Fundamentals of NVH Analysis

任课教师：
李伟东，liweidong@dlut.edu.cn
Cell：15542532298

School of Automotive Engineering at Dalian University of Technology

Lecture Notes – Fundamentals of NVH Analysis
 Course Information
Lecture Style
 Mostly in English, minor explanations in Chinese
 Homework written in English is encouraged, while Chinese is also
acceptable
 Course projects in English (report written in English, oral presentation
could be in Chinese)
 Discussions during lectures are greatly encouraged
What You Will Learn
 Vibration concepts
 Acoustics concepts
 Fundamental methods and theories for vibration analysis
 Fundamental methods and theories for acoustic analysis
 Fundamental vibration and noise control approaches
 Basic skills of writing engineering reports and presenting results in
English
Fundamentals of NVH Analysis, Course Syllabus and Introduction -2-
 Course Information
Course Syllabus (32 lecture hours)
 Introduction to NVH
 Vibration concept review
 Vibration analysis using energy based method
 Multi-degree-of-freedom system vibration
 Frequency domain analysis, and modal analysis
 Vibration of continuous systems
 Basic concepts of sound
 Basic concepts of vibration and noise control
 Basic concepts and technique of vibration and sound measurement
 Course project presentation
Questions
 Anytime by email or after class
 Office visit by appointment
Fundamentals of NVH Analysis, Course Syllabus and Introduction -3-
 Course Information

Homework
 Homework will be assigned after lectures
 Homework will be due on the designated date (No late homework
will be accepted).
 A group course project will be assigned
Tests
 One final exam (take-home style).
Grades
 Your final grades will be based on a numerical average calculated
with the following formula: 30%(1 group project) + 30%(final take-
home test) + 30%(homework) + 10%(attendance, in class
participation, etc.)

Fundamentals of NVH Analysis, Course Syllabus and Introduction -4-

 Course Information

Fundamentals of NVH Analysis, Course Syllabus and Introduction -5-

 Course Information

Academic “Integrity”
 Integrity is regarded as the honesty and truthfulness or
accuracy of one's actions.
 Independent work is expected.
 No copying – Piracy.
 However, discussions are encouraged.

Fundamentals of NVH Analysis, Course Syllabus and Introduction -6-

 Course Information
References
 胡海岩，《机械振动基础》，北京航空航天大学出版社
 刘延柱, 《振动力学》, 高等教育出版社
 陈南，《汽车振动与噪声控制》，人民交通出版社
 杜功焕，《声学基础》，南京大学出版社
 William T. Thomson & Marie Dillon Dahleh, “Theory of Vibration
with Applications” (《振动理论及应用-第5版》)，影印版，清华大学
出版社
 D. J. Inman, “Engineering Vibration”, 3rd Edition, Prentice Hall,
2007
 A. Bedford & W. Fowler, “Engineering Mechanics: Dynamics”, 4th
Edition, Prentice Hall, 2007
 D. A. Bies & C. H. Hansen, “Engineering Noise Control: Theory and
Practice”, 4th Edition, E & FN SPON, 2009
 L. E. Kinsler, et al., “Fundamentals of Acoustics”, 4th edition, Wiley,
1999
Fundamentals of NVH Analysis, Course Syllabus and Introduction -7-
 Course Information
 Reference Books

Major references in English References in

Chinese

 Other materials include course PPT, technical papers, etc.

Fundamentals of NVH Analysis, Course Syllabus and Introduction -8-

 More Course Information

Computer Code
 Using MATLAB to solve Homework Problems is highly
encouraged.
Prerequisites
 The material in this course draws heavily from
differential equations, dynamics and system dynamics.
You need to have knowledge on engineering
mathematics (Calculus & Matrix theory), and vibration
concepts (single-degree- and 2-degree-of freedom
system). Texts from these courses and the other
references listed in the previous slide are good places to
go for help.

Fundamentals of NVH Analysis, Course Syllabus and Introduction -9-

 Introduction to NVH

Noise, Vibration, and Harshness (NVH)

is an engineering field concerning the
analysis, measurement, and control of
noise and vibration characteristics of
mechanical systems, particularly of
vehicles.
 “N” – Noise (噪声), characteristics that you hear
 “V” – Vibration (振动)，characteristics that you feel and
see
 “H” – Harshness (指噪声振动引起的“粗糙度”或“不舒适性
”)，characteristics that you feel, usually psychologically

Fundamentals of NVH Analysis, Course Syllabus and Introduction -10-

 Introduction to NVH
Aerodynamics
inputs
Engine &
Transmission Perception by
the driver and
passengers

Road & tire

• Typical NVH inputs: Road & tire; Engine & Transmission; Aerodynamically
induced noise and vibration
• General NVH outputs: Noise and vibration levels perceived by the driver
and passengers

Fundamentals of NVH Analysis, Course Syllabus and Introduction -11-

 Introduction to NVH - Motivation
• NVH is considered one of
the future directions that
the industry is focusing for
innovations and
improvements.
• NVH is an overall criteria
for vehicle performance
and quality
• The level of NVH usually
gives a first impression to
consumers when choosing
a car
• China has become the
world No. 1 manufacturer
and market, in terms of
annual quantity, of
automobiles since 2009. To
become more competitive,
NVH will be a major and
(摘自互联网，Henkel公司王东川讲演稿) challenging area to improve.

