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FDTP - Vibration Rs

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

UNIT 1
CONCEPT OF VIBRATION

REQUIREMENT VEHICLE
• Carry people:
• safety, ride comfort, Economic

• Safety means not crash only the behavior when accl, brakes and cornering.
• ride comfort- vibration
• Economic – only tire

• Vehicle has to listen to the driver – (safety – linked with this secod
point)

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration
• It is a periodic motion which taken place when any elastic system is
displaced from the equilibrium position.
• In vehicle vibration causes human discomfort. Discomfort is equally depend
on both amplitude and frequency of vibration.
• The purpose of tyre is primarily to protect the wheel against road whereas
main spring take care of ride comfort.
• The problem of vehicle vibration is extremely complicated in nature.
• The analysis of vehicle vibration presented in this chapter uses deterministic
mathematical model based on idealisation.

Cont..

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Types of vibration
According to the acting force
• Free or Natural vibration
• Forced vibration
• Damped vibration

According to the stress in the supported medium


• Longitudinal vibration
• Transverse vibration
• Torsional vibration

Free, Forced and Damped vibrations

Free vibrations

When no external force acts on the body, after giving it an initial displacement then
the body is called free vibration

Free vibration takes place when a system oscillates under the action of forces inherent
in the system itself due to initial disturbance, and when the externally applied forces
are absent.
The system under free vibration will vibrate at one or more of its natural frequencies,
which are properties of the dynamical system, established by its mass and stiffness
distribution.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Forced vibration

•The vibration that takes place under the excitation of external forces is called forced
vibration.

•If excitation is harmonic, the system is forced to vibrate at excitation frequency .

•If the frequency of excitation coincide with one of the natural frequencies of the system,
a condition of resonance is encountered and dangerously large oscillations may result,
which results in failure of major structures, i.e., bridges, buildings, or airplane wings etc.

•Thus calculation of natural frequencies is of major importance in the study of


vibrations.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Damped vibrations

when there is a reduction in amplitude over every cycle of vibration, the motion is
called damped vibration.
•Because of friction & other resistances vibrating systems are subjected to damping to
some degree due to dissipation of energy.
•Damping has very little effect on natural frequency of the system, and hence the
calculations for natural frequencies are generally made on the basis of no damping.
•Damping is of great importance in limiting the amplitude of oscillation at resonance.

Longitudinal vibrations.

When the particles of the shaft or disc moves parallel to the axis of the shaft than the
vibration are known as longitudinal vibrations.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Transverse vibration

When the particle of the shaft or disc move approximately perpendicular tot the
shaft than the vibrations are known as transverse vibrations

Torsional vibrations
When the particle of the shaft or disc moves in a circle about the axis of the shaft
then the vibration are known as torsional vibrations

In this case, the shaft is twisted and


untwisted alternatively ,So torsional
shear tress areas induced in the shaft.
In transverse vibrations the shaft is
straight or bend alternatively so
bending stresses are induced in the
shaft.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vehicle dynamics and its classification.

• Vehicle dynamics has been a pivotal domain in the field of automotive


engineering.
• It is primarily divided into three subgroups: Performance, Ride and
Handling.
• Performance mainly deals with the efficiency and effectiveness of the
vehicle in its ability to accelerate, brake and overcome obstacles.
• Ride is related to the vibration of the vehicle due to road excitations and its
effect on occupants and cargo.
• Handling is concerned with the overall behaviour or response of the vehicle
to driver inputs.

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Degrees of freedom for automobile

Three translation
1) Bobbing up and down
2) Swaying back and forth
3) Moving forward and backward

Three rotations
1) Rolling about longitudinal axis
2) Pitching about lateral axis
3) Yawing about vertical axis

Cont…

i. The body
ii. The frond and rear axles
iii. Eight distinct spring

iv. So it has eighteen degrees


of freedom

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Mathematical model of a vehicle and driver.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Modelling and simulation applicable to Vehicle dynamics.


• Writing the equation corresponding to a physical system.
• This equation may be algebraic or differential equation.
• Writing the program and then fed in to the computer.
• Solving the problem by use of computer is called simulation.

