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    Modeling and Vibration Analysis

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    RowdyRaheel
    This document analyzes the vibration of a CAT 316D excavator that is equipped with a drill. It sets up the equations of motion to model the excavator as a beam supported by two springs with a moving rotary mass representing the drill. It calculates the natural frequencies and derives the steady state solution for the system. Simulink is used to simulate and model the system. The analysis is conducted to ensure safety and comfort of the operator by determining if the vibration frequencies avoid resonance.

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    Modeling and Vibration Analysis

    Uploaded by

    RowdyRaheel
    74 views11 pages
    This document analyzes the vibration of a CAT 316D excavator that is equipped with a drill. It sets up the equations of motion to model the excavator as a beam supported by two springs with a moving rotary mass representing the drill. It calculates the natural frequencies and derives the steady state solution for the system. Simulink is used to simulate and model the system. The analysis is conducted to ensure safety and comfort of the operator by determining if the vibration frequencies avoid resonance.

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    modeling and vibration analysis

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    This document analyzes the vibration of a CAT 316D excavator that is equipped with a drill. It sets up the equations of motion to model the excavator as a beam supported by two springs with a moving rotary mass representing the drill. It calculates the natural frequencies and derives the steady state solution for the system. Simulink is used to simulate and model the system. The analysis is conducted to ensure safety and comfort of the operator by determining if the vibration frequencies avoid resonance.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    74 views11 pages

    Modeling and Vibration Analysis

    Uploaded by

    RowdyRaheel
    This document analyzes the vibration of a CAT 316D excavator that is equipped with a drill. It sets up the equations of motion to model the excavator as a beam supported by two springs with a moving rotary mass representing the drill. It calculates the natural frequencies and derives the steady state solution for the system. Simulink is used to simulate and model the system. The analysis is conducted to ensure safety and comfort of the operator by determining if the vibration frequencies avoid resonance.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 11

    Modeling and

    Vibration Analysis
    Of
    An Excavator
    By
    Mikel Kanaan

    Mechanical Engineering Department


    Bradley University
    Faculty: Dr. Sam Kherat

    1
    Notations:
    l = Length (m)
    M,m = Mass (kg)
    K = spring constant (N/𝑚)
    w = Natural frequency
    λ = eigenvalue
    g = gravitational acceleration (m/sec^2)

    Experimental data:

    M= 19200 kg
    m = 200 kg
    K1= 100 KN/m
    K2= 200 KN/m
    J = 150000 kg.m^2
    L1= 4 m
    L2= 2 m

    2
    Index:

    Abstract 4
    Introduction 5
    Calculations 6
    Conclusion 11
    References 11

    3
    1. Abstract:

    The aim of this project is to analyze a CAT excavator specifically


    the 316D excavator. The machine is equipped with a drill that
    add additional vibration to the system. The drill is simulated by
    a mass with a sinusoidal movement. The rough terrain is
    neglected in order to simplify the analysis. The conditions that
    the excavator will meet is assigned and the equation of motion
    set up. Solutions for the EOM are derived; first analytically then
    a homogeneous solution and finally a particular solution. In
    addition, the system is simulated using Simulink. Due to lacking
    literature some experimental data were assumed.

    4
    2. Introduction:

    Every piece of equipment needs to have a vibration analysis


    made on it in order to make sure that it can operate safely
    under the work conditions it might encounter especially when
    the work conditions are dangerous. This CAT wheel excavator
    has a changeable arm that can be either a jackhammer or a
    bucket. The jackhammer option was chosen since it adds to the
    vibration analysis more than the bucket. This vehicle is made
    for rough terrain and that has to come in play in real life but the
    focus of this report was on the drill along with the stiffness of
    the tires and the mass of the excavator.
    CAT has invested a lot of time and money in researching what
    would happen to its machines in different scenarios to make
    sure of the safety and comfort of the operator in addition to
    the surrounding personnel.
    a. Problem definition
    This a study of an existing machine which is modelled
    as an undamped beam supported by 2 springs and
    has a drill which will be modelled as moving rotary
    mass.

