Vibration and Shock Handbook Mechanical Engineering Series Frank Kreith - Series Editor Published Titles Distributed Generation: The Power Paradigm for the New Millennium Anne-Marie Borbely & Jan F. Kreider Elastoplasticity Theory Vlado A. Lubarda Energy Audit of Building Systems: An Engineering Approach Moncef Krarti Engineering Experimentation Euan Somerscales Entropy Generation Minimization Adrian Bejan nd Finite Element Method Using MATLAB, 2 Edition Young W. Kwon & Hyochoong Bang Fluid Power Circuits and Controls: Fundamentals and Applications John S. Cundiff Fundamentals of Environmental Discharge Modeling Lorin R. Davis Heat Transfer in Single and Multiphase Systems Greg F. Naterer Introductory Finite Element Method Chandrakant S. Desai & Tribikram Kundu Intelligent Transportation Systems: New Principles and Architectures Sumit Ghosh & Tony Lee Mathematical & Physical Modeling of Materials Processing Operations Olusegun Johnson Ilegbusi, Manabu Iguchi & Walter E. Wahnsiedler Mechanics of Composite Materials Autar K. Kaw Mechanics of Fatigue Vladimir V. Bolotin Mechanics of Solids and Shells: Theories and Approximation Gerald Wempner & Demosthenes Talaslidis Mechanism Design: Enumeration of Kinematic Structures According to Function Lung-Wen Tsai Nonlinear Analysis of Structures M. Sathyamoorthy Practical Inverse Analysis in Engineering David M. Trujillo & Henry R. Busby Pressure Vessels: Design and Practice Somnath Chattopadhyay Principles of Solid Mechanics Rowland Richards, Jr. Thermodynamics for Engineers Kau-Fui Wong Vibration and Shock Handbook Clarence W. de Silva Viscoelastic Solids Roderic S. Lakes Vibration and Shock Handbook Edited by Clarence W. de Silva Boca Raton London New York Singapore A CRC title, part of the Taylor & Francis imprint, a member of the Taylor & Francis Group, the academic division of T&F Informa plc. Published in 2005 by CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 CRC Press is an imprint of Taylor & Francis Group No claim to original U.S. Government works Printed in the United States of America on acid-free paper 10 9 8 7 6 5 4 3 2 1 International Standard Book Number-10: 0-8493-1580-8 (Hardcover) International Standard Book Number-13: 978-0-8493-1580-0 (Hardcover) Library of Congress Card Number 2004065847 This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. No part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www.copyright.com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC) 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Library of Congress Cataloging-in-Publication Data Vibration and shock handbook / editor-in-chief, Clarence W. de Silva. p. cm. Includes bibliographical references and index. ISBN 0-8493-1580-8 (alk. paper) 1. Vibration--Handbooks, manuals, etc. 2. Shock (Mechanics)--Handbooks, manuals, etc. I. De Silva, Clarence W. TA355.V5197 2005 620.3--dc22 2004065847 Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com Taylor & Francis Group and the CRC Press Web site at is the Academic Division of T&F Informa plc http://www.crcpress.com Preface With individual chapters authored by distinguished leaders and experienced professionals in their respectivetopics,thishandbook providesengineers,technicians,designers,researchers,educators,and students with a convenient, thorough, up to date, and authoritative reference source on techniques, tools,anddataformodeling,analysis,design,monitoring,instrumentation,modification,andcontrolof vibration,shock,noise,andacoustics.Thehandbookconsistsof45chapters,groupedintoninesections. In these sections, the following are considered: fundamentals and analytical techniques; computer techniques,tools,andsignalanalysisincludingfiniteelementmethodsandwaveletanalysisandtheuseof MATLABw toolboxes; shock and vibration methodologies, particularly for civil and mechanical engineeringsystems;instrumentationandtestingmethods,includingsensors,exciters,signalacquisition, conditioning, and recording, and LabVIEWw tools for virtual instrumentation; vibration suppression, damping,andcontrol;monitoringanddiagnosis;designforandcontrolofseismicvibration,andrelated regulatory issues; system design, application, and control implementation; and acoustics and noise suppression. Important information and results are summarized as windows, tables, graphs, and lists throughoutthechaptersforeasyreferenceandinformationtracking.Referencesaregivenattheendof each chapter for further information and study. An extensive glossary, which defines useful technical terms in the fields of vibration, shock, and acoustics, is provided at the end of the handbook. Cross