Week 13

1
Mainly based on the text book by D.J. Inman, with some
addition from the text book by S.G. Kelly
Week 13
2
Dynamic Vibration Absorber
A harmonic disturbance to a single DOF system can cause large
amplitude vibration when the excitation frequency is near to the
system natural frequency.
The vibration amplitude can be reduced by adding a degree of
freedom, such that the natural frequencies of the 2-DOF system
are away from the excitation frequency.
A vibration absorber is a second spring-mass system added to
this primary mass
Designed to absorb the input disturbance from the primary mass
Motion of primary mass becomes minimum
Motion of absorber mass becomes substantial
Also termed as a Tuned Mass Damper
Week 13
3
Applications
Reciprocating machines
Structures excited by earthquakes
Transmission lines or telephone
lines excited by wind blowing
A tuned mass damper beneath the
platform of the Millennium Bridge, UK.
A tuned mass damper on
transmission lines.
Week 13
4
Applications
Tuned mass damper in the
Taipei 101 skyscraper
Suspended from Level 92 to Level 87. It
weighs 660 metric tons and has a
diameter of 5.5 meters. It can reduce 30
to 40 percent of the building's movement
when it's hit by strong winds.
Week 13
5
Undamped Vibration Absorber
Vibration absorber is applied to a machine which operation
frequency meets its resonance frequency.
Absorber mass
Primary mass
Vibration absorber is often used with machines that run at constant
speed or systems with constant excited frequency because the
combined system has narrow operating bandwidth we will see later
Week 13
6
Undamped Vibration Absorber
Initially, the primary system experiences resonance
Add absorber system as indicated
The system now has 2 DOF see the equation
Week 13
7
Undamped Vibration Absorber
The equations of motion become:
To solve the EoM, assume harmonic
solutions corresponding to
synchronous motions of both mass,



Insert to EoM and sort out
Week 13
8
Undamped Vibration Absorber
We get:
The form of the response magnitude suggests a design condition
allowing the motion of the primary mass to become zero.
Applying Cramers Rule, we solve:
Choose k
a
and m
a

to make X zero
All the system
response goes to
the absorber motion
Week 13
9
Undamped Vibration Absorber
Choose the absorber mass and stiffness from:
= 0
This causes the primary mass to be fixed and the absorber mass to
oscillate at:


The magnitude of the force acting on the absorber mass is:


As in the case of the isolator,
static deflection, rattle space and
force magnitudes need to be checked.
Same magnitude but
opposite to disturbance,
hence zero force on
primary mass.
Week 13
10
Pitfalls in Absorber Design
The success of the vibration absorber depends on several factors:
The frequency of the harmonic excitation must be well known
This frequency should not deviate much from its constant value
If shifts much, it could end up exciting a system natural frequency
(resonance)
Damping, which always exists to some degree, spoils the
absorption.
The primary mass will not have zero displacement
Only desirable if the excitation frequency range is too wide
The absorber spring stiffness k
a
must be capable of withstanding
the full force of the excitation and the corresponding deflection.
Avoiding resonance can be quantified by examining:
Week 13
11
Robustness to Resonance
Original natural frequency of primary system
without the absorber attached
Natural frequency of absorber system before it
is attached to primary mass
Mass ratio (absorber to primary mass)
Stiffness ratio
Frequency ratio
From the displacement equation of the primary mass:



We define a normalized displacement of the primary mass:
Week 13
12
Robustness to Resonance
r
a
=
e
e
a
, r
p
=
e
e
p
Xk
F
0
=
1 r
a
2
1+ |
2
r
p
2

1 r
a
2

|
2
Week 13
13
Robustness to Resonance
If drifts to 0.781
a
or
1.28
a
the combined
system will experience
resonance and fail.
If drifts such that |Xk/F
0
|
> 1, the force transmitted
to the primary mass is
amplified, absorber is not
improving the system.
m
a
and k
a
are chosen
such that /
a
is within
the band-width, |Xk/F
0
| < 1
The shaded area is the useful operating bandwidth for the
absorber design (0.908
a
< < 1.118
a
)
Week 13
14
Robustness to Driving Frequency Shifts
Further design consideration by checking and , which specifies
the mass and stiffness of the absorber system.

From

we get a characteristic equation by setting the matrix coefficient to
zero and assuming as the system natural frequency.
Dependence of system frequency on mass ratio and frequency ratio
Week 13
15
Robustness to Driving Frequency Shifts
As increases, system
natural frequencies e
n
split
farther apart for fixed | and
farther apart from driving
frequency e.
If is too small, system will
not tolerate much fluctuation
in driving frequency.
Rule of thumb 0.05 < < 0.25
Very large large m
a
stress and fatigue problems
Week 13
16
Example: Absorber design
Based on Example 5.3.1 from the text book of D.J. Inman.
A radial saw base has a mass of 73.16 kg and is driven by a motor
that turns the saws blade. The motor runs at constant speed and
produces a 13-N force at 180 cycle/min due to a small unbalance in
the motor. The manufacturer wants a vibration absorber designed to
drive the table oscillation to zero, simply by retrofitting the absorber
onto the base.
Design the absorber assuming
that the stiffness provided by
the table legs is 2600 N/m. The
absorber must fit inside the
table base and hence has a
maximum deflection of 0.2 cm.
Week 13
17
Example: Absorber design
Given: F
0
= 13 N, e = 180 cpm
m = 73.16 kg, k = 2600 N/m, X
a
< 0.002 m
To meet the deflection requirement, choose the stiffness first.
The absorber is design so that
Then all of the force is absorbed by m
a
. Hence:



Check:
Week 13
18
Example: Absorber bandwidth
Based on Example 5.3.2 from the text book of D.J. Inman.
Continuing Ex. 5.3.1, compute the bandwidth of the absorber design.
We calculate the boundaries for the operating range, i.e.


