高瞻計畫 - 振動學課程 Lecture 1: Single Degree of Freedom Systems (III)

2012/10/29
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Lecture 1: Single Degree of
Freedom Systems (III)
Prof. Kuo-Shen Chen
Department of Mechanical Engineering
National Cheng-Kung University
Outline
Rotordynamics, an introduction
Impulse Responses
Arbitrary excitation
Transfer function and Laplace Domain
Shock Isolation
Simple problems
Youtube Demos
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Part I:
Rotordynamics: an Introduction
Rotor phenomenon
Unbalance
Campbell diagrams
Rotordynamics
A specialized branch concerned with the behavior

and diagnosis of rotating structures.
commonly used to analyze the behavior of structures

ranging from jet engines and steam turbines to auto
engines and computer disk storage.
Vibration, noise, bearing damages
Key issues to be introduced
Critical speed
Whirling
Campbell diagram
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Jeffcott Rotors
A single disk mounted on a flexible and

massless shaft with rigid bearings
Serves as the fundamental model for
studying rotor phenomena
Whirling
Rotation of bent shaft

: rotating speed, : whirling speed
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Critical Speeds
Whirling: Mathematics
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Whirling Behavior
Synchronous whirling:
As rotating speed passes the critical speed, the imbalance

location would actually move toward the center
9
Campbell Diagram
known as "Whirl Speed

Map" or a "Frequency
Interference Diagram
Basic concept
Natural frequencies
depends on rotating
speed
Resonance occurs as
natural frequencies hit
rotating speed
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Turbine Example
11
Dynamic Balancing
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Part II: Periodic Inputs
13
Introduction
In Lecture III, we have introduced the

response of a SDOF system subjected to a
single sinusoidal response
How about the responses subjected to
A general periodic input
E.g., a saw tooth or a rectangular pulse train
A non-periodic input
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Responses Under a General Force (I)
15
Responses Under a General Force (II)
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Response Under a Periodic Force with

Irregular Form
17
Part III: Vibration Subject to Arbitrary

Excitations
18
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Introduction
It is important to evaluate the response to a

general, non-periodic input
No, exact analytical solutions available
However, the task can be performed by either
Convolution approach
Fourier transform or Laplace transform approach
Transfer function
19
Impulse Response
The response of a vibration system subjected

to a unit impulse input
Impulse function
0 t t 0
(t t0 )
t=t 0
(t t )dt 1
0
F
2
- +
is a small positive number

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From sophomore dynamics:

i.e. area
under
pulse
F(t)
F
2
impulse force = F (t )dt F t

I ( )
F (t )dt F (t )dt N s
2 F
2
-
21
Use these properties to define the

impulse function:
F(t)
Dirac Delta
function
Equal
impulses
F (t ) 0, t
F (t )dt F
If F 1, this is the Dirac Delta (t)
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Effect on spring-mass-damper ?
Just after
impulse
Ft mv
impulse= momentum change
Just before
impulse
m[v(t0 ) v(t 0 )]
F? Ft
?
F mv 0 v 0
m
m
23
For an underdamped system

F?e n t
x(t)
sin d t (response with zero I.C.)
m d
F
n t
e
sin d t
x(t) F?h(t), where h(t)
m d
impulse response function

1
x(t)
0.5
h(t)
0
-0.5
-1
10
20
Time
30
40
h(t )
1
sin n (t )
mn
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t
(t ) 0
h(t ) e n
sin d (t ) t
m d
for the case that the impulse occurs at
h1
note that the effects of non - zero initial conditions

and other forcing terms must be super imposed on
this solution
1
h2
-1
0
1
0
-1
0
1
h1+h2
For example: If two

pulses occur at two
different times then
their impulse
responses will
superimpose
=0
0
10
20
30
40
10
20
30
40
10
20
Time
30
40
=10
0
-1
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Impulse Response of a
Vibration System (I)
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Impulse Response
of a Vibration
System (II)
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Convolution Integrals: Introduction
Decompose a general input to the

combination of a series of impulse train
Superimpose the impulse response to form
the final response
The method itself can be treated as an
analytical relation
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Convolution Integral (I)
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Convolution Integral (II)
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Linear Superposition Method
A complicate input can be decomposed into a

few simple input with
scaling, multiplexing, and time shift operations
The response are then becomes the linear

superposition of the simple output after these
linear operations
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Example: Pulse Input
x(t )
F0
k
1
e nt cos(d t )
1
1 2
x(t )
F0
k
1
e n (t t0 ) cos(d (t t0 ) )
1
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1 2
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Time Shift Operation
E.g., for the pulse input
The total response = x1 + x2

