Documentos de Académico
Documentos de Profesional
Documentos de Cultura
Mechanical Vibrations
Dr. Mohan Rao
Professor Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003
MEEM 3700
1 of 20
x(t ) = C sin(2 ft + )
Amplitude
Harmonic Function
1.5
Period
amplitude
0.5
Peak to
Peak
Amplitude
C pp
-0.5
-1
-1.5
-1
Delay
1
2
seconds
MEEM 3700
2 of 20
T = period =
1
(sec)
f
f =
rad
1 cycles
( Hz )
T sec
= 2 f
sec
C = amplitude
C pp = peak to peak amplitude
1/ 2
Crms
1 T
= C 2 sin 2 (2 ft + )dt
T
0
2
C = 0.707C
2
= phase = = 2 f
MEEM 3700
3 of 20
x ( t ) = C sin (t + )
sin ( ) = sin ( ) cos ( ) cos ( ) sin ( )
x ( t ) = A cos t + B sin t
MEEM 3700
Equivalent Forms
4 of 20
x ( t ) = A cos t + B sin t
A C sin
=
B C cos
A
= tan
B
A = C sin
B = C cos
A2 + B 2 = C 2 sin 2 ( ) + C 2 cos 2 ( )
C 2 ( sin 2 ( ) + cos 2 ( ) ) = A2 + B 2
= tan 1
B
C = A2 + B 2
x ( t ) = C sin (t + )
MEEM 3700
5 of 20
x(t ) = C sin(2 ft + )
Displacement
( = 2 f )
x(t ) = C sin(t + )
x& (t ) = C cos(t + )
Velocity
&&
x(t ) = 2C sin(t + )
Acceleration
maximum velocity = C
maximum acceleration = 2C
MEEM 3700
6 of 20
Acceleration
40
30
Displacement
20
10
0
-10
Velocity
-20
-30
-40
10
MEEM 3700
7 of 20
x ( t ) = C sin (t )
or
x ( t ) = C cos t
2
x ( t ) = C cos (t )
or
x ( t ) = C sin t +
2
x ( t ) = C sin t +
4
or
x ( t ) = C cos t
4
or
x ( t ) = A cos (t ) + B sin ( t )
MEEM 3700
8 of 20
Rotating Vector or
Phasor
x = C cos t
y = C sin t
MEEM 3700
9 of 20
X = a + ib
REAL
IMAGINARY
Y (Imaginary)
X = C cos + iC sin
X = a + ib = Cei
b
X (Real)
MEEM 3700
10 of 20
z = a + ib
Suppose
z2 = a2 + ib2 = C2 ei2
= (a1 + a2 ) + i(b1 + b2 )
Similarly
z1 z2 = C1ei1 C2 ei2 = (a1 + ib1 ) (a2 + ib2 )
= (a1 a2 ) + i (b1 b2 )
C j = a 2j + b 2j ; j = 1, 2
bj
a
j
j = tan 1
; j = 1, 2
MEEM 3700
11 of 20
dX d
Aeit = i Aeit = i X
=
dt
dt
Velocity
d2 X d
i Aeit = 2 Aeit = 2 X
=
2
dt
dt
Acceleration
Imaginary
Real
MEEM 3700
12 of 20
(Review)
x = x (t )
ax&& + bx& + cx = F ( t )
dx
dt
d 2x
&&
x= 2
d t
x& =
2nd order
linear
Required solution
non-homogeneous
x (t ) = ?
constant coefficients
x ( t ) = xh ( t ) + x p ( t )
MEEM 3700
13 of 20
(Review)
xh ( t )
Homogeneous Solution
ax&& + bx& + cx = 0
xh (t ) = ?
assume a solution....
x(t ) = C sin(t )
or
x(t ) = Ce
x& ( t ) = sCe
&x&( t ) = s Ce
st
st
MEEM 3700
st
14 of 20
(Review)
a&x& + bx& + cx = 0
substituti ng x ( t ), x& ( t ), &x&( t )
as Ce + bsCe + cCe = 0
2
st
st
st
rearranging
(as
Ce = 0
st
+ bs + c )Ce = 0
st
as + bs + c = 0
2
MEEM 3700
15 of 20
(Review)
as + bs + c = 0
2
b b 4ac
s =
2a
2
1, 2
x ( t ) = C e and x ( t ) = C e
s1t
x(t) = C e + C e
s1t
s2t
s2t
MEEM 3700
16 of 20
(Review)
xh (0) = C1e s1 0 + C2 e s2 0 = C1 + C2
x&h (0) = s1C1e s1 0 + s2C2 e s2 0 = s1C1 + s2C2
s1 , s2 can be real or complex valued
MEEM 3700
17 of 20
(Review)
0 .2
0
-0 .2
-0 .4
-0 .6
-0 .8
-1
1 0
MEEM 3700
18 of 20
(Review)
xh (t ) = C1e(
s 2 = j
+ j )t
+ C2 e (
j )t
xh (t ) = e t C1e( + j )t + C2 e( j )t
MEEM 3700
19 of 20
(Review)
Eulers Identity
e j t = cos ( t ) + j sin ( t )
xh (t ) = e t ( ( C1 + C2 ) cos ( t ) + j ( C1 C2 ) sin ( t ) )
1
0 .5
-0 .5
-1
1 0
MEEM 3700
20 of 20
10