Fundamentals of NVH Analysis, Course Syllabus and Introduction -12-

 Introduction to NVH - Motivation
Evaluation criteria & Numerical
standards /评价指标 simulation &
和标准 CAE/仿真分析
Measurement
technique/测试
技术
Design and
manufacturing/
NVH 设计制造

Control
theory/控制
技术 Signal
processing/
信号处理

Vibration Acoustic
fundamentals fundamentals
/振动理论 /噪声理论

Fundamentals of NVH Analysis, Course Syllabus and Introduction -13-

 Typical Vibration Problem

Fundamentals of NVH Analysis, Course Syllabus and Introduction -14-

 Vibration Concept

Definition of Vibration
 Vibration refers to the repetitive motion
of objects relative to a stationary frame
of reference or nominal position
(usually equilibrium)
 A subdiscipline of dynamics that
studies repetitive of motion (as a
function of time)
Why Study Vibration
 Understand it
 Use it towards our benefits
 Avoid it if it is against our benefits

Fundamentals of NVH Analysis, Course Syllabus and Introduction -15-

 Vibration Concept

Category of Vibration
 Based on Degree-of-Freedom
• Single DoF system
• Multiple DoF system
• Continuous system

Fundamentals of NVH Analysis, Course Syllabus and Introduction -16-

 Vibration Concept
 Category of Vibration
 Based on Types of Response
• Deterministic
– Periodical
– Non-periodical
• Non-deterministic
– Random vibration
 Based on Types of Excitation
• Free vibration
• Forced vibration
• Self-excited vibration
 Based on Types of Dynamic Equation
• Linear vibration
• Non-linear vibration

Fundamentals of NVH Analysis, Course Syllabus and Introduction -17-

 Description of Vibration Motion
x

P
A A
ωnt
O  n t
2
T
n

x(t )  A sin n (t  T ) x(t )  A sin n (t   n  T )  A sin[ n (t  T )   ]

x (t )  n A cos n (t  T )  n A sin[ n (t  T )   2] Ф - the initial

phase
x(t )  n 2 A sin n (t  T )  n 2 A sin[ n (t  T )   ]

Fundamentals of NVH Analysis, Course Syllabus and Introduction -18-

 Complex Expression of Vibration
j jx

A A
ωnt
O t

x
A
z  A(cos nt  j sin nt )  Ae jnt
jx(t )  jAsin nt  Im( z )
x(t )  A cos nt  Re( z )
def def
x(t )  A sin nt  Im( z )  Ae jnt
t

Fundamentals of NVH Analysis, Course Syllabus and Introduction -19-

 Elements in a Vibration System
 Mass – the object that moves
 Excitation – external force to
keep the mass moving
c
 Spring (stiffness) – internal force
k
that moves the mass
 Damper (damping) – internal
M force that tends to stop the mass
 Number of degrees of freedom –
number of independent
ft coordinates in the system
required to describe its motion
completely.

Fundamentals of NVH Analysis, Course Syllabus and Introduction -20-

 Spring Constant
From strength of materials recall:

fk

0 xl x

fk
Stiffness k Unit: N/m
x

Fundamentals of NVH Analysis, Course Syllabus and Introduction -21-

 Equivalent Spring Constant
k1
k  k1  k2
fk fk
k2

fk k1 k2 fk k1  k 2
k
k1  k 2
fk k

l E, A
fk fk EA
k  
x f k l EA l
Fundamentals of NVH Analysis, Course Syllabus and Introduction -22-
 Damping
 All real systems dissipate energy when they vibrate. To account for this
we must consider damping. The most simple form of damping (from a
mathematical point of view) is called viscous damping. A viscous damper
(or dashpot) produces a force that is proportional to velocity.

f c  cv(t )  cx (t ) Viscous damping c  fc / v

coefficient: (unit: N.s/m)

fc
 Other common types of damping in vibration problems
 aerodynamic damping – damping force is proportional to the
velocity square
 structural damping – damping force is proportional to the material
strain
Fundamentals of NVH Analysis, Course Syllabus and Introduction -23-
 Modeling – Classical Approach

Note that damping is ignored in the system for now.

•Newton’s Law: mx(t )  kx(t )  mx(t )  kx(t )  0

Now we need to solve the following 2nd order ODE for the vibration
motion x(t):
mx  kx  0 Eq. (1.1)

Fundamentals of NVH Analysis, Course Syllabus and Introduction -24-

 Modeling – Energy Method

Potential and Kinetic Energy in Vibration

System
The potential energy of mechanical x=0 x0
systems U is often stored in “springs” k
(remember that for a spring F = kx) M
x0 x0
1 2
U spring   F dx   kx dx  kx0 Spring
0 0
2 Mass

The kinetic energy of mechanical systems T is due to the

motion of the “mass” in the system

1 2 1 2
Ttrans  mx , Trot  J
2 2
Fundamentals of NVH Analysis, Course Syllabus and Introduction -25-
 Modeling – Energy Method
Conservation of Energy
For a simple, conservative (i.e. no damper), mass spring
system the energy must be conserved:

T  U  constant
d
or (T  U)  0 Eq. (1.2)
dt
At two different times t1 and t2 the increase in potential energy
must be equal to a decrease in kinetic energy (or visa-versa).

