ME 354a

Vibration and Control

Bishakh Bhattacharya
Department of Mechanical Engineering
Indian Institute of Technology Kanpur
 Course evaluation
I. Mid term exam………. (30%)
II.End term exam………. (40%)
III.
2 Quizzes…………….. (10%)
IV.Assignment…………… (5%)
V. Lab Report …………… (5%)
VI.Lab Quiz ………………(10%)
(100%)
V. Bonus (>90% attendance ) – 5 marks. (Based on attendance.
Will help the students on border marks during grading.)
 Course content
• Introduction to modeling of dynamical systems. Single Degree of Freedom
Systems – Free undamped vibration, Free damped vibration, Forced
vibration, Transmissibility, Convolution method, Mechanisms of damping.
Two Degree of Freedom System (undamped vibration only) – Free and
forced vibrations, vibration absorber. Multi Degree of Freedom Systems
(undamped and proportional damping) – Matrix methods, Modal analysis.
Approximate Methods. Vibration of continuous systems (free vibration
only).
• Introduction to controls. Review of Laplace transforms. Block diagrams.
Root locus method. Stability – Routh-Hurwith criterion, Nyquist plots. Bode
plots. Controller performance and types. Steady state errors and
constants. Types of feedback control systems – Derivative error
compensation, Integral error compensation, Proportional error
compensation. Modern control. Digital control.
VIBRATION signifies To and Fro motion
about some equilibrium configuration
This is undesirable in most engineering systems. The ill effects of
vibration includes:

Ø Loss of accuracy of Work-piece due to vibration of machine tools.

Ø Fatigue failure of structures like aircraft fuselage and machine

components like crankshaft.

Ø Malfunctioning of Sensitive Instruments/ systems like payloads from

vibration of launching rockets.

Ø Severe damages due to resonance e.g. Collapsing of bridges,

transmission lines and offshore structures.

Ø Damages of Soft Tissues in contact with Vibration

Chatter Vibration
Loss of Accuracy of Work piece: Shifting of Tool
Position due to Vibration of cutting tool

There are two types of chatter:

Forced chatter : Force chatter originates

in the driving system ( for e.g., from a
motor) and gets transmitted to the cutting
zone.
Self excited chatter : Self excited chatter
is generated due to uneven surface of the
work piece, fractures of metal chips etc.

Chatter Vibration
 Typical Fatigue Failure in a Shaft
due to
Torsional Oscillation

Camshaft Assembly of a 6.5 MW Diesel Broken camshaft: Due to

Engine malfunctioning of Torsional Damper

Such torsional oscillations are caused either due to

q Periodic acceleration of the piston, connecting rod and crank, or
q Periodic variation in gas pressure inside the engine cylinder.

Source: cr4.globalspec.com/thread/37470/Camshaft-
Failure
Flow Induced Vibrations
Karman Vortices

ü Vortex shedding frequency – f (Hz)

ü Cylinder diameter – D (m)
ü Free stream velocity of the fluid – V (m/s)

Strouhal number = (f D / V)

Approximately 0.2 for a cylinder

For other bluff bodies 0.12 – 0.17

Ref.: Principles of Vibration Control, A. K. Mall

Source provides the energy to maintain
Vibration.

Sources of Vibration could be of several types:

• Transient – for e.g. shock loading.
• Forced Excitation – source (continuous)
independent of response.
• Self-excited – Source generated by the response.
Example: Vortex induced vibration.
• Parametric Excitation – System parameters (m, c,
k) change with respect to time.
 Satellite Ultra-quiet Isolation
Technology Experiment
(SUITE)
Vibration Isolation of Spacecraft
from the Launch Vehicle
Observe the Isolation
System consisting of six
variable length struts

The challenge is to isolate the payload such

that at three different sinusoidal excitations
of frequencies 5Hz, 25Hz and 100 Hz, the
vibration amplitude is to be reduced. The
isolation is achieved by the hexapod
assembly by using stiff piezoelectric
actuators that extend and contract in
response to the vibration originating at the
base. This hexapod assembly is commonly
known as Active Stewart Platform.

PICOSat – a micro satellite of US Air Force

Good effects of VIBRATION

There are certain good effects of vibration too:

Ø Use of vibration in Musical Instruments – stringed, percussion, flutes

Ø Hearing aids for amplification of signals and filtering of noise

ØUltrasonic sensors for imaging

Ø Hair-cutting etc.

