MAE 653-1 Advanced Vibration

Spring 2010


Lesson #8 Thursday, Feb. 04, 2010
Textbook Sections 3.4 3.7

HARMONICALLY EXCITED VIBRATION
WITH VISCOUS DAMPING
Hermann E. Alcazar
8. Harmonically excited vibration with viscous damping MAE 653 - Advanced Vibrations/Fall 2010
3.4 Response of a damped system under harmonic force.
t F x k x c x m e cos
0
= + +
When a force F(t)=F
0
cos e

t acts on a mass m of an undamped system, its equation of motion is,
The particular solution (steady state) is also harmonic with the same frequency,

( ) t A t A t X t x
p
e e | e sin cos cos ) (
2 1
+ = =
( ) ( ) ( ) t F t A t A k t A t A c t A t A m e e e e e e e e e e e cos sin cos cos sin sin cos
0 2 1 2 1 2
2
1
2
= + + + +
( ) ( ) t F t A k A c A m t A k A c A m e e e e e e e cos sin cos
0 2 1 2
2
1 2 1
2
= + + + +
( )
( )

= +
= +
0
2
2
1
0 2 1
2
A m k A c
F A c A m k
e e
e e
( )
( ) ( )
( )
( ) ( )

+
=
+

=
2
2
2
0
2
2
2
2
2
0
1
e e
e
e e
e
c m k
c F
A
c m k
m k F
A

|
|
.
|

\
|
=
+ =

1
2 1
2
2
2
1
tan
A
A
A A X
|
( ) ( )
2
2
2
0
e e c m k
F
X
+
=
|
.
|

\
|

=

2
1
tan
e
e
|
m k
c

after replacing into the equation of motion,
8. Harmonically excited vibration with viscous damping MAE 653 - Advanced Vibrations/Fall 2010
3.4 Response of a damped system under harmonic force. Particular solution
( ) ( )
2
2
2
0
2 1 r r
X

o
+
=
|
.
|

\
|

=

2
1
1
2
tan
r
r
|
( )
2
2 1 e e =
n
, 0 =
r d
M d
2
2 1 = r
2
1
>
2
max
1 2
1

o

=
st
X
o 2
1
1
=
= r
st
X
2
1
=
1 =
st
X
o
0 = r
ratio frequency :
n
r e e =
ratio amplitude :
st
X M o =
frequency natural : m k
n
= e
damping critical : 2
n c
m c e =
0 0
force static under deflection : F k F
st
= o
ratio damping : 2
n c
c c e = =
2
1
<
No maximum,
monotonic
decreasing.
After considering the following ratios or relations,
Characteristic values,



8. Harmonically excited vibration with viscous damping MAE 653 - Advanced Vibrations/Fall 2010
are used to define the coefficients of the homogeneous solution (transient),
Underdamped system


Critically damped system


Overdamped system
3.4 Response of a damped system under harmonic force. Total solution
( ) ( ) | e | e
,e
+ =

t X t e X t x
d
t
n
cos cos ) (
0 0
( ) ( ) | e
e
+ + =

t X e t C C t x
t
n
cos ) (
2 1
( ) | e
e , , e , ,
+ + =
|
.
|

\
|
|
.
|

\
|
+
t X e C e C t x
t t
n n
cos ) (
1
2
1
1
2 2

= =
= =
0
0
) 0 (
) 0 (
x t x
x t x

The initial conditions,
8. Harmonically excited vibration with viscous damping MAE 653 - Advanced Vibrations/Fall 2010
3.6 Response of a damped system under harmonic force of the base.
( ) ( ) 0 = + + y x k y x c x m
( )

|
.
|

\
|
=
=

k
c
c k Y A
e
o
e
1
2 2
tan
( ) o e
e e e
=
+ =
+ = + +
t A
t Y k t Y c
y k y c x k x c x m
sin
sin cos

( )
( ) ( )
|
.
|

\
|

=
+
+
=

2
1
1
2
2
2
2 2
1
tan
e
e
|
e e
e
m k
c
c m k
c k Y
X
( ) | e = t X t x
p
sin ) (
( )
1 1
sin ) ( | o e = t X t x
p
( )
( ) ( )
( )
( ) ( )
( ) ( ) ( )

|
|
.
|

\
|
+
=
|
|
.
|

\
|

=
+
+
=
+
+
=

2
3
1
2 2
3
1
2
2
2
2
2
2
2
2 2
1 4 1
2
tan tan
2 1
2 1
r k
r
c m k k
mc
r r
r
Y
c m k
c k Y
X

e e
e
|

e e
e
The equation of motion is expressed as,
where




8. Harmonically excited vibration with viscous damping MAE 653 - Advanced Vibrations/Fall 2010
3.6 Response of a damped system under harmonic force of the base. Particular solution
( )
|
|
.
|

\
|
+
=

2
3
1
1 4 1
2
tan
r k
r

|
( )
( ) ( )
2
2
2
2
2 1
2 1
r r
r
Y
X

+
+
=
8. Harmonically excited vibration with viscous damping MAE 653 - Advanced Vibrations/Fall 2010
3.6 Response of a damped system under harmonic force of the base. Force transmitted
( ) ( ) x m y x k y x c F = + =
( )
( ) | e
| e e
=
=
t F
t X m F
T
sin
sin
2
( )
( ) ( )
2
2
2
2
2
2 1
2 1
r r
r
r
Y k
F
T

+
+
=
The force transmitted to the base is obtained as,
From the previous analysis,
8. Harmonically excited vibration with viscous damping MAE 653 - Advanced Vibrations/Fall 2010
3.6 Response of a damped system under harmonic force of the base. Relative motion
The motion of the mass relative
to the base is stated as,
y x z =
t Y m
y m z k z c z m
e e sin
2
=
= + +
( ) | e = t Z t z
p
sin ) (
( ) ( ) ( ) ( )

|
.
|

\
|

=
|
.
|

\
|

=
+
=
+
=

2
1
2
1
2
2
2
2
2
2
2
2
1
2
tan tan
2 1
r
r
m k
c
r r
r
Y
c m k
Y m
Z

e
e
|
e e
e
where its particular solution is,

8. Harmonically excited vibration with viscous damping MAE 653 - Advanced Vibrations/Fall 2010
3.7 Response of a damped system under rotating unbalance.
t me x k x c x M e e sin
2
= + +
( ) | e = t X t x
p
sin ) (
( ) ( ) ( ) ( )

|
.
|

\
|

=
|
.
|

\
|

=
+
=
+
=

2
1
2
1
2
2
2
2
2
2
2
2
1
2
tan tan
2 1
r
r
M k
c
r r
r
M
me
c M k
me
X

e
e
|
e e
e
The equation of motion for an unbalanced
mass is stated as,
The particular solution is,