Structural Dynamics TME141

Lecture 2

Structural Dynamics TME141

Lecture 2

Damped vibrations

External force p(t) and moving base z(t) Equation of motion becomes m + c u + ku = c z + kz + p u
2 2 u + 2n u + n u = 2n z + n z + p/m,

(1)

= c/ccr ,

ccr = 2 km.

Free vibrations; p(t) = 0 and z(t) = 0

Equation (1) gives
2 u + 2n u + n u = 0.

Characteristic equation using u = C e st is

2 s 2 + 2n s + n = 0 s 1,2 = n

2 1 , (3)

(2)

resulting in u(t) = C 1 e s1 t + C 2 e s2 t .

Structural Dynamics TME141

Lecture 2

Damped vibrations

Underdamped < 1 Eq. (3) may be rewritten as u(t) = e n t (A1 cos d t + A2 sin d t) , Constants A1 and A2 from IC u(0) = u0 , u(0) = v0 A1 = u0 , Overdamped > 1 Eq. (3) may be rewritten as u(t) = e n t (A1 cosh t + A2 sinh t) , Constants A1 and A2 from IC A1 = u0 , A2 = (v0 + n u0 )/ . = n 2 1. A2 = (v0 + n u0 )/d . d = n 1 2.

Structural Dynamics TME141

Lecture 2

Damped vibrations
Critically damped = 1 Due to a double root, Eq. (3) must change to u(t) = e n t (A1 + A2 t) . Constants A1 and A2 from IC A1 = u0 , A2 = (v0 + n u0 ).

Let us study the case p(t) = 0 and z(t) = 0. External force p(t) Equation (1) gives
2 u + 2n u + n u = p/m.

This is solved by u(t) = uc (t) + up (t), (4) where uc (t) is the complementary (homogenous) solution and up (t) is the particular solution.
Structural Dynamics TME141 Lecture 2

Damped vibrations

Constant external force p(t) = p0 up (t) = p0 /k Linear external force p(t) = p0 t/t0 up (t) = p0 (t 2/n ) kt0

Harmonic external force p(t) = p0 cos t up (t) = U cos(t ), where U = k tan = 2r/(1 r 2 ), p0 (1 r 2 )2 + (2r)2 . (5) r = /n ,

Structural Dynamics TME141

Lecture 2

Damped vibrations

By letting U0 = p0 /k be the static solution (just let 0 in (5)), the frequency response function (sometimes denoted magnication factor Ds ) is dened as H (r) = U /U0 = 1/ (1 r 2 )2 + (2r)2 . In all the examples above with an external force p(t), the same general procedure holds for a moving base z(t). Note that 2 IC are needed to solve for A1 and A2 in Eq. (4). Sometimes the harmonic external force case is studied using a complex anzats p(t) = p0 e it , resulting in complex displacements u p (t) = U e it . The procedure is similar to the one presented above. The complex frequency response function becomes H (r) = U /U0 = 1 , |H (r)| = H (r). (1 r 2 ) + i(2r)

Structural Dynamics TME141

Lecture 2

Damped vibrations

Moving base z(t) Let us study the case p(t) = 0 and z(t) = 0. Equation (1) gives
2 2 u + 2n u + n u = 2n z + n z.

Assuming complex anzats z(t) = Ze it , resulting in complex displacements u p (t) = U e it . Hereby the complex frequency response function relating Z and U becomes H u/z (r) = U /Z = with the absolute value |H u/z (r)| = 1 + i(2r) , (1 r 2 ) + i(2r)

1 + (2r)2 (1 r 2 )2 + (2r)2

= H (r)

1 + (2r)2 .

Structural Dynamics TME141

Lecture 2

Damped vibrations

Arbitrary external force p(t) = 0, z(t) = 0 Adopting Laplace transform turns Eq. (1) to
2 s 2 U (s) su0 v0 + 2n (sU (s) u0 ) + n U (s) = P(s)/m.

This could be rewritten as U (s) = H (s) [P(s) + m(su0 + v0 + 2n u0 )] , where the transfer function H (s) (not to be confused with the frequency response function H (r)) is H (s) = 1 . 2 m (s 2 + 2n s + n )

Write the eld U (s) = U1 (s) + U2 (s) where U1 (s) = H (s)m (su0 + v0 + 2n u0 ) , U2 (s) = H (s)P(s).

Structural Dynamics TME141

Lecture 2

Damped vibrations

Using Eq. (3) the function H (s) could be written H (s) = 1 e s1 t e s2 t h(t) = , (s 1 = s 2 ). m(s s 1 )(s s 2 ) m(s 1 s 2 ) Underdamped < 1 h(t) = e n t sin d t/(md ) Overdamped > 1 h(t) = e n t sinh t/(m ) Critically damped = 1 h(t) = te n t /m

Structural Dynamics TME141

Lecture 2

Undamped vibrations

The solution u1 (t) is hereby easy to derive for each damping case. The solution u2 (t) is also easily obtained directly for the simple cases previously studied. For a general force p(t) the solution is obtained using convolution integral
t

u2 (t) =
0

p( )h(t )d.

Note that u2 (t) = h(t) when p(t) = (t) (the Dirac impulse delta function). The time domain transfer function h(t) is also the impulse response function. The integral is called the Duhamel integral.

Structural Dynamics TME141

Lecture 2