For

After some manipulation and sorting (which you should try), we get:
1180 . 1 0.25 = with , 1 = + =
a a
e
e

e
e
2
2
2 2
2
0
1 1 1 1
|
|
.
|

\
|

(
(

|
|
.
|

\
|

(
(

|
|
.
|

\
|

|
|
.
|

\
|
+ =
|
|
.
|

\
|
=
p
a
a p p
a
a
F
Xk
e
e

e
e
e
e
e
e

e
e
Week 13
19
Example: Absorber bandwidth
For



After some manipulation and sorting (which you should try), we get:



with
2
2
2 2
2
0
1 1 1
1
|
|
.
|

\
|

(
(

|
|
.
|

\
|

(
(

|
|
.
|

\
|

|
|
.
|

\
|
+ =
|
|
.
|

\
|
|
|
.
|

\
|

=
p
a
a p p
a
a
F
Xk
e
e

e
e
e
e
e
e

e
e
1382 . 1 , 3929 . 0 25 . 0 ,
16 . 73
2600
,
29 . 18
6500
2 2
= = = =
a
p a
e
e
e e
( ) 0 2 1 2
2
2
4
2
= +
|
|
.
|

\
|
(
(

|
|
.
|

\
|
+ +
|
|
.
|

\
|
|
|
.
|

\
|
a p
a
a p
a
e
e
e
e

e
e
e
e
Week 13
20
Example: Absorber bandwidth
We found four values:

Observing the form of the plot, we can conclude that the driving
frequency is allowed to vary between


Or, with e
a
= 18.85, the operating range is


In this range, the driving frequency will not cause resonance and the
absorber will still reduce the vibration of the primary mass.
1382 . 1 , 1180 . 1 , 3929 . 0 , 1180 . 1 =
a
e
e
a a
e e e 1180 . 1 3929 . 0 < <
rad/s 0821 . 21 4089 . 7 < <e
Week 13
21
Damping in Vibration Absorbers
Damping is often present in devices
It has the potential to destroy the
ability of the absorber to fully protect
the primary mass, X 0
So, amplitude of the primary mass at
operating point increase with
increasing damping
c
a
However:
Damping can reduce the resonance amplitude of the system.
Damping also improve the effective bandwidth of operation.
Week 13
22
Damping in Vibration Absorbers
c
a
Assuming harmonic solutions:
The amplitude of the motion of the primary mass becomes:
Cannot be zero
Week 13
23
Damping in Vibration Absorbers
In terms of the dimensionless ratio, we write the dimensionless
displacement of the primary mass as:



Where: is the static deflection of m
p
is the mixed damping ratio
is the ratio of the driving frequency to the
primary natural frequency
and
Week 13
24
Damping in Vibration Absorbers
As damping increases,
the absorber fails, but the
resonance goes away.

Notice that for fixed
and , the curves of
various passes through
two fixed points.
Region of absorption
Week 13
The Quest for Damped Absorber Design
Three parameters effect making the amplitude small: , ,
Previously we saw the plot for = 0.25, = 1 and = 0
|Xk/F
0
| = 0 at r = 1, infinite at r = 0.782 and 1.281
Operating bandwidth 0.897 r 1.103
= 0.25, | =1.0,,
min
= 0.4
Addition of damping reduces the
amplitude and widens the bandwidth, but
amplitude does not go to zero.
Note how = 0.1 gives a lower amplitude
over a wider range than = 0.4
25
Week 13
26
The Quest for Damped Absorber Design
= 0.25, | =1.0,,
min
= 0.4
= 0.25, | = 0.8,,
min
= 0.27
These curves show that
just increasing the
damping does not result
in the smallest
amplitude. The and
| also matter.
Choosing the best , ,
and brings us to the
question of optimization.
Notice that the
two fixed points
shift location.
Week 13
27
The Quest for Damped Absorber Design
Since it is not possible to eliminate steady-state motion of the
primary system when damping is present, a damped vibration
absorber must be designed to reduce the peak at the lower
resonant frequency and to widen the effective operating range.
The two peaks should have approximately the same
magnitudes
The value of | should lead to |Xk/F
0
| having the same value at
the two fixed points
The value of , should make the two fixed points near the peaks
The optimum design of the damped vibration absorber requires:

|
+
=
1
1
( )

,
+
=
1 8
3
opt
Week 13
28
The Quest for Damped Absorber Design
Example: For = 0.2, the optimum design is | = 0.833 and , = 0.25
Notice that the
magnitude |Xk/F
0
| > 1,
but the damped vibration
absorber has reduced
the steady state
amplitude to an
acceptable level over the
entire operating range.
Week 13
29
Try Yourself
A diesel engine, weighting 3000 N, is supported on a pedestal
mount. The engine induces vibration through its pedestal mount at
an operating speed of 6000 rpm. Determine the parameters of the
vibration absorber what will reduce the vibration when mounted on
the pedestal. The magnitude of the exciting force is 250 N, and
the amplitude of motion of the absorber mass is to limited to 2
mm.