Indian Institute of Technology Kanpur

A PROJECT REPORT ON MODE LOCALISATION IN SPRING-MASS SYSTEM

BY SANJEEV KUMAR ATRIJ SINGHAL

3rd year Undergraduate Department of Mechanical Engineering

GUIDED BY Prof. S.S. GUPTA

(Department of Mechanical Engineering)

INDIAN INSTITUTE OF TECHNOLOGY KANPUR

Acknowledgement
A summer project is a golden opportunity for learning and self-development. I consider myself very lucky and honoured to have so many wonderful lead me through in completion of this project. I would like to express my greatest gratitude to the people who have helped & supported me throughout my project. I am grateful to Prof. S.S. Gupta, department of Mechanical Engineering, for his continuous support for the project, for initial advice & contacts in the early stages of conceptual inception & through on going advice & encouragement to this day in spite of his extraordinary busy schedule. A special thank of mine goes to my colleagues who helped me in completing the project & exchanged their interesting ideas, thoughts & made this project easy and accurate. I wish to thank my parents for their undivided support and interest who inspired me and encouraged me to go my own way, without whom I would be unable to complete my project. At last but not the least I want to thank my friends who appreciated me for my work and motivated me and finally to God who made all the things possible.

Sanjeev Kumar Atrij Singhal

Abstract
Mode localisation is about the propagation of vibrations in structures with some degree of extended disorder, i.e., departure from regularity or strict periodicity extended throughout the structure. This phenomenon means that vibrational energy injected into the structure by an external source cannot propagate to arbitrarily large distances, but is instead substantially confined to a region close to the source and it could not pass beyond the irregularity. This phenomenon, predicted by P. W. Anderson in 1958 with applications in solid state physics in mind, has been of great importance in understanding electrical conduction processes in disordered solids and can be very important in acoustical problems as well. In particular, it means that the literature on periodic structures can be misleadi ng in a qualitative, and not just a quantitative, manner. The phenomenon is illustrated here in terms of a simple mechanical model, a spring -mass system with 10 masses. To study mode localization in spring-mass system we have considered 10 masses connected with linear
springs as shown in the following figure. The extreme ends of the system are held to the ground.

Nearly at the middle of the system the values of mass and spring stiffness were selected to be different than other masses and springs, respectively. Consequently, all but one mass and all but one spring are identical.

Table of contents

1. Spring mass system 2. Eigenvalues and Eigenvectors 3. Runge-Kutta Method 4. Mode localisation 5. Equations of motions for given system 6. MATLAB code for Eigenvalue and Natural frequencies of the system 7. MATLAB code for solving equations of motion by RK-4 method 8. Observations 9. Summary 10. Bibliography

Spring-Mass System
In classical mechanics, a harmonic oscillator is a system that, when displaced from its equilibrium position, experiences a restoring force, F, proportional to the displacement, x: Where k is a positive constant.

Simple Harmonic Oscillator

A simple harmonic oscillator is an oscillator that is neither driven nor damped. It consists of a mass m, which experiences a single force, F, which pulls the mass in the direction of the point x=0 and depends only on the mass's position x and a constant k. Newton's second law for the system is Solving this differential equation, we find that the motion is described by the function () Where ( )

Potential energy stored is given by:

Forced oscillator
The equation for study is a forced springmass system () ()

The forced spring-mass equation without damping is ( )

The general solution x(t) always presents itself in two pieces, as the sum of the homogeneous solution particular solution . For , the general solution is

and a

) ( )

he solution is a sum of two harmonic oscillations, one of natural frequency !0 due to the spring and the other of ( ). natural frequency due to the external force

Eigenvalues and Eigenvectors:For x to be non-trivial an eigenvector of a square matrix is a non-zero vector that, when multiplied by the matrix, yields a vector that is parallel to the original. Ax = tx Where A is a square matrix, x is a non-zero vector t is a scalar quantity l is called the eigenvalue and x is eigenvector corresponding to that eigenvalue. The above equation can be further written as (A-tI) x = 0 Where I is an identity matrix

Det| (A-tI)| = 0 Eigenvalues can be calculated by solving the equation and hence Eigenvectors by substituting the eigenvalues in original equation

Eigenvalues and Eigenvectors in Vibration mechanics:Eigenvalue problems occur naturally in the vibration analysis of mechanical structures with many degrees of freedom. The eigenvalues are used to determine the natural frequencies of vibration, and the eigenvectors determine the shapes of these vibrational modes. The orthogonally properties of the eigenvectors allow decoupling of the differential equations so that the system can be represented as linear summation of the eigenvectors. The eigenvalue problem of complex structures is often solved using finite element analysis .

Runge Kutta Method:In numerical analysis, the RungeKutta methods are an important family of implicit and explicit iterative methods for the approximation of solutions of ordinary differential equations. These techniques were developed around 1900 by the German mathematicians C. Runge and M.W. Kutta.