Ø Micro-assembly

Ø Compaction systems for concrete

Figure 7: Evolution of the surface waves in Tibet 1 bowl filled with water and

The Himalayan Singing Bowl generating Faraday

excited with a frequency f = 188 Hz corresponding to its fundamental mode
(2,0). The amplitude of deformation is increasing from left to right: a) = 1.8,
b) = 2.8, c) = 6.2, d) = 16.2.

a) b)
Waves c) d)

e) f) g) h)

Figure 8: Evolution of the surface waves in Tibet 2 bowl filled with water. a-d)
Mode (2,0) is excited with a frequency f = 144 Hz. e-h) Mode (3,0) is excited
with f = 524 Hz. The amplitude of deformation is increasing from left to right.
For the deformation mode n = 2, a) = 1.0, b) = 1.7, c) = 5.0, d)
= 12.7. For the deformation mode n = 3, e) = 5.7, f) = 7.7, g) = 15.1,
h) = 33.8.

Tibetan Singing Bowls

mode (3,0) of the bowl Tibet 2. Higher frequencies were explored with three
di↵erent wineglasses filled to di↵erent levels using the strain gauge system. All
Denis Terwagne† and John W.M. Bush‡
the measurements with silicone oil of viscosity 1 cSt are presented in Fig. 9
(lower curve). Consistent with (13), the data suggest a dependence F / f 5/3 .
†
GRASP,
In Fig. 10a, we report Départementof deF Physique,
our measurements as a function of frequency for
both silicone oil and distilled water. Each data set is fit by a 5/3 power law.
Université de Liège, B-4000 Liège, Belgium
Prefactors of 3.5 ⇥ 10 4 for water and 1.7 ⇥ 10 4 for 1 cSt silicone oil were
inferred. ‡
Department of Mathematics,
Massachusetts Institute of Technology, 02139 Cambridge, USA
13
July 1, 2011
Quantitative Description of Vibration

Vibration is defined as the Response of an Elastic System

subjected to Dynamic Disturbance.
Complete description of a vibration problem involves
three items - Vibrating System, Excitation and
Response. Excitation
(Source)

System Excitation Response

Every Vibrating System, in general, comprises three
parameters
ü Inertia is linked with the Kinetic Energy of the system.
ü Stiffness is linked with the Potential Energy stored in the
system.
ü Damping indicates the energy that gets dissipated from the
system in each cycle.
Rectilinear Angular
Inertia and Stiffness are generally modelled as simple elements
like: Inertia Mass Moment of inertia
Stiffness Linear spring Torsional
spring
Damping is the most difficult parameter among the three. Some of the simple
damping models are :-
ü Viscous damping
ü Coulomb damping
ü Material/ Hysteric/Structural damping
These models will be discussed in detail in upcoming lectures
! ! !
= +
" "# "$
END OF LECTURE 1
 ME 354a

Vibration and Control

Bishakh Bhattacharya
Department of Mechanical Engineering
Indian Institute of Technology Kanpur
 Modelling of a Dynamical System
Models are mathematical representations of system dynamics

Models allow the dynamics to be simulated and analyzed, without

having to build the system

Models are never exact, but they can be predictive

Models can be used in ways that the system can’t
Certain types of analysis (eg, parametric variations) can’t easily be
done on the actual system

Models can be run much more quickly

The model you use depends on the questions you want to answer
A single system may have many models

SMART MATERIALS &

STRUCTURES LABORATORY
 SMART MATERIALS &
STRUCTURES LABORATORY
Let’s work on the Governing
Equation of Equilibrium
 Steps to follow
• Simplify the system using equivalent
model
• Find the system has only one Degree of
Freedom (SDOF)
• Use one of the three principles –
– Newton-Euler Method
– Lagrangian Method
– Power Balance Method
 Newton-Euler Method
• Find the Free-body Diagram
• Obtain the Gov. Eqn. as:
 Lagrangian Method
• Find the Generalized Coordinate/(s)
• Obtain the Gov. Eqn. as:
 Power Balance Method
• Find the Generalized Coordinate/(s)
• Obtain the Gov. Eqn. as:
 Concept of Generalized Coordinates
• The variables we select to describe the instantaneous
position of a collection of particles/rigid bodies are called
generalized coordinates.
• This may be relative to a set of orthogonal Cartesian
axes or Curvilinear coordinates
• The minimum number of independent variables required
to locate a system completely at any instant are called
the Degrees of Freedom (DOF) of the system.
• For a holonomic system, the constraints can reduce the
DOF to provide the Configuration-space (C-space) – this
is not possible for a non-holonomic system such as a
mobile robot or the chassis of a car driving on a plane.
Example of Generalized Coordinates
 How many DOF the following system is
having? Is it Holonomic or Non-holonomic?
Think of a Car!

