Satisfactory design of a machine foundation needs information on soil profile, depth of
different layers, physical properties of soil and ground water level. This information can
be obtained by usual sub-surface exploration techniques. In addition, one must determine
dynamic shear modulus, material damping, poisons ratio and mass density of soil for
dynamic analysis of the machine foundation. Dynamic shear modulus of a soil is
generally determined from laboratory or field tests. Material damping can be determined
from vibration tests on soil columns in the laboratory. The values of dynamic shear
modulii and damping may be estimated from empirical estimations for preliminary
design purposes. Geometrical damping is estimated from elastic half-space theory and
appropriate analogs. Detailed discussion of determination of dynamic soil properties and
interpretation of test is beyond the scope of this paper and a reference may be made to
Prakash (1981) and Prakash and Puri (1981, 1988)
TRIAL DIMENSIONS OF THE FOUNDATION
The trial dimensions of the machine foundation are selected based on the requirements of
the manufacturer, the machine shop and the machine performance and experience of the
designer. These trial dimensions of the foundation are only the first step in the design and
may need alteration after the analysis.
METHODS OF ANALYSIS
The analysis of machine foundation is usually performed by idealizing it as a simple
system as explained here. Figure 5 shows a schematic sketch of a rigid concrete block
resting on the ground surface and supporting a machine. Let us assume that the operation
of the machine produces a vertical unbalanced force which passes through the combined
centre of gravity of the machine-foundation system. Under this condition, the foundation
will vibrate only in the vertical direction about its mean position of static equilibrium.
The vibration of the foundation results in transmission of waves through the soil. These
waves carry energy with them. This loss of energy is termed „geometrical damping‟. The
soil below the footing experiences cyclic deformations and absorbs some energy which is
termed „material damping‟. The material damping is generally small compared to the
geometrical damping and may be neglected in most cases. However, material damping
may also become important in some cases of machine foundation vibrations.
The problem of a rigid block foundation resting on the ground surface, (Fig. 5a)
may therefore be represented in a reasonable manner by a spring-mass-dashpot system
shown in Fig. 5b. The spring in this figure is the equivalent soil spring which represents
the elastic resistance of the soil below the base of the foundation. The dashpot represents
the energy loss or the damping effect. The mass in Fig. 5b is the mass of the foundation
block and the machine. If damping is neglected, a spring-mass system shown in Fig. 5c
may be used to represent the problem defined in Fig. 5a. Single degree of freedom
models shown in Fig. 5 b and c may in fact be used to represent the problem of machine
foundation vibration in any mode of vibration if appropriate values of equivalent soil
spring and damping constants are used. For coupled modes of vibration, as for combined
rocking and sliding, two degree-of-freedom model is used as discussed later in the paper.
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Pz Sinωt Pz Sin ωt Pz Sin ωt
m m
m
Soil stiffness kz
and damping cz kz
(a) (b) (c)
Figure 5. Vertical Vibrations of a Machine Foundation (a) Actual case, (b) Equivalent
model with damping (c) Model without damping
All foundations in practice are placed at a certain depth below the ground surface.
As a result of this embedment, the soil resistance to vibration develops not only below the
base of the foundation but also along the embedded portion of the sides of the foundation.
Similarly the energy loss due to radiation damping will occur not only below the
foundation base but also along the sides of the foundation. The type of models shown in
Fig. 5 b and c may be used to calculate the response of embedded foundations if the
equivalent soil spring and damping values are suitably modified by taking into account
the behavior of the soil below the base and on the sides of the foundation.
Several methods are available for analysis of vibration characteristics of machine
foundations. The commonly used methods are
1 Linear elastic spring method,
2 Elastic half-space analogs method, and
3 The impedance function method.
1. The Linear Elastic Spring method (Barkan, 1962) treats the problem of
foundation vibrations as spring- mass model , neglecting damping in the soil. The soil
damping can be included if desired.
2. The Elastic Half Space Analogs: The elastic half space theory can be used to
determine the values of equivalent soil springs and damping then make use of theory of
vibrations to determine the response of the foundation. These are known as the „the
elastic half space analogs‟. They can be used for surface as well as embedded
foundations. It may be mentioned here that the equivalent soil spring and damping values
depend upon the ;
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(i) type of soil and its properties,
(ii) geometry and layout of the foundation, and
(iii) nature of the foundation vibrations occasioned by unbalanced dynamic loads.
3. The Impedance Function Method: They also provide vales of soil spring and damping
for surface and embedded foundations.
The solutions based on the elastic half space analog are commonly used for machine
foundation design and are discussed first followed by the impedance function method.