referencingisusedthroughouttoindicateotherplacesinthehandbookwherefurtherinformationona particulartopicisprovided. In the handbook, equal emphasis is given to theory and practical application. The chapters are groupedintofundamentals,basictheory,advancedtheory,analyticaltechniques,numericaltechniques, experimentaltechniques,designmethodology,practicalproblemsandsolutions,applications,regulatory considerations,andusefuldata.Analyticalformulations,numericalmethods,designapproaches,control techniques, and commercial software tools are presented and illustrated. Commercial equipment, computer hardware, and instrumentation are described, analyzed, and demonstrated for field application, practical implementation, and experimentation. Examples and case studies are given throughoutthehandbooktoillustratetheuseandapplicationoftheincludedinformation.Thematerial ispresentedinaformatthatisconvenientforeasyreferenceandrecollection. Mechanical vibrationisa manifestation ofoscillatorybehaviorinmechanicalsystems, asa resultof eithertherepetitiveinterchangeofkineticandpotentialenergiesamongcomponentsinthesystem,ora forcing excitation that is oscillatory. Such oscillatory responses are not limited to purely mechanical systems,andarefoundinelectricalandfluidsystemsaswell.Inpurely thermalsystems,however,free natural oscillations are not possible, and an oscillatory excitation is needed to obtain an oscillatory response. Shock is vibration caused by brief, abrupt, and typically high intensity excitations. Sound, noise,andacousticsaremanifestationsofpressurewaves,sourcesofwhichareoftenvibratorydynamic systems. Low levels of vibration mean reduced noise and an improved work environment. Vibration modificationandcontrolcanbecrucialinmaintaininghighperformanceandproductionefficiency,and v vi Preface prolongingtheusefullifeinindustrialmachinery.Consequently,aconsiderableeffortisdevotedtodayto studyingandcontrollingthevibrationandshockgeneratedbymachinerycomponents,machinetools, transitvehicles,impactprocesses,civilengineeringstructures,fluidflowsystems,andaircraft.Noiseand acousticproblemscanoriginatefromundesirablevibrationsandfluid structureinteractions,asfound, forexample,inautomobileengines.Enginenoise,environmentalnoise,andnoisefromhigh speedand high temperature exhaust gases in a vehicle will not only cause passenger discomfort and public annoyance,theywillalsoresultindamagingeffectstothevehicleitself.Noise suppressionmethodsand devices,andsound absorptionmaterialandstructuresarecrucialinsuchsituations.Beforedesigningor controllingasystemforgoodvibratoryoracousticperformance,itisimportanttounderstand,analyze, and represent the dynamic characteristics of the system. This may be accomplished through purely analytical means, computer analysis of analytical models, testing and analysis of test data, or by a combinationoftheseapproaches.Itfollowsthatmodeling,analysis,testing,anddesignareallimportant aspectsofstudyinvibration,shock,andacoustics. In recent years, educators, researchers, and practitioners have devoted considerable effort toward studying and controlling vibration, shock, and noise in a range of applications invarious branches of engineering, particularly in civil, mechanical, aeronautical and aerospace, and production and manufacturing engineering. Specific applications are found in machine tools, transit vehicles, impact processes,civilengineering structures,construction machinery,industrial processes,productqualifica tionandqualitycontrol,fluidflowsystems,ships,andaircraft.Thishandbookisacontributiontoward theseefforts.Inviewoftheanalyticalmethods,practicalconsiderations,designissues,andexperimental techniquesthatarepresentedthroughoutthehandbook,andinviewofthesimplifiedandsnap shotstyle presentationofformulas,data,andadvancedtheory,thehandbookservesasausefulreferencetooland anextensiveinformationsourceforengineersandtechniciansinindustryandlaboratories,researchers, instructors,andstudentsintheareasofvibration,shock,noise,andacoustics. Clarence W. de Silva Editor in Chief Vancouver Acknowledgments Iwishtoexpressmygratitudetotheauthorsofthechaptersfortheirvaluableandhighlyprofessional contributions.Theassistanceofmyresearchengineer,JianZhang,insomegraphicsandformattingof the handbook was quite valuable. I am very grateful to Cindy Renee Carelli, Acquisitions Editor Engineering, CRC Press, for herenthusiasm, characteristic vigor, and support throughout the project. The editorial and production staff at CRC Press and its affiliates, particularly Jessica Vakili, and Carol Cooper have done an excellent job in getting this handbook in print. Finally, Iwish to lovingly acknowledgethepatienceandunderstandingofmyfamily. vii