BOSE Ride: Magic Carpet Suspension

Think of a Car!
Let’s consider a Multi-body System
 G. E. for Multi-body System
• Find the Generalized Coordinate/(s)
• Obtain the Kinetic Energy as:
 Final K E / P E expression
• Obtain the Energy Expression in this form:
G. E. for Multi-body System
END OF LECTURE 2
The first idea always comes from Nature
Sound sensitive Telegraph plant leaves

https://youtu.be/275CE9lT3-c

4
Mechanically Reconfigurable Shaping and Steering of Antenna

Ref1

Advantages of Active Steering and Shaping from satellite antennas:

• On-demand coverage for Low Earth Orbiting (LEO) satellite

• Satellite dislocation
• Minimize RF interference and jamming during orbiting
• Thermal Distortion control
• EM Signature can be changed based upon customer demand
• In case of failure of a satellite such satellites can be kept as spare
• Useful in Defense (spy satellite)

Ref1: http://issl.eng.uci.edu/modeling-and-control-active-aperture-antennas
SMSS Lab, IIT
Kanpur

5
 RF analysis of deformed antenna surfaces for
contour comparison
Surface, RF Contours by deforming AP1 Surface, RF Contours by deforming AP4
Undeformed Antenna Surface
by 50mm by 50mm

7
Excitation/Disturbance

Plant
1
Solution using Laplace Transformation
Common Laplace Transforms
Unit Impulse Solution
Problems to Practice as Assignment
Problems to Practice as Assignment
Problems to Practice as Assignment
Unit Impulse Solution
Stability Zones
Parametric Stability

!" + a s + b = 0
Let’s look at an Washing Machine
How do we model the system?
How do we find the G.E.?
The final form of G.E.
Generic Solution – Part 1
Generic Solution - Final
Specific Solution
Specific Solution: Final
 Different strategies for Vibration Control
(iv) Active Control

Additional Excitation

Excitation

SOURCE SYSTEM RESPONSE

(i) Excitation reduction (ii) System Modification

at Source

Energy Conversion

(v) Use response as a source of

excitation and convert mechanical
energy to electrical energy

Storage of Energy/ Use for Energy

(iii) Source isolation by using
Scavenging Devices
vibration isolators, barriers or sound
absorbing materials

13
 Discovery of Nerve Impulse Flow from a
Squid Giant Axon
• The large size of the squid giant axon is a specialization for
rapid conduction of action potentials that trigger the
contraction of the squid’s mantle when escaping from a
predator.
• In addition to being beneficial for the squid, the large
diameter of the giant axon was beneficial for Hodgkin and
Huxley because it permitted manipulations that were not
technically feasible in smaller axons that had been used in
biophysical studies up to that point.
Hodgkin and Huxley 1952
Reference: Christof J. Schwiening,
A brief historical perspective:
Hodgkin and Huxley, The Journal H-H Action
of Physiology, 2012 Potential Model

Reference: Massimiliano Zaniboni,

A Computational View of the
Historical Controversy on Animal
Electricity , Scientific Research, Squid Giant Axon
2012
 Discovery of Nerve Impulse Flow from a
Squid Giant Axon
• The large size of the squid giant axon is a specialization for
rapid conduction of action potentials that trigger the
contraction of the squid’s mantle when escaping from a
predator.
• In addition to being beneficial for the squid, the large
diameter of the giant axon was beneficial for Hodgkin and
Huxley because it permitted manipulations that were not
technically feasible in smaller axons that had been used in
biophysical studies up to that point.
Hodgkin and Huxley 1952
Reference: Christof J. Schwiening,
A brief historical perspective:
Hodgkin and Huxley, The Journal H-H Action
of Physiology, 2012 Potential Model

Reference: Massimiliano Zaniboni,

A Computational View of the
Historical Controversy on Animal
Electricity , Scientific Research, Squid Giant Axon
2012
 Hodgkin-Huxley Model (H-H Model)
• Signal travels through nerve fibres of Giant Squid at a speed up to 30m/s which is about 108
km/hr. [For human: Muscle fibre control 425 km/hr, Touch – 274 km/hr, Pain – 2.2 Km/hr]
• By fixing electrodes into nerve cells (Voltage Clamp), it is discovered that as a nerve pulse
travels and passes the electrode, a voltage spike occurs for several thousandths of a second.
• The cell membrane is electrically polarized: a difference of electrical potential (Vm) exists
between its intra- and extracellular face being negatively charged inside and positively outside.
• Responsible for such polarization are ion channels, proteins embedded into the membrane lipid
bi-layer and endowed with a pore, selectively permeable to ions, which are differently
concentrated into and out of the cell.
• Further, the cause of voltage spike was attributed to the streaming out of Sodium ions from the
channel followed by potassium ions gushing inside due to which, soon after the voltage
subsides.

