System Modeling Coursework

Class 19-20: Free (undamped and damped) vibrations

P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: pr.venkat@manipal.edu, prv_i@yahoo.com
Web address: http://www.esnips.com/web/SystemModelingClassNotes
 WARNING!

• I claim no originality in all these notes. These are the

compilation from various sources for the purpose of
delivering lectures. I humbly acknowledge the
wonderful help provided by the original sources in
this compilation.
• For best results, it is always suggested you read the
source material.

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 Contents

• Modeling of free vibrations

– Free vibrations
– Forced vibrations
– Characteristics of response
• Numerical on the derivations

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 Introduction

• In theory, the single degree-of-freedom spring-mass

system, once set into motion, would continue to
move up and down for ever.
• In practice all systems are damped, which means
that energy is dissipated, and the amplitude of the
motion gradually gets smaller and smaller until it
stops altogether.
• Damping can be introduced from various sources,
and is hard to model accurately.

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 System with damping

• One model, known as

viscous damping, is that of
a force that is proportional
to the velocity of the mass,
and which opposes its
motion.
• This is represented by a
dashpot, which is given the
symbol shown in Fig.

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 Equations of motion

• Free body diagram

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 Solutions to this equation

• The solution to this equation is given by

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 Output graphs

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 Most important case

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 Output graph

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 Summary

• If ζ > 1, the system is heavily damped, and no

vibration occurs.
• If ζ = 1, the system is critically damped, and the
damping is only just sufficient to prevent vibration.
• If ζ < 1, as it is in the majority of cases, there is
insufficient damping in the system to prevent
vibration and the motion is oscillatory.

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 Numerical

• Let us return to the system

in Figure, and, as before,
assume that the weight is
given an initial
displacement, X0, and then
released from rest. Let X0
= 100 mm. Therefore, the
initial conditions are that at
t = 0, x = 100 mm, and x
= 0 . Find the solution for
various values of ζ.

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 Case (1): Over damped system with ζ = 2

• The displacement is given by

• Differentiating with respect to time

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 Output for over damped system with ζ = 2

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 Case (2): Critically damped system, ζ = 1

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 Case (3): Under damped system with ζ = 0.05

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 Case (3): Under damped system with ζ = 0.05

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 Summary

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 Summary

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 Numerical - 1

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 Solution to Numerical 1

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 Numerical - 2

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 Numerical - 2

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 Numerical 3

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 Solution to Numerical 3

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 And, before we break…

• Reality is often a matter of personal

perception as much as objective fact.

Thanks for listening…

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