can

then be chosen directly
off of the plot.

If the T.R. needs to be

less than 2 (or 6dB)
and r is close to 1 then
must be more than
0.2 (probably about
0.3).

D.J.Inman

X/Y (dB)

For Example:

30

Design
value

20
10

=0.01
=0.05
=0.1
=0.2
=0.5

0
-10
-20
0

0.5

1
1.5
2
Frequency ratio r

MechanicalEngineeringat

2.5

Force Magnitude plots: Base Excitation

%m-file to plot base excitation to mass vibration
r=linspace(0,3,500);
ze=[0.01;0.05;0.1;0.20;0.50];
X=sqrt( ((2*ze*r).^2+1) ./ ( (ones(size(ze))*(1-r.*r).^2) + (2*ze*r).^2) );
F=X.*(ones(length(ze),1)*r).^2;
figure(1)
plot(r,20*log10(F))
40

=0.01
=0.05
=0.1
=0.2
=0.5

FT /kY (dB)

30
20
10
0
-10
-20
0

D.J.Inman

0.5

1
1.5
2
Frequency ratio r

2.5

MechanicalEngineeringat

Numerical Simulation
We can put the forced case:

&
mx&
(t ) cx&(t ) kx(t ) F0 cos t
&
x&
(t ) 2n x&(t ) n2 x(t ) f 0 cos t
Into a state space form

x&1 x2
x&2 2n x2 n2 x1 f 0 cos t

0
x&(t ) Ax(t ) f (t ), f (t )

f 0 cos t
D.J.Inman

MechanicalEngineeringat

Numerical Integration
Euler:x(ti 1 ) x(ti ) Ax(ti )t f(ti )t
Using the ODE45 function

Zero initial conditions

5

>>TSPAN=[0 10];
>>Y0=[0;0];
>>[t,y] =ode45('num_for',TSPAN,Y0);
>>plot(t,y(:,1))

4
3

Including forcing
function Xdot=num_for(t,X)
m=100;k=1000;c=25;
ze=c/(2*sqrt(k*m));
wn=sqrt(k/m);
w=2.5;F=1000;f=F/m;
f=[0 ;f*cos(w*t)];
A=[0 1;-wn*wn -2*ze*wn];
Xdot=A*X+f;

D.J.Inman

Displacement (m)

2
1
0
-1
-2
-3
-4
-5

4
6
Time (sec)

MechanicalEngineeringat

10

Example 2.8.2: Design

damping for an electronics
model

100 kg mass, subject to 150cos(5t) N

Stiffness k=500 N/m, c = 10kg/s
Usually x0=0.01 m, v0 = 0.5 m/s
Find a new c such that the max transient
value is 0.2 m.

D.J.Inman

MechanicalEngineeringat

Response of the board is;

transient exceeds design specification value

Displacement (m)

0.4
0.2
0
-0.2
-0.4

D.J.Inman

10

20
Time (sec)

30

MechanicalEngineeringat

40

To run this use the following file:

Create function
to model forcing

Matlab
command
window

function Xdot=num_for(t,X)
m=100;k=500;c=10;
ze=c/(2*sqrt(k*m));
wn=sqrt(k/m);
w=5;F=150;f=F/m;
f=[0 ;f*cos(w*t)];
A=[0 1;-wn*wn -2*ze*wn];
Xdot=A*X+f;
>>TSPAN=[0 40];
>> Y0=[0.01;0.5];
>>[t,y] = ode45('num_for',TSPAN,Y0);
>> plot(t,y(:,1))
>> xlabel('Time (sec)')
>> ylabel('Displacement (m)')
>> grid

Rerun this code, increasing c each time until a

response that satisfies the design limits results.
D.J.Inman

MechanicalEngineeringat

Solution: code it, plot it and change c

until the desired response bound is
obtained.
0.3
Displacement (m)

Meets amplitude limit when c=195kg/s

0.2
0.1
0
-0.1

D.J.Inman

10

20
Time (sec)

30

MechanicalEngineeringat

40

2.9 Nonlinear Response

Properties

More than one equilibrium

Steady state depends on initial conditions
Period depends on I.C. and amplitude
Sub and super harmonic resonance
No superposition
Harmonic input resulting in nonperiodic motion
Jumps appear in response amplitude

D.J.Inman

MechanicalEngineeringat

Computing the forced response

of a non-linear system
A non-linear system has a equation of motion given
by:

&
x&
(t ) f ( x, x&) f 0 cos t

Put this expression into state-space form:

x&1 (t ) x2 (t )

x&2 (t ) f ( x1 , x2 ) f 0 cos t
In vector form:

x&(t ) F(x) f (t )

D.J.Inman

MechanicalEngineeringat

Numerical form
Vector of nonlinear dynamics

Input force vector

x2 (t)
0

F(x)
, f(t)

f (x1 , x2 )
f0 cos t

Euler equation is

x(ti 1 ) x(ti ) F(x(ti ))t f(ti )t

D.J.Inman

MechanicalEngineeringat

Cubic nonlinear spring (2.9.1)

x 2 n x n2 x x 3 f0 cos t

Displacement (m)

2
1
0
-1
-2

Non-linearity included
Linear system
0

4
6
Time (sec)

Superharmonic resonance
D.J.Inman

2.964

MechanicalEngineeringat

10

Cubic nonlinear spring near

2 x x3 f cos t

resonance
n
n
0
3

Displacement (m)

2
1
0
-1
-2
-3

Non-linearity included
Linear system
0

4
6
Time (sec)

1.09

Responsenearlinearresonance
D.J.Inman
MechanicalEngineeringat

10