LUMPED MASS

• A motor vehicle is made up of many components - all components move


together. For example, under braking, the entire vehicle slows down as a
unit - one lumped mass located at its centre of gravity (CG) with
appropriate mass and inertia properties.
• For acceleration, braking, and most turning analyses, one mass is sufficient.
• For ride analysis, it is often necessary to treat the wheels as separate
lumped masses.
• In that case the lumped mass representing the body is the"sprung mass,"
and the wheels are denoted as "unsprung masses."

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Conti…

• For single mass representation, the vehicle is treated as a mass


concentrated at its center of gravity (CG).
• The point mass at the CG, with appropriate rotational moments of
inertia, is dynamically equivalent to the vehicle itself for all motions in
which it is reasonable to assume the vehicle to be rigid.

Vehicle Fixed Coordinate System

• On-board, the vehicle motions are defined with reference to a right-hand


orthogonal coordinate system (the vehicle fixed coordinate system) which
originates at the CG and travels with the vehicle.
• By SAE convention [25] the coordinates are:
x - Forward and on the longitudinal plane of symmetry
y - Lateral out the right side of the vehicle
z - Downward with respect to the vehicle
p - Roll velocity about the x axis
q - Pitch velocity about the y axis
r - Yaw velocity about the z axis

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Motion Variables
• Vehicle motion is usually described by the velocities (forward,
lateral,vertical, roll, pitch and yaw) with respect to the vehicle fixed
coordinate system, where the velocities are referenced to the earth fixed
coordinate system.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Earth Fixed Coordinate System


• Vehicle attitude and trajectory through the course of a maneuver are defined with
respect to a right-hand orthogonal axis system fixed on the earth.
• It is normally selected to coincide with the vehicle fixed coordinate system at the
point where the maneuver is started. The coordinates
• X - Forward travel
• Y - Travel to the right
• Z - Vertical travel (positive downward)
• '" - Heading angle (angle between x and X in the ground plane)
• v - Course angle (angle between the vehicle's velocity vector and X axis)
• β - Sideslip angle (angle between x axis and the vehicle velocity vector)

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration with single degrees of freedom

The free body diagram is shown as Newton's second law gives,

𝐹 𝑡 − 𝐶𝑥 𝑡 − 𝐾𝑥 𝑡 = 𝑀𝑥(𝑡)

𝐹 𝑡 = 𝑀𝑥 𝑡 + 𝐶𝑥 𝑡 + 𝐾𝑥 𝑡

Vibration with single degrees of freedom

In the above equation gives

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration with single degrees of freedom

Free vibration
In this case F(t) = 0 of the above equation simplifies to

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Cont…

The ratio of i and (i+1)th successive amplitude is

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Prob 1- The spring of a motor vehicle carry a total load of 11281.5 N of with equal
springing front of rear the combined spring rate is 88290 N/m. Calculate the
frequency of vertical natural vibration with dampers removed,. If the dampers are
adjusted to give a total damping force 4415.5Nm/s. Calculate the frequency of
damped vibrations of the ratio of the second downward movement to the first
download movement.
Solution

Given
W= 11282.5 N

K= 88290N/m
= 8.77rad/sec.

C= 4415.5Nm/s

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

= 1.363

= 0.248 cps.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration with single degrees of freedom


b) Forced vibration

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…
(% by m)

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Vibration with single degrees of freedom


b) Forced vibration

ii) Vibration due to engine unbalance:

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration with single degrees of freedom


b) Forced vibration

iii)Transmissibility of Engine Mounting

Cont…

The maximum force transmitted to the ground

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Substitute the X values.

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Prob 2: An engine weighting 1785.4N is to be supported on 4 helical spring. When the


engine speed is 900 rpm there is a primary vertical distributing force of max. value 312 N
due to the unbalanced reciprocating weights. Assuming that the engine vibrates in the
vertical direction with neither horizontal nor angular movement. Find the stiffness of each
spring is N/m of deflection to limit the maximum total periodic forces on the foundation
of 22.3 N. What will be the amplitude of vibration of the engine when its speed s 600
rpm..