    5
    3. Calculations:
    The system modelled as:

    With a differential equation of motion:


    𝑚 0 𝑥̈ 𝑘1 + 𝑘2 𝑘2 𝑙2 − 𝑘1 𝑙1 𝑥 𝑓(𝑥, 𝑡)
    [ ] [ ̈ ]+[ ] [ ]=[ ]
    0 𝐽 𝜃 𝑘2 𝑙2 − 𝑘1 𝑙1 𝑘1 𝑙 21 + 𝑘2 𝑙 2 2 𝜃 0
    For simplicity, we’ll take
    𝑘2 𝑙2 = 𝑘1 𝑙1

    For a homogeneous solution


    f(x,t)= 0

    For x=Xsint and θ=Ѳsint


    𝑘1 + 𝑘2 − 𝑚𝜆 𝑘2 𝑙2 − 𝑘1 𝑙1
    | |=0
    𝑘2 𝑙2 − 𝑘1 𝑙1 𝑘1 𝑙 21 + 𝑘2 𝑙 2 2 − 𝐽𝜆

    6
    Using Matlab, the eigenvalues are found to be:
    𝜆1 =(j*k1 + j*k2 + (j^2*k1^2 + 2*j^2*k1*k2 + j^2*k2^2 + 2*j*k1^2*l1^2*m -
    2*j*k1*k2*l1^2*m - 8*j*k1*k2*l1*l2*m - 2*j*k1*k2*l2^2*m + 2*j*k2^2*l2^2*m
    + k1^2*l1^4*m^2 + 2*k1*k2*l1^2*l2^2*m^2 + k2^2*l2^4*m^2)^(1/2) +
    k1*l1^2*m + k2*l2^2*m)/(2*j*m)

    𝜆2 = (j*k1 + j*k2 - (j^2*k1^2 + 2*j^2*k1*k2 + j^2*k2^2 + 2*j*k1^2*l1^2*m -


    2*j*k1*k2*l1^2*m - 8*j*k1*k2*l1*l2*m - 2*j*k1*k2*l2^2*m + 2*j*k2^2*l2^2*m
    + k1^2*l1^4*m^2 + 2*k1*k2*l1^2*l2^2*m^2 + k2^2*l2^4*m^2)^(1/2) +
    k1*l1^2*m + k2*l2^2*m)/(2*j*m)

    With the knowledge that the natural frequencies are


    𝟏⁄
    𝝀 𝟐
    [ 𝟏]
    𝝀𝟐
    Using the previous assumptions made for m, J, k1, k2, l1 and l2
    we find
    𝑤1 4
    [𝑤 ]=[ ]rad/sec
    2 3.9

    Now to model the attached arm connected to the excavator, I


    decided to model it as a rotor excitation.

    7
    Where the equation of motion is acquired from:
    m𝑥̈ =H - 𝑘1 𝑥 − 𝑘2 𝑥
    𝑚0 (𝑥̈ + 𝑦̈ ) = −𝐻

    Adding them will get


    𝑚 + 𝑚0 −𝑚0
    𝑥̈ + 𝑥 = 𝑦̈
    𝑘1 + 𝑘2 𝑘1 + 𝑘2
    Where x=𝑋0 sin(wt+β)
    Y=𝑌0 sin(wt)

    The steady state solution would be


    2
    𝑤
    𝐶𝑌0 ⁄ 2
    𝑤 𝑛
    𝑋0 = 2
    1−𝑤 ⁄ 2
    𝑤 𝑛

    𝑚0
    Where C=
    𝑚+𝑚0

    8
    X/CY
    6

    0
    X/CY

    0.1 1.1 2.1 3.1 4.1 5.1 6.1 7.1 8.1


    -2 X/CY

    -4

    -6

    -8
    r

    Using Simulink to model the system we get

    9
    10
    4. Conclusion:

    As more machines are made, vibration analyses are important


    testing requirements to insure that the frequencies won’t
    approach resonance. In addition, the frequencies must be
    appropriate for comfort and practicality so this would tell us if
    dampers are needed in the system.

    5. References:

     Theory of vibration with applications 5th edition


     http://www.brown.edu/Departments/Engineering/Co
    urses/En4/Notes/vibrations_forced/vibrations_forced
    .htm
     http://www.cat.com/en_US/products/new/equipme
    nt/wheel-excavators/wheel-
    excavators/18115446.html

    11

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