Elastic-half –space -analogs
Surface Foundations
Vertical vibrations: The problem of vertical vibrations is idealized as a single degree
freedom system with damping as shown in Fig. 13.15b. Hsieh (1962) and Lysmer and
Richart (1966) have provided a solution .The equation of vibration is:
3.4ro2 4Gro
mz G z s Pz sin t 1
1 v 1 v
Where ro = radius of the foundation (For non-circular foundations, appropriate
equivalent radius may be used, see Eqs. 40-42).
The equivalent spring for vertical vibrations is given by
4Gro
kz 2
1 v
And the damping c z is given by
3.4ro
cz . G 3
1 v
The damping constant for vertical vibrations z is given by
0.425
z 4
Bz
In which B z is known as the modified mass ratio, given by
1 v m
Bz . 3 5
4 ro
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The undamped natural frequency of vertical vibrations may now be obtained using Eqs. 6
and 7.
kz
nz 6
m
1 kz
f nz 7
2 m
In which nz = the circular natural frequency (undamped) of the soil foundation system
in vertical vibration (rad/sec) and f nz = natural frequency of vertical vibrations (Hz).
The amplitude of vertical vibration is obtained as:
Pz Pz
Az 1/ 2
8
2 2 2 2 2 2
kz 1 r 2 zr kz 1 / nz 2 z / nz
Sliding vibrations
The equation of the analog for sliding is (Fig. 6)
mx c x x k x x Pz sin t 9
PxSinωt
kx
PxSinωt
m m
Soil stiffness cx
and damping
b
a
Figure 6. Sliding Vibrations of a Rigid Block (a) Actual case (b) Equivalent model
Hall (1967) defined the modified mass ratio for sliding as:
7 8v m
Bx 10
32 1 v pro3
where ro = radius of the foundation .
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The expressions for the equivalent spring and damping factors are as follows:
The equivalent spring
32 1 v
kx Gro 11
7 8v
And the equivalent damping
18.4 1 v 2
cx ro G 12
7 8v
The damping ratio x is given by
cx 0.2875
x 13
ce Bx
The undamped natural frequency of sliding vibration may be obtained as follows:
kx
nx 14a
m
1 kx
f nx 14b
2 m
In which ωnx = the circular natural frequency (undamped) in sliding vibrations and f nx =
natural frequency of sliding vibrations (Hz).
The damped amplitude in sliding is obtained as:
Px
Ax 15
2 2 2
kx 1 2 x
nx nx
Rocking Vibrations: A rigid block foundation undergoing rocking vibrations due to an
exciting moment M y sin t is shown in Fig. 7.
Hall (1967) proposed an equivalent mass-spring-dashpot model that can be used to
determine the natural frequency and amplitude of vibration of a rigid circular footing
resting on an elastic half-space and undergoing rocking vibrations (Fig.7). The equivalent
model is given in equation 16
M mo c k M y sin t 16
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In which k = spring constant for rocking, c = damping constant and M mo = mass
moment of inertia of the foundation and machine about the axis of rotation through the
base.
M mo M m mL2 17
Where M m = mass moment of inertia of foundation and machine about an axis passing
through the centroid of the system and parallel to the axis of rotation and L = the height
of the centroid above the base.
The terms k and c can be obtained as follows:
8Gro3
k 18
31 v
0.8ro4 G
And c 19
1 v 1 B
in which r0 = radius.
B in Eq. 19 is known as the modified inertia ratio which obtained as follows:
3 1 v M mo
B 20
8 ro5
Figure 7. Rocking vibrations of a rigid block under excitation due to an applied moment
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The damping factor is given by
c 0.15
21
cc 1 B B
The undamped natural frequency of rocking
k
n rad / sec 22
M mo
Damped amplitude of rocking vibrations A is given by Eq. 23
My
A 23
2 2 2
k 1 2
n n
Torsional vibrations: A block foundation undergoing torsional vibrations is shown in
Fig.8. Non-uniform shearing resistance is mobilized during such vibrations. The analog
solution for torsional vibrations is provided by Richart et al, (1970).
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Figure 8. Torsional vibrations of rigid block: (a) Block subjected to horizontal moment.
(b) Development of nonuniform shear below the base
The equation of motion is
M mz C k M z ei t
24
In which M mz = mass moment of inertia of the machine and foundation about the vertical
axis of rotation (polar mass moment of inertia). The spring constant k and the damping
constant c are given by (Richart and Whitman, 1967):
16 3
k Gro 25
3
1.6ro4 G
c 26
1 B
where ro (ro ) = equivalent radius..
The undamped natural frequency n of the torsional vibrations is given by
k
n rad / sec 27
M mz
The amplitude of vibration A is given by
Mz
A 28
2 2 2
k 1 2
n n
In which the damping ratio is given by
0.5
29
1 2B
The modified inertia ratio B is given by
M mz
B 30
ro5
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