Solution

W = 1785.4 N
N= 900rpm

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

= -0.52 mm

Amplitude of the vibration of engine at 600 rpm is 0.52 mm

Vibration with two degrees of freedom

Free vibration

Spring coupled system With damper

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Free vibration
Spring coupled system With damper
For mass 1

For mass 2

Free vibration
Spring coupled system With damper

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Free vibration

Spring coupled system Without damper

For mass 1

For mass 2

Free vibration

Spring coupled system Without damper

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Free vibration
Spring coupled system Without damper

Free vibration
Spring coupled system Without damper

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Free vibration
Spring coupled system Without damper

Free vibration
Spring coupled system Without damper

Ist mode 2nd mode

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration with two degrees of freedom


Free vibration
Mass coupled system damper

Free vibration
Mass coupled system damper

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Free vibration
Mass coupled system damper

𝑚𝑥 + 𝐶2 (𝑥 + 𝑙2 𝜃) + 𝐶1 (𝑥 − 𝑙1 𝜃) + 𝑘1 (𝑥 − 𝑙1 𝜃) + 𝑘2 (𝑥 + 𝑙2 𝜃) = 𝐹1 (𝑡)

Free vibration
Mass coupled system Without damper

For simplification it is assumed that damping is absent, rearranging the above


general equation

Gives,

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Where

For non-trivial solution

The periodic model

The amplitude ratio of bounce and pitch oscillation for two natural frequencies are given
by

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration with two degrees of freedom


Forced vibration

Vibration absorber

• Vibration absorber noting but adding additional system to make it zero in


amplitude values.
• When a structure externally excited has undesirable vibrations, it becomes
necessary to eliminate them by coupling some vibrating system to it.
• The vibration system is known as vibration absorber. In such causes the excitation
frequency is nearly equal to the natural frequency of the structure of machine.

Vibration with two degrees of freedom


Forced vibration

Vibration Absorber

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration with two degrees of freedom


Forced vibration

Vibration absorber

The mass which is excited can have zero amplitude of vibration of the spring mass
system which as coupled it vibrates freely.
Vibration absorber are used to control structure resonance.

Vibration absorber
The equations of motion are

And

No damper

And

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration absorber

Vibration absorber

[A]{X}= {F}

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration absorber
{X}= [A]-1{F}

Vibration absorber

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

• Prob 5. A damper offer resistance 0.05N at constant velocity 0.04


m/sec. Determine the damped natural frequency of the system when m
is 0.1 kg and k is 9N/m.

• Prob 6. A vibrating system has m= 3kg , k= 100 N/m, C= 3Ns/m .


Determine damped natural frequency, Logarithmic decrement ratio of
two successive amplitudes.

Prob 7.
For mass 1

For mass 2

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

This is quadratic equations

Ist mode
2nd mode

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Multi degrees of freedom

• The system has more than one degrees of freedom are known as
several or multi degrees of freedom the system
• It has many equations of motion and as many natural frequencies as
the number of degrees of freedom.
• It becomes vey difficult to find out natural frequencies and mode
shapes It can be done with help of computers and quite relative with
some approximate like Rayleigh’s method, Holzeis Method,
Dunkersleys method and Matrix method etc..

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Close – coupled system

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Displacement method.

This equation is reduced to

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

MARIX METHOD (EOGHEN VALUE AND EIGEN


VECTORS)

3 masses = 3 degrees of freedom = 3 natural


frequencies

Free body diagram

Xij = amplitude of ith mass and jth


frequncy

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Equation of motion for

Mass I

Mass II

Mass III

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Substitute

Substitute the values in above equation we will get Eigen vector for respective Eigen
values.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Prob : 1

Calculate the natural frequencies and mode shapes of the


three degrees of freedom spring mass system as shown
in fig.

Equation of motion for

Mass I

Mass II

Mass III

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Where And 𝜆=ω²

Substitute [C], [I] and {X }in the equation

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

It will give natural frequencies of the system 𝜆= ωn²

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

𝜆= ωn²

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Natural frequencies of free vibrations(longi)

W = load

A= cross sectional area.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration Measurement and Applications


• In some practical situations, it might be difficult to develop a mathematical
model of the system and predict its vibration characteristics through an
analytical study.
• In such cases, we can use experimental methods to measure the vibration
response of the system to a known input.
• This helps in identifying the system in terms of its mass, stiffness, and
damping