U1  U 2  T2  T1
and
U max  Tmax
Fundamentals of NVH Analysis, Course Syllabus and Introduction -26-
 Modeling – Energy Method
Deriving the EOM with the Energy Method
x=0 x

k
M

Spring
Mass

d d 1 2 1 2
(T  U )  ( mx  kx )  0  x (mx  kx)  0
dt dt 2 2
Since ẋ cannot be zero all the time, then it must be true that:

mx  kx  0
Fundamentals of NVH Analysis, Course Syllabus and Introduction -27-
 Modeling – Energy Method

Classical Method vs. Energy Method

 Classical method is based on the Newton’s law, is
straightforward to use when the system is simple (i.e., 1-
or 2-DOF system, and the forces or torques in the
system can be explicitly identified)
 Energy method provides an alternative way to determine
the equation of motion (EOM), and an alternative way to
calculate the natural frequency of a system. It is:
• Useful if the forces or torques acting on the object or mechanical
part are difficult to determine
• Very useful for more complicated systems later (MDOF and
distributed mass systems)

Fundamentals of NVH Analysis, Course Syllabus and Introduction -28-

 Introduction to Noise and Noise Control
 Acoustics, in a very general form, is defined as
the “science of sound”.
 Sound is a physical phenomenon
corresponding to the mechanical wave
propagating in air (and other media), and is
audible by ears.
 Noise, broadly speaking, is the sound that is
unwanted by ears.
 Noise control is an engineering field dealing
with the task of mitigating noise.

Propagation
Sources Recipients
paths

Fundamentals of NVH Analysis, Course Syllabus and Introduction

 Fundamentals of Sound

Sound is mechanical wave of energy that

changes the pressure of its medium (air
or water) as it moves. These changes of
pressure are detected by our sense of
hearing and transmitted to our brains for
interpretation. Sound waves are
described by their wavelength, amplitude
and frequency and intensity (in decibels).
Fundamentals of NVH Analysis, Course Syllabus and Introduction -30-
 Fundamentals of Sound

• Sound propagates in media, hence the concept of wave.

• Sound wave is the form of transmission of mechanical vibration, hence
sound wave belongs to mechanical wave.
• Sound wave can propagate in various media, including gas and liquids
(mainly longitudinal, or compressional wave), and solids (both longitudinal
and shear waves).
• When describing sound, we usually use pressure instead of displacement.
Fundamentals of NVH Analysis, Course Syllabus and Introduction -31-
 Fundamentals of Sound

Sound Waves in Fluids

 While sound propagating through gases and liquids,
longitudinal elastic waves can exist.
 Longitudinal waves are characterized by particle
velocities parallel to the direction of propagation
 Examples

Sound waves from a Sound waves in an

loudspeaker infinite duct

Fundamentals of NVH Analysis, Course Syllabus and Introduction -32-

 Fundamentals of Sound

Sound Waves in Solids

 Solid media can sustain both normal and shear stresses
• Not only longitudinal but transverse waves also exists.
• Both waves in combination can built bending waves

Longitudinal waves-particles move Transverse waves-particles move

along direction of propagation perpendicular to direction of propagation

Fundamentals of NVH Analysis, Course Syllabus and Introduction -33-

 Decibel Scales
• Sound Pressure Level (SPL)

Pe
Lp ( SPL)  20 log , where Pref  20 106 Pa
Pref
• Sound Intensity Level (SIL)

I
LI ( SIL)  10 log , where I ref  11012 W/m 2
I ref

• Sound Power Level (PWL)

W
LW ( PWL)  10 log , where Wref  11012 W
Wref

Fundamentals of NVH Analysis, Course Syllabus and Introduction -34-

 Decibel Scales

Fundamentals of NVH Analysis, Course Syllabus and Introduction -35-

 Decibel Scales
• Addition of sound pressures (incoherent sources)

Lp  10 log 10  L p1 / 10
 10
L p 2 / 10
   10
L pn / 10

Example Assume that three incoherent sounds with SPL’s of 90 dB, 88 dB,
and 85 dB radiate into the same volume. Calculates the combined total SPL.

Solution: 2
For source 1: Pe1  Pe1 
L p1  20 log  10 log    Pe21  Pref2 1090 /10
Pref P 
Similarly:  ref 
Pe22  Pref2 1088/10 , Pe23  Pref2 1085/10

Pe21  Pe22  Pe22

L p  10 log  92.9 dB
Pref2

or L p  10 log 1090 /10  1088 /10  1085 /10  92.9 dB 
Fundamentals of NVH Analysis, Course Syllabus and Introduction -36-