Fourth order Runge- Kutta Method:This member of the family of RungeKutta methods is so commonly used that it is often referred to as "RK4", "classical RungeKutta method" or simply as "the RungeKutta method". Let an initial value problem be specified as follows:-

) ,

In words, what this means is that the rate at which x changes is a function of x itself and of t. At the start, time is to and x is xo. In the equation, y may be a scalar or a vector. The RK4 method for this problem is given by the following equations:-

Yn+1 = yn + 1/6(k1+2k2+2k3+k4) tn+1 = tn +h

Where

yn+1 is the RK4 approximation of y(tn+1) and h is the step height

k1=hf(tn ,yn ) k2=hf(tn+(h/2), yn+k1/2) k3=hf(tn+(h/2), yn+k2/2) k4=hf(tn+h, yn+k3)

Equation of Motion

Equation of Newtons Laws of Motion for the Spring-Mass system

1. 2. 3. 4. 5. 6. 7. 8. 9. 10. ( ( ( ( ( ( ( ( ( ( ) ( ( ) ) ) ) ) ) ) ) ) ) ) () ()

MATLAB code for Eigenvalue and Natural frequencies of the system

MATLAB code for solving equations of motion by RK-4 method

%equation for newton's laws of motion dx1 = x1dot; dx2 = x2dot; dx3 = x3dot; dx4 = x4dot; dx5 = x5dot; dx6 = x6dot; dx7 = x7dot; dx8 = x8dot; dx9 = x9dot; dx10 = x10dot; % dx1dot = (x2-2*x1)*(k/m)+100*sin(13.7358*t); % used in the case of forced vibration dx1dot = (x2-2*x1)*(k/m); % used in the case of free vibration dx2dot = (x1+x3-2*x2)*(k/m); dx3dot = (x2+x4-2*x3)*(k/m); dx4dot = (x3+q*x5-(1+q)*2*x4)*(k/m); dx5dot = (q*x4+x6-(1+q)*2*x5)*(k/(m*p)); dx6dot = (x5+x7-2*x6)*(k/m); dx7dot = (x6+x8-2*x7)*(k/m); dx8dot = (x7+x9-2*x8)*(k/m); dx9dot = (x8+x10-2*x9)*(k/m); dx10dot = (x9-2*x10)*(k/m); dx = [dx1 ; dx2 ; dx3 ; dx4 ; dx5 ; dx6 ; dx7 ; dx8 ; dx9 ; dx10 ; dx1dot; dx2dot; dx3dot; dx4dot; dx5dot; dx6dot; dx7dot; dx8dot; dx9dot; dx10dot]; return

Observations
1. Free Vibration When p>>q We observe that localisation takes place 5th block onwards. Maximum amplitude at 6th block is reduced by 5.7 times of the initial disturbance.

When q>>p :

When pq

2. Forced Vibration:

Summary
The problem was to study mode localisation in spring-mass system using MATLAB. Very often one is interested in controlling the propagation of vibration in order to delay the response of system away from source of mechanical disturbance. Often this is achieved by introducing some dissipation in form of damping, which attenuates the propagating waves. The analysis done by us has resulted in conclusion that waves can attenuated by introducing some irregularities in structure. This is achieved by confinement of energy near the source of disturbance; this phenomenon is called MODE LOCALISATION. We considered a system of 10 spring-mass systems connected in series with wall at the ends. We used RK4 method to solve the differential equations. During our analysis of free and forced vibrations we concluded that irregularity introduced in mass or stiffness of spring causes the localisation of waves, in the region before the irregularity. We concluded that in free vibration the extent of localisation depends on the ratio of irregularity in mass and irregularity in stiffness of spring. We observed that in this case , when irregular blocks mass and irregular springs stiffness are increased by almost similar factor we get confinement, but it is less in comparison to case where the irregularities are altered by dissimilar factors. Irregularity introduced in blocks mass resulted in more effective localisation than irregularity introduced in springs stiffness. Degree of localisation is different in alternate blocks as phenomenon of resonance is encountered in alternate blocks. This behaviour is more prominent when irregularity introduced in springs is more than or equal to irregularity in mass. In forced vibration different trend is observed. Whether we get better localisation by increasing the irregularity in mass or stiffness constant depends upon the frequency of forced vibration . Also we get good localisation (disturbance beyond source reduced up to 50 times) for smaller values of irregularities in stiffness constant introduced. If we introduce irregularity in both spring and mass my similar factor localisation is better. Extent of localisation achieved in all the blocks, 5th block onwards, is same. Finally, we concluded that localisation can be achieved in case of forced vibration by introducing comparatively less irregularities. Time taken by disturbance to reach the other blocks depend weakly on the irregularities introduced. The time taken by wave to reach the last block depends as follows on parameters m, k, p, q:

Bibliography
1. Theory of vibration with applications by William T. Thomson : PEARSON EDUCATION, Fifth Edition. 2. C.H. HODGES 1982 Confinement of vibration by structural irregularity: Journal of sound and vibration, Volume 82, issue 3, pages 411-424. 3. Runge-Kutta method article, Wikipedia. 4. MATLAB articles, mathworks.com. 5. A Guide to MATLAB by Brian R. Hunt, Ronald L. lipsman and Jonathan M. Rosenberg: CAMBRIDGE UNIVERSITY PRESS.