A- rise of potassium conductance associated

with depolarization
B- fall of potassium conductance associated
with repolarization to the resting potential.

Reference, A.L. Hodgkin, A.F. Huxley, A

quantitative description of membrane
current and its application to
conduction and excitation in nerve, J.
Physiol. 117 (1952) 500–544.
 Hodgkin-Huxley Electrical Model

• The capacitive current !" is defined by

the rate of change of charge q at the
membrane surface: !" = dq/dt. The
charge q(t) is related to the
instantaneous membrane voltage #$ (t)
and membrane capacitance %$ by the
relationship & = %$ #$ .
• The ionic current !()* is subdivided into
three distinct components, a sodium
current !+, , a potassium current !- ,
and a small leakage current !. that is
primarily carried by chloride ions, The
pathway labeled “stim” represents an
externally applied current, such as
might be introduced via an intracellular
electrode.
Reference: Jasmina Isakovic, et al., Modeling of inhomogeneous electromagnetic fields in the nervous system:
a novel paradigm in understanding cell interactions, disease etiology and therapy, Scientific Reports, 2018
 H-H Model Governing Equations
The behaviour of the electric circuit may be governed by the following equation:

#$"
!" + '()* = ',-.
#%

where Cm and Vm are membrane capacitance and voltage, ',-. is an externally applied
current, such as might be introduced through an intracellular electrode.
The total ionic current '()* is the algebraic sum of the individual contributions from all
participating channel types found in the cell membrane such that:

'()* = / '0 = / 10 ($" − 40 ) … . (1)

0 0

The Ionic current is proportional to conductance times the difference between the:
membrane potential $" , macroscopic conductance 10 , and the equilibrium potential 40 .
Response of a Neuron (First Order Model)
 Periodic Excitation and Fourier Series
A cam is a rotating or sliding piece in a mechanical
linkage used especially in transforming rotary
motion into linear motion. It is often a part of a
rotating wheel (e.g. an eccentric wheel) or shaft
(e.g. a cylinder with an irregular shape) that strikes
a lever at one or more points on its circular path.
eg. Camshaft of an Automobile, which
takes the rotary motion of the engine
and converts it into the reciprocating
motion necessary to operate the
intake and exhaust valves of the
cylinders

From: Wikipedia
Various types of Followers
Various types of Cams
Base excitation of the follower in a
Snail Drop Cam
Let’s first look into Harmonic Excitation
Work Done for one cycle of Vibration
Total work done = ! "# $# %&' (

Work Done: harmonic motion (different frequency)

 Use the following identity

for m=n, total work done = !" #$ %$ &'! (

for m≠n, total work done = $!

Den Hartog: Mechanical

The three general rules Vibrations

1. The work done by a harmonic force acting upon a harmonic displacement of a different
frequency from that of the force is zero during a time interval comprising both an integer
number of force cycles and a different integer number of displacement cycles.
2. The work done by a harmonic force 90 degree out of phase with a harmonic velocity of the
same frequency is zero during a whole cycle.
3. The work done by a harmonic force of amplitude *+ and frequency ,, in phase with a
/0 2
harmonic velocity -+ = .+ , of the same frequency is 1 1 over a whole cycle
3
Now to Fourier Series!

(2#$ + &' ) (3#$ + &* )

Fourier Series Coefficients
(2#$ + &' ) (3#$
+ &* )
How to obtain the coefficients
Example: Representing a square wave
Example: Coefficients of a square wave
Gibbs Phenomenon: Non-uniform error distribution
Exponential Representation
Digital Fourier Transformation

Mechanical &
Structural
Vibration:
Ginsberg
Coefficients of DFT

Mechanical &
Structural
Vibration:
Ginsberg
Matrix Representation of DFT

Mechanical &
Structural
Vibration:
Ginsberg