Cont…

• Increasing demands - higher productivity and economical design- use of


materials through lightweight structures.
• These trends make the occurrence of resonant conditions more frequent
during the operation.
• Hence the periodic measurement of vibration characteristics is essential.
• The measurement of the natural frequencies of a structure or machine is
useful in selecting the operational speeds of nearby machinery to avoid
resonant conditions.
• The measurement of frequencies of vibration and the forces developed is
necessary in the design and operation of active vibration-isolation systems.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

• In many applications, the survivability of a structure or machine in a


specified vibration environment is to be determined.
• Continuous systems are often approximated as multidegree-of-freedom
systems for simplicity.
• If the measured natural frequencies and mode shapes of a continuous
system are comparable to the computed natural frequencies and mode
shapes of the multidegreeof- freedom model, then the approximation will be
proved to be a valid one.

Cont…

Depending on the quantity measured, a vibration measuring instrument is called a


vibrometer, a velocity meter, an accelerometer, a phase meter, or a frequency meter.

(1) expected ranges of the frequencies and amplitudes,


(2) sizes of the machine/structure involved,
(3) conditions of operation of the machine/equipment/structure, and
(4) type of data processing used (such as graphical display or graphical recording or
storing the record in digital form for computer processing).

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Transducers

• A transducer is a device that transforms values of physical variables


into equivalent electrical signals.
• Several types of transducers are available; some of them are less
useful than others due to their nonlinearity or slow response.
• Some of the transducers commonly used for vibration measurement
are discussed below.
• In these transducers, a mechanical motion produces a change in
electrical resistance (of a rheostat, a strain gage, or a semiconductor),
which in turn causes a change in the output voltage or current.

Variable- Resistance Transducers

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Cont…

• In a vibration pickup^2 the strain gage is mounted on an elastic element of a


spring mass system.
• The strain at any point on the cantilever (elastic member)is proportional to the
deflection of the mass, x(t), to be measured.
• Hence the strain indicated by the strain gage can be used to find x(t). The change
in resistance of the wire can be measured using a Wheatstone bridge,
potentiometer circuit, or voltage divider.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

The output voltage is proportional to the strain, it can be calibrated to read the
strain directly.

Piezoelectric Transducers

• Certain natural and manufactured materials like quartz, tourmaline, lithium


sulfate, and Rochelle salt generate electrical charge when subjected to a
deformation or mechanical stress .
• The electrical charge disappears when the mechanical loading is removed.
• Such materials are called piezoelectric materials and the transducers, which take
advantage of the piezoelectric effect, are known as piezoelectric transducers.
• The charge generated in the crystal due to a force F is given by

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

where v is called the voltage sensitivity and t is the thickness of the crystal. The values of the
piezoelectric constant and voltage sensitivity for quartz are and 0.055 volt-meter/N,
respectively.

Electro magnetic Transducers


• When an electrical conductor, in the form of a coil, moves in a magnetic field a
voltage E is generated in the conductor.
• The value of E in volts is given by

Where
D is the magnetic flux density (teslas),
l is the length of the conductor (meters), and
v is the velocity of the conductor relative to the magnetic
field (meters/second)

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibration Pickups

• When a transducer is used in conjunction with another device to measure


vibrations, it is called a vibration pickup.
• The commonly used vibration pickups are known as seismic instruments.
• A seismic instrument consists of a mass-spring-damper system mounted on
the vibrating body.
• Then the vibratory motion is measured by finding the displacement of the
mass relative to the base on which it is mounted.

Cont…

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Vibrometer

• A vibrometer or a seismometer is an instrument that measures the


displacement of a vibrating body.
• Thus the relative displacement between the mass and the base (sensed by
the transducer) is essentially the same as the displacement of the base.
• For an exact analysis-

Accelerometers

• An accelerometer is an instrument that


measures the acceleration of a vibrating body
• Accelerometers are widely used for vibration
measurements and also to record earthquakes.
• From the accelerometer record, the velocity
and displacements are obtained by
integration.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Frequency-Measuring Instruments

• Most frequency-measuring instruments are of the mechanical type and are


based on the principle of resonance.
• Two
• Fullarton tachometer and
• Frahm tachometer.

