ME 563 Mechanical Vibrations Lecture #1
Derivation of equations of motion (Newton-Euler Laws)
Derivation of Equation of Motion
Define the vibrations of interest
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Define the vibrations of interest
Derivation of Equation of Motion
Define the vibrations of interest
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Define the vibrations of interest (Degrees of freedom)
Panel rigid body degrees of freedom
Panel flexible body degrees of freedom
Derivation of Equation of Motion
Define the vibrations of interest
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Define the vibrations of interest (Frequency range)
Low-frequency (<50 Hz) response
High-frequency (>100 Hz) response
Derivation of Equation of Motion
Define the vibrations of interest
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Define the vibrations of interest (Amplitude range)
Ceramic tile attached to orbiter using adhesive bond
Strain isolation pad stress/strain
Derivation of Equation of Motion
Define the vibrations of interest
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Develop model representation (Lumped/discrete elements)
Airframe
10
M K2 K4
Parallel elements same motion Series elements same force
Airframe
K1
K3
Derivation of Equation of Motion
Define the vibrations of interest
11
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Develop model representation (Continuous elements)
Airframe
12
Airframe
Derivation of Equation of Motion
Define the vibrations of interest
13
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Develop model representation (Excitation function)
K1 Airframe M K2 K4 K3 Airframe Airframe K1 M K2 K4 K3 Airframe
14
Base motion
Applied force (impact)
Develop model representation (Excitation function)
15
Derivation of Equation of Motion
Define the vibrations of interest
16
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Define motions (DOFs) (Generalized coordinates, Acceleration datum, gravity)
K1 Airframe x M K2 K4 K3 Airframe
Acceleration
17
x is defined w/r/t equilibrium position (under acceleration of shuttle)
Dynamic response is large compared to gravitational response
Derivation of Equation of Motion
Define the vibrations of interest
18
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Define motions (DOFs) (Constraints on coordinates)
K1 Airframe x M K2 K4 K3 Airframe Acceleration xairframe(t)
19
# D.O.F. = # generalized coordinates - # constraints =21 =1
Derivation of Equation of Motion
Define the vibrations of interest
20
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Derive equations of motion (Newton-Euler, force)
K1 Airframe M K2 f(t) K4 x FBD K3 Airframe K1x K2x M f(t) K3x K4x
21
Derive equations of motion (Newton-Euler, base motion)
x K1 Airframe M K2 K4 K3 Airframe xaf(t) K1(x-xaf) K2(x-xaf) M FBD
22
K3(x-xaf) K4(x-xaf)
Derivation of Equation of Motion
Define the vibrations of interest
23
Develop a model representation
-Discrete/lumped elements (springs, dampers, etc.) -Continuous elements (beams, rods, membranes, plates, etc.) -Excitation function (ground motion, wind, machinery, etc.)
Define motions (kinematics)
-u, v, w, , etc. -Undeformed or deformed datum, direction w/r/t gravitational field -Constraints on/between the variables and #DOFs (base motion, gears)
Derive equations of motion
-Newton-Euler laws -Energy/power methods
Calculate system parameters
-Strength of materials or experimentation -Catalogues from vendors (bushings, mounts, couplings, etc.)
Keep track of assumptions
-Degrees of freedom (translational, rotational, etc.) -Frequency range (<5 Hz, >15 Hz, etc.) -Amplitude range (<2 g, >10 g, linear or nonlinear, etc.)
Calculate system parameters (Strength of materials)
f
24
K2
Force = Stiffness Deflection f = K2 f = K2 fL3 = 3EI
What about the rotational motion?
K1 K3
25
K2
Icm K4
What about the rotational motion?
K1 Icm K2 K2 K4 K3 K1 K3 Icm K4
26
What is K2?