Where
X1
x(t )
F0
k
1
e nt cos(d t )
1
2
1
x2
x(t )
F0
k
1
e n ( t t0 ) cos(d (t t0 ) )
1
2
1
33
Part IV: Transfer Function and

Laplace Transform
34
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Transfer Functions
A black box approach to correlate the inputoutput relation

Based on linear superposition principle
Usually performed by Laplace Transform
approach
Or Fourier Transform
35
Laplace Transform
Changes ODE into algebraic equation

Solve algebraic equation then compute the
inverse transform
Rule and table based in many cases
Is used extensively in control analysis to
examine the response
Related to the frequency response function
X (s ) L ( x (t )) x(t )e st dt
0
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Take the transform of the equation of motion:
mx cx kx F0 cos t
(ms 2 cs k ) X (s )
F0s
s 2
2
Now solve algebraic equation in s for X(s)
X (s )
F0s
(ms 2 cs k )(s 2 2 )
To get the time response this must be inverse

transformed
37
Laplace Transform: Fundamentals (I)

Consider a SDOF vibration system
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Laplace Transform: Fundamentals (II)
Transfer Functions: Z(s) Impedance; Y(s): Admittance

39
Typical
Laplace
Transforms
40
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Properties
of Laplace
Transform
41
Example: Rao Ex. 4.16

Find the response
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43
where
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Part V: Response Spectrum
45
Introduction
Shock
A sudden application of a force input to a SDOF

system to result a transient response
The maximum value of the response can be used
to measure the shcok sensitivity
Response spectrum is a plot of the maximum
peak response of the SDOF oscillator as a
function of natural frequency
Different shock inputs result in different response
spectra
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Typical Response Spectra
47
General Response Spectra (1)
48
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General Response Spectra (2)
49
Typical
Response
Spectrum
Subjected to
Earthquake
50
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Part VI: Simple Problems
51
Problem 1. Periodic Vibration of a

Hydraulic Valve (Rao 4.1)
52
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Problem 2. Response of a Structure under

Impact (Rao 4.4, 4.5)
53
Problem 3. Step Force of a

Compacting Machine (Rao 4.6)
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Problem 4. Blast Load on a Building

Frame (Rao 4.10)
55
Problem 5: Water Tank Subjected to

Base Acceleration (Rao 4.12)
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Problem 6. Response of a Building

Frame to an Earthquake (Rao. 4.13)
57
Part VII:
Youtube Demonstrations
58
29

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2012/10/29

A specialized branch concerned with the behavior

commonly used to analyze the behavior of structures

Key issues to be introduced

A single disk mounted on a flexible and

Rotation of bent shaft

As rotating speed passes the critical speed, the imbalance

known as "Whirl Speed

Part II: Periodic Inputs

In Lecture III, we have introduced the

A general periodic input

E.g., a saw tooth or a rectangular pulse train

Responses Under a General Force (I)

Responses Under a General Force (II)

Response Under a Periodic Force with

Part III: Vibration Subject to Arbitrary

It is important to evaluate the response to a

The response of a vibration system subjected

is a small positive number

From sophomore dynamics:

impulse force = F (t )dt F t

Use these properties to define the

If F 1, this is the Dirac Delta (t)

impulse= momentum change

For an underdamped system

impulse response function

for the case that the impulse occurs at

note that the effects of non - zero initial conditions

For example: If two

Convolution Integrals: Introduction

Decompose a general input to the

Convolution Integral (I)

Convolution Integral (II)

Linear Superposition Method

A complicate input can be decomposed into a

scaling, multiplexing, and time shift operations

The response are then becomes the linear

Example: Pulse Input

Time Shift Operation

E.g., for the pulse input

The total response = x1 + x2

Part IV: Transfer Function and

A black box approach to correlate the inputoutput relation

Changes ODE into algebraic equation

Take the transform of the equation of motion:

Now solve algebraic equation in s for X(s)

To get the time response this must be inverse

Laplace Transform: Fundamentals (I)

Laplace Transform: Fundamentals (II)

Transfer Functions: Z(s) Impedance; Y(s): Admittance

Example: Rao Ex. 4.16

Part V: Response Spectrum

A sudden application of a force input to a SDOF

Typical Response Spectra

General Response Spectra (1)

General Response Spectra (2)

Part VI: Simple Problems

Problem 1. Periodic Vibration of a