Engineering Vibration Analysis with Application to Control Systems

C. F. Beards BSc, PhD, CEng, MRAeS, MIOA

Consultant in Dynamics, Noise and Vibration Formerly of the Department of Mechanical Engineering Imperial College of Science, Technology and Medicine University of London

Edward Arnold
A member of the Hodder Headline Group LONDON SYDNEY AUCKLAND

The vibration of systems with distributed mass and elasticity

Continuous systems such as beams, rods, cables and strings can be modelled by discrete mass and stiffness parameters and analysed as multi degree of freedom systems, but such a model is not sufficiently accurate for most purposes. Furthermore, mass and elasticity cannot always be separated in models of real systems. Thus mass and elasticity have to be considered as distributed parameters. For the analysis of systems with distributed mass and elasticity it is necessary to assume an homogeneous, isotropic material which follows Hookes law. Generally free vibration is the sum of the principal modes. However, in the unlikely event of the elastic curve of the body in which motion is excited coinciding exactly with one of the principal modes, only that mode will be excited. In most continuous systems the rapid damping out of high-frequency modes often leads to the fundamental mode predominating.
4.1 4.1.1

WAVE MOTION

Transverse vibration of a string Consider a vibrating flexible string of mass p per unit length and stretched under a tension T a s shown in Fig. 4.1. The FBDs of an element of length dx of the string assuming small deflections and slopes are given in Fig. 4.2. If the lateral deflection y is assumed to be small, the change in tension with deflection is negligible, and sin 6 N 6. The equation for motion in the y direction is
d2y -TB=pdx--, dt2

142 The vibration of systems with distributed mass and elasticity

[Ch. 4

Fig. 4.1.

Vibrating string.

Fig. 4.2. (a) Applied forces; (b) effective force.

so
P a2Y alax =T %.

Since

e = ayjax.
azy
Q =

c' ( p ) ,

1 a2y

where c

= J(T1P)

(4.1)

This is the waue equation, the solution of which is given in section 4.1.4. The velocity of propagation of waves along the string is c.

Longitudinal vibration of a thin uniform bar Consider the longitudinal vibration of a thin uniform bar of cross-sectional area S, density p and modulus E under an axial force P, as shown in Fig. 4.3.
4.1.2

Sec. 4.1 ]

Wave motion 143

Fig. 4.3. Longitudinal beam vibration

From Fig. 4.3,

- dx = p
SX

dP

S dx = P/SE,

S2U

2t2 .

Now strain Su/Sx

so

SPISx = SE(S2u/Sx2).
Thus
S2uISt2 = (E,/p)(S2 u/Sx2),

or
S2uJSx2= (1/c2)(S2u/St2),

where

c = J(E/p).

(4.2)

This is the wave equation. The velocity of propagation of the displacement or stress wave in the bar is c.

4.1.3 Torsional vibration of a uniform shaft In the uniform shaft shown in Fig. 4.4 the modulus of rigidity in torsion is G, the material density is p , and the polar second moment of area about the axis of twist is J . From Fig. 4.4,
?T
-

Sx

dx

=p

J dx

s2e

et2

'

The elastic equation is SO T=GJ,. cx Thus

PO - G _
St2 -

( 7 ) ( @ ) >

228

144

The vibration of systems with distributed mass and elasticity

[Ch. 4

Fig. 4.4. Torsional vibration.

or
a2e

(-&J
1

a2e

where c = J(G/P).

(4.3)

This is the wave equation. The velocity of propagation of the shear stress wave in the shaft is c.

4.1.4 Solution of the wave equation The wave equation

d2y 1 d2y

ax2 = (.)(P)
can be solved by the method of separation of variables and assuming a solution of the form
Y(X,

t ) = F(x)G(t).

Substituting this solution into the wave equation gives dZF(x) 1 a2G(t) G(t) = 7-F(xL dX2 c at2 that is,
~

1 d2F(x) 1 1 dG(t) ~ F(x) L?x2 c2 G(t) d t 2

The LHS is a function of x only, and the RHS is a function of t only, so partial derivatives are no longer required. Each side must be a constant, - ( O / C ) ~ say. (This quantity is chosen for convenience of solution.) Then

Sec. 4.11

Wave motion 145

and d2G(t) + w2G(t)= 0. dt2 Hence

and G(t) = C sin o t + D cos wt. The constants A and B depend on the boundary conditions, and C and D on the initial conditions. The complete solution to the wave equation is therefore C sin wt

+ D cos wt

(4.4)

Example 32 Find the natural frequencies and mode shapes of longitudinal vibrations for a free - free beam with initial displacement zero. Since the beam has free ends, du/?x = 0 at x = 0 and x = 1. Now

2 2 X = (A(:)
Hence

cos(

) :

x -B

(5)

sin( :)x)

(c

sin wt

+ D cos wt

= A(:)

(C sin

wt

+ D cos wr) = 0,

so that

A = 0,

and Csin cot Thus sin(wl/c) = 0, since B # 0, and therefore

+D COSW~

That is

146 The vibration of systems with distributed mass and elasticity

[Ch. 4

where o = clwavelength. These are the natural frequencies. If the initial displacement is zero, D = 0 and

where B' = B x C .

Hence the mode shape is determined.

Example 33 A uniform vertical rod of length 1 and cross-section S is fixed at the upper end and is loaded with a body of mass M on the other. Show that the natural frequencies of longitudinal vibration are determined by
01 J(p/E) tan 01 J(p/E)
= Spl/M

At

x
Also

= 0,

= 0,

and at x

I, F = SE (aulax).

F = SE (aulax)= -M(azU/at2).

The general solution is

u = ( A sin(o/c)x

+ B cos(o/c)x)(C sin o t + D cos ut).