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Systems - Newtons
Method
H.P. LEE
Department of Mechanical Engineering
EA-05-20
Email: mpeleehp@nus.edu.sg
Semester 2 2014/2015
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Degrees of freedom
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Example
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Example
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Example
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Example
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Another example
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Spring Force
k is the spring constant
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Mechanical Components
Damping force
c is the damping coefficient
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Mechanical Components
Inertia force
(or kinetic force)
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x0
x
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Shaft
Disc
1 DOF
A two-degree-of-freedom Torsional
Vibration System
1
K2
J2
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Equation of motion
The equation of motion for
the 2DOF system can be
derived either by the
Newtons method (a vector
approach) or the Lagranges
equation (a scalar approach).
The Newtons method is to
construct the force diagram
and then apply the Newtons
second law.
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F
=
Force Diagram
J1
1
1
Disc-1
K 2 (2 1 )
J2
2
2
Disc-2
Equation of Motion
K K ( ) 0
J1
1
1 1
2
2
1
(K K ) K 0
J1
1
1
2
1
2 2
K ( ) 0
J2
2
2
2
1
K K 0
J2
2
2 1
2 2
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m1a
m2a2
k2(x2 -x1)
k 1 x1
m2
m1
x2
x1
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(4.1)
Rearranging terms:
m1 x1 (t ) (k1 k2 ) x1 (t ) k2 x2 (t ) 0
m2 x2 (t ) k2 x1 (t ) k2 x2 (t ) 0
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(4.2)
General observations
Initial Conditions
For a 2 DOF systems, the two equations are
linear second order differential equations with
constant coefficients.
The two equations will result in four unknown
constants from the integration process.
Four initial conditions are therefore required for
the solutions.
The initial conditions are typically in terms of
initial positions and velocities.
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Initial conditions
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Matrix form
x1 (t )
x1 (t )
x1 (t )
x(t )
, x(t )
, x(t )
x
(
t
)
x
(
t
)
x
(
t
)
2
2
2
m1
M
0
0
,
m2
k1 k2
K
k2
Mx Kx 0
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k2
k2
Matrix form
m1x1 (t ) (k1 k2 ) x1 (t ) k2 x2 (t ) 0
m2 x2 (t ) k2 x1 (t ) k2 x2 (t ) 0
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Initial conditions
x10
x10
x(0) , and x(0)
x20
x20
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Solution process
Let x(t ) ue
jt
j 1, u 0, , u unknown
- M K ue
2
jt
- M K u 0
2
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Observation
M K u 0
(4.17)
Solution
or det - 2 M K 0
(4.19)
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det- 2 M K 0
2 m1 k1 k2
k2
det
0
2
k2
m2 k2
m1m2 4 (m1k2 m2 k1 m2 k2 ) 2 k1 k2 0
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and 1 and 2
2
1
2
2
( M K )u1 0
(4.22)
( M K )u 2 0
(4.23)
2
1
and
2
2
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Solution
Each of these matrix equations represents 2
equations in the 2 unknown components of the
vector, but the coefficient matrix is singular so
each matrix equation results in only 1
independent equation
The following examples will clarify this
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Example
m1=9 kg,m2=1kg, k1=24 N/m and k2=3 N/m
The characteristic equation becomes
4-62+8=(2-2)(2-4)=0
2 = 2 and 2 =4 or
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Solution
u11
For =2, denote u1 then we have
u12
(-12 M K )u1 0
2
1
3 u11 0
27 9(2)
3
3 (2) u12 0
Solution
u11 1
1
u11 u12 results from both equations:
u12 3
3
only the direction, not the magnitude can be determined!
This is because: det(12 M K ) 0.
The magnitude of the vector is arbitrary. To see this suppose
that u1 satisfies
(12 M K )u1 0, so does au1 , a arbitrary. So
( 12 M K ) au1 0 ( 12 M K )u1 0
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Solution
u21
For = 4, let u 2 then we have
u22
2
(-1 M K )u 0
2
2
3 u21 0
27 9(4)
3
3 (4) u22 0
1
9u21 3u22 0 or u21 u22
3
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Solution
3
u12 1 u1
1
1
3
u22 1 u2
1
1
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Mode shapes
1,3
13
2, has mode shape u1
1
2,4
1 3
2, has mode shape u2
1
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x(t ) ae
j1t
be
j1t
u ce
1
j2t
de
j2t
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x1 (t)
u11
x(t)
A1 sin 1t A1u1 sin 1t
x2 (t)
u12
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x2
k1
m1
Mode 1:
m2
1 3
u2
1
x2=A
x1=A/3
x1
x2
k1
Mode 2:
m2
13
u1
1
k2
k2
m1
x2=A
x1=-A/3
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1
0
consider x(0) = mm, x (0)
0
0
A1
A2
x
(
t
)
1
sin 2t 1 sin 2t 2
3
x (t ) 3
2 A sin 2t A sin 2t
1
1
2
2
A1
A2
x
(
t
)
1
2 cos 2t 1 2 cos2t 2
3
x (t ) 3
2 A 2 cos 2t A 2 cos2t
1
1
2
2
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Time response
At t = 0
A
A
1
2
1 mm
sin
sin
1
2
3
3
0
A1 sin 1 A2 sin 2
A1
A2
0
2 cos 1 2 cos 2
3
0 3
A1 2 cos 1 2 A2 cos 2
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Time response
3 A1 sin 1 A2 sin 2
0 A1 sin 1 A2 sin 2
0 A1 2 cos1 A2 2 cos2
0 A1 2 cos1 A2 2 cos2
A1 1.5 mm, A2 1.5 mm, 1 2
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rad
Time response
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Graphical solutions
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Conclusion
k1
k2
1 2
1.63, 2 2
1.732
m1
m2
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