192 CHAPTER 2 FREE WERATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS ‘Thus the pulley stops at0.39734° from the equilibrium position on the same side ofthe initial displacement 2.10 Free Vibration with Hysteretic Damping Consider the spring-viscous-damper arrangement shown in Fig. 2.44(a), For this system, the force F needed to cause a displacement x() is given by Poke tes aust Fora harmonic motion of frequency w and amplitude X a(1) = X sine 2142) Equations (2.141) and (2.142) yield F(1) = kX sin or + eX cos a = kx £ ewV¥F = (Xsin wy (2143) k 5B ube Tt FO » FIGURE 2.44. Spring-viscous-damper system210 FREE VIBRATION WITH IYSTERETIC DAMPING — 193 When F versus xis plotted, Eq. (2.1 43) represents a closed loop, as shown in Fig. 2.44(b) ‘The area of the loop denotes the energy dissipated by the damper in a cycle of motion and fru Equation (2.1.44) has been derived in Section 2.6.4 also (see Eq, (2.98)). As stated in Section 1.9, the damping caused by the friction between the internal planes that slip or slide as the material deforms is called hysteresis (or solid or structural) damping. This causes a hysteresis loop to be formed in the stress-strain or foree-displacement curve (see Fig. 2.45(a)). The energy loss in one loading and unloading cycle is equal to the area enclosed by the hysteresis loop [2.11 -2.13]. The similarity between Figs. 2.44(b) and 2.45(a) can be used to define a hysteresis damping constant. It was found experimentally that the energy loss per cycle due to internal friction is independent of the frequency but approximately proportional to the square of the amplitude. In order to achieve this observed behavior from Eq, (2.144), the damping coefficient ¢ is assumed to be inversely proportional to the frequency as aw [eines + ervasenforcasna = ocx? 14a) (2.145) Where his called the hysteresis damping constant. Equations (2.144) and (2.145) give aw thx? (2.146) Stress (free) Hysteresis Toop. ‘Unloading Strain (aispacement) re Tr yD ® © FIGURE 2.45 Hysteresis loop194 CHAPTER 2. FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS Complex Stiffness. In Fig. 24a), the spring and the damper are connected in parallel, and fora general harmonic motion, x = Xe, the force is given by F = kXeM + caiXel® = (k + ive) (14n) Similarly ifa spring and a hysteresis damper are connected in parallel, as shown in Fig. 2.45(b), the force-displacement relation can be expressed as Fa (k + ii)y (2.148) where a) kv ih=K{1 +02) = KC +i) (2149) is called the complex stiffness of the system and | = h/k is constant indicating a dimen- sionless measure of damping. Response of the System. In terms of 8, the energy loss per cycle can be expressed as AW = rkpx? (2.150) Under hysteresis damping, the motion can be considered to be nearly harmonic (since AW js small), and the decrease in amplitude per cycle can be determined using energy balance. For example, the energies at points P and Q (separated by half a cycle) in Fig. 2.46 are related as, AX} AABN} ARAN as W8sas ust) x0) FIGURE 2.46 Response ofa hysteretcaly damped system.