• Stroboscope.- A stroboscope is an instrument that


produces light pulses intermittently.
• The frequency at which the light pulses are produced
can be altered and read from the instrument.
• When a specific point on a rotating (vibrating) object
is viewed with the stroboscope, it will appear to be
stationary only when the frequency of the pulsating
light is equal to the speed of the rotating (vibrating)
object.
• The main advantage of the stroboscope is that it does
not make contact with the rotating (vibrating) body.
• Due to the persistence of vision, the lowest
frequency that can be measured with a stroboscope is
approximately 15 Hz.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Signal Analysis

• In signal analysis, we determine the response of a system under a known


excitation and present it in a convenient form. Often, the time response of a
system will not give much useful information.
• However, the frequency response will show one or more discrete
frequencies around which the energy is concentrated.

Dynamic Testing of Machines and Structures

• The dynamic testing of machines (structures) involves finding their


deformation at a critical frequency
• Using Operational Deflection-Shape Measurements.- Forced dynamic
deflection shape is measured under the steady-state (operating) frequency of the
system.
• Using Modal Testing

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Experimental Modal Analysis

• Experimental modal analysis, also known as modal analysis or modal


testing, deals with the determination of natural frequencies, damping ratios,
and mode shapes through vibration testing.
Two basic ideas are involved:
• 1. When a structure, machine, or any system is excited, its response exhibits
a sharp peak at resonance when the forcing frequency is equal to its natural
frequency when damping is not large.
• 2. The phase of the response changes by 180° as the forcing frequency
crosses the natural frequency of the structure or machine, and the phase will
be 90° at resonance.

Cont…

The measurement of vibration requires the following hardware:


1. An exciter or source of vibration to apply a known input force to the
structure or machine.
2. A transducer to convert the physical motion of the structure or machine into
an electrical signal.
3. A signal conditioning amplifier to make the transducer characteristics
compatible with the input electronics of the digital data acquisition system.
4. An analyzer to perform the tasks of signal processing and modal analysis
using suitable software.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Torsional System

• Torsional vibrations is predominant whenever there is large discs on relatively thin


shafts (e.g. flywheel of a punch press).
• Torsional vibrations may originate from the following forcing
• Inertia forces of reciprocating mechanisms (such as pistons in IC engines)
• Impulsive loads occurring during a normal machine cycle (e.g. during operations
of a punch press)
• Shock loads applied to electrical machinery (such as a generator line fault
followed by fault removal and automatic closure)
• Torques related to gear mesh frequencies, turbine blade passing frequencies, etc.

• Determination of torsional natural frequencies of the system is very important.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Simple System with Single Rotor Mass

Cont…

Where ,
Kt is the torsional stiffness of shaft,
Ip is the rotor polar moment of inertia, kg-m2,
J is the shaft polar second moment of area,
l is the length of the shaft and
q is the angular displacement of the rotor.

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Critical (Whirling) Speed Of Shafts

• For a rotating shaft there is a speed at which, for any small initial deflection, the
centripetral force is equal to the elastic restoring force.
• At this point the deflection increases greatly and the shaft is said to "whirl". Below and
above this speed this effect is very much reduced.
• This critical (whirling speed) is dependent on the shaft dimensions, the shaft material and
the shaft loads . The critical speed is the same as the frequency of traverse vibrations.
• The critical speed Ncof a shaft is simply

Cont…

Symbols
m = Mass (kg)
Nc = critical speed (rev/s )
g = acceleration due to gravity (m.s-2 )
O = centroid location
Where G = Centre of Gravity location
m = the mass of the shaft assumed concentrated at single point . L = Length of shaft
k is the stiffness of the shaft to traverse vibrations E = Young's Modulus (N/m2)
I = Second Moment of Area (m4)
y = deflection from δ with shaft rotation =
For a horizontal shaft this can be expressed as ω
δ static deflection (m)
ω = angular velocity of shaft (rads/s)

Where y = the static deflection at the location of the concentrated mass

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

Consider a rotating horizontal shaft with a central mass (m) which has a centre of gravity
(G)slightly away from the geometric centroid(O)

Cont…
Equating these forces...

The whirling or critical speed

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FDTP - VEHICLE DYNAMICS, SVCE 23 to 30th November, 2016

Cont…

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