Editor-in-Chief Clarence W. de Silva, P. Eng., Fellow ASME and Fellow IEEE, is Professor of Mechanical Engineering at the University of British Columbia, Vancouver, Canada, and has occupied the NSERC ResearchChairinIndustrialAutomationsince1988.HehasearnedPh.D.degreesfromMassachusetts InstituteofTechnology(1978)andCambridgeUniversity,England(1998).DeSilvahasalsooccupiedthe MobilEndowedChairProfessorshipintheDepartmentofElectricalandComputerEngineeringatthe NationalUniversityofSingapore.Hehasservedasaconsultanttoseveralcompanies,includingIBMand WestinghouseintheU.S.,andhasledthedevelopmentofsixindustrialmachines.Heisrecipientofthe Killam Research Prize, Outstanding Engineering Educator Award of the Institute of Electrical and ElectronicsEngineers(IEEE)Canada,EducationAwardoftheDynamicSystemsandControlDivisionof the American Society of Mechanical Engineers (ASME), Lifetime Achievement Award of the World Automation Congress, IEEE Third Millennium Medal, Meritorious Achievement Award of the AssociationofProfessionalEngineersofBC,andtheOutstandingContributionAwardoftheSystems, Man,andCyberneticsSocietyoftheIEEE.Aswellaseditingorcoediting12volumes,hehasauthoredor coauthored 16 technical books, over 150 journal papers, and about 200 conference papers and book chapters. He has served on the editorial boards of 12 international journals, in particular as the Editor in Chief of the International Journal of Control and Intelligent Systems, Editor in Chief of the International Journal of Knowledge Based Intelligent Engineering Systems, Senior Technical Editor of MeasurementsandControl,andRegionalEditor,NorthAmerica,ofEngineeringApplicationsofArtificial Intelligence theInternationalJournalofIntelligentReal TimeAutomation.HeisaLillyFellow,Senior FulbrightFellowtoCambridgeUniversity,FellowoftheAdvancedSystemsInstituteofBritishColumbia, andaKillamFellow. ix Contributors S. Akishita Giuseppe Failla Christian Lalanne RitsumeikanUniversity Universita` degliStudi EngineeringConsultant Kusatsu,Japan MediterraneadiReggioCalabria Jalles,France Italy Haym Benaroya Robert G. Landers RutgersUniversity Mohamed S. Gadala UniversityofMissouriatRolla Piscataway,NJ TheUniversityofBritishColumbia Rolla,MO Vancouver,BC,Canada T.H. Lee Su Huan Chen Seon M. Han NationalUniversityofSingapore JilinUniversity Singapore Changchun,P.R.China TexasTechUniversity Lubbock,TX Y.P. Leow M. Dabestani SingaporeInstituteofManufacturing P.S. Heyns FurlongResearchFoundation Technology London,UK UniversityofPretoria Singapore Pretoria,SouthAfrica Marie D. Dahleh S.Y. Lim Cheng Huang HarvardUniversity SingaporeInstituteofManufacturing Cambridge,MA NationalResearchCouncilofCanada Technology Vancouver,Canada Singapore Kourosh Danai S. Huang Jiahao Lin UniversityofMassachusetts NationalUniversityofSingapore DalianUniversityofTechnology Amherst,MA Singapore Liaoning,P.R.China Chris “Flip” DeFilippo Hirokazu Iemura W. Lin NationalInstruments KyotoUniversity SingaporeInstituteofManufacturing Austin,TX Kyoto,Japan Technology Singapore Clarence W. de Silva Sarvesh Kumar Jain L.Y. Lu TheUniversityofBritish MadhavInstituteofTechnologyand Columbia Science NationalKaohsiungFirstUniversity Vancouver,BC,Canada MadhyaPradesh,India ofScienceandTechnology Kaohsiung,Taiwan Ibrahim Esat Nader Jalili Chris K. Mechefske BrunelUniversity ClemsonUniversity Queen’sUniversity Middlesex,UK Clemson,SC Kingston,ON,Canada Ebrahim Esmailzadeh Takayuki Koizumi Priyan Mendis UniversityofOntario DoshishaUniversity UniversityofMelbourne Oshawa,ON,Canada KyotoHu,Japan Melbourne,Victoria,Australia xi xii Contributors Y.L. Mo Mulyo Harris Pradono Datong Song UniversityofHouston KyotoUniversity NationalResearchCouncilofCanada Houston,TX Kyoto,Japan Vancouver,Canada Pol D. Spanos Kiyoshi Nagakura Nikolaos P. Politis RiceUniversity RailwayTechnicalResearchInstitute RiceUniversity Houston,TX TokyoTo,Japan Houston,TX K.K. Tan H. Sam Samarasekera NationalUniversityofSingapore Tuan Ngo SulzerPumps(Canada),Inc. Singapore UniversityofMelbourne Burnaby,BC,Canada Melbourne,Victoria,Australia K.Z. Tang NationalUniversityofSingapore C. Scheffer Teruo Obata Singapore UniversityofStellenbosch TeikyoUniversity Pretoria,SouthAfrica Y.B. Yang TotigiKen,Japan NationalTaiwanUniversity Michael Sedlak Taipei,Taiwan Kiyoshi Okura NationalInstruments J.D. Yau MitsuboshiBeltingLtd. Austin,TX TamkangUniversity HyogoKen,Japan Taipei,Taiwan Zhong-Sheng Liu Randall D. Peters Yahui Zhang NationalResearchCouncilof MercerUniversity Canada DalianUniversityofTechnology Macon,GA Vancouver,Canada Liaoning,P.R.China
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