NASA CR-510

ELECTRICAL ANALOGIES A N D THE VIRRA r I m OF

LINEAR MECHANICAL SYS TEh'lS

P r e p a r e d undcr Contra(-t No. NAS 8-20020 by

MEASUREMENT ANALYSIS CORPORATION
Los Angeles, Calif.

f o r George C. Marshall Space Flight C e n t e r

NATIONAL AERONAUTICS AND SPACE ADMINISTRATION

For sale by the Cleoringhouse for Federol Scientific and Technical Informotion
Springfield, Virginia 22151 - Price $4.00
 ABSTRACT

This r e p o r t is t u t o r i a l i n n a t u r e and d e a l s p r i m a r i l y with c o n c e p t s

b a s i c to the vibration of m e c h a n i c a l s y s t e m s and t h e i r equivalent e l e c t r i c a l
analogies. Although both m e c h a n i c a l i m p e d a n c e and o p e r a t i o n a l a m p l i f i e r
c i r c u i t s a r e c o n s i d e r e d , e m p h a s i s i s given to p a s s i v e mobility c i r c u i t s f o r
the v i b r a t i o n of d i s t r i b u t e d e l a s t i c s t r u c t u r e s .

The s i n g l e - d e g r e e - o f - f r e e d o m s y s t e m i s u s e d t o i l l u s t r a t e and i n t e r -
r e l a t e many of the concepts and definitions common t o m e c h a n i c a l s y s t e m s
and e l e c t r i c a l c i r c u i t s . The mobility concept i s then extended to include dis -
tributed p h y s i c a l s y s t e m s d e s c r i b e d m a t h e m a t i c a l l y a s p a r t i a l d i f f e r e n t i a l
equations. T h e s e r e s u l t i n g a n a l o g s a r e e l e c t r i c a l l y equivalent to finite -
difference f o r m s of the p a r t i a l d i f f e r e n t i a l equations and c a n b e u s e d d i -
r e c t l y to s y n t h e s i z e c o m p l e t e e l e c t r i c a l m o d e l s of p h y s i c a l s y s t e m s . Dif-
f e r e n c e mobility analogs a r e shown f o r the v i b r a t i o n of the s i m p l e b e a m , the
Timoshenko b e a m , a c u r v e d b e a m , a r e c t a n g u l a r s h e a r panel, and a r e c -
tangular p l a t e . S i m i l a r analogs a r e shown f o r p r o b l e m s t y p i c a l t o h e a t
t r a n s f e r a n d fluid flow.
-

..
11
 TABLE O F CONTENTS

PAGE

Introduction ..................................... 1

1. The L i n e a r O s c i l l a t o r ......................... 4

1. 1 F o r c e - c u r r e n t , Velocity-voltage analog
(Mobility Analog) ......................... 4

1. 2 F o r c e - v o l t a g e , V e l o c i t y - c u r r e n t Analog
( M e c h a n i c a l Impedance Analog) ............... 9

1. 3 I m p e d a n c e P r o p e r t i e s , ihlobility and F r e q u e n c y
R e s p o n s e Functions ........................ 10

1. 4 Torsional System ......................... 21

1. 5 T r a n s f o r m e r s and L e v e r e d S y s t e m s ............. 23

1. 6 Active E l e c t r i c a l Analogies .................. 31

i. 7 Current Generators . . . . . . . . . . . . . . . . . . . . . . . . 37

2. Multi- d e g r e e -of -f r e e d o m S y s t e m s ................. 40

2. 1 A l g e b r a i c S y s t e m s . . . . . . . . . . . . . . . . . . . . . . . . . 40

2. 2 D i s c r e t e Mechanical S y s t e m s................. 46

2. 3 Modal T h e o r y and its Analog Equivalence ......... 50

3. Distributed Structural Systems .................... 52

3. 1 Longitudinal V i b r a t i o n of a Rod ............... 52

3. 2 L a t e r a l Vibration of a Simple B e a m ............ 56

3. 3 L a t e r a l Vibration of a Timoshenko B e a m ........ 65

3. 4 L a t e r a l Vibration of a Simple B e a m on a n
aa Elas t i c Foundation ........................ 70
 TABLE O F CONTENTS (continued)

PAGE

3. 5 In-plane Vibration of a C u r v e d B e a m ............ 72

3.6 Rectangular S h e a r P a n e l .................... 76

3. 7 L a t e r a l Vibration of a Flat, R e c t a n g u l a r Plate . . . . . 79

3.8 Scale F a c t o r s ............................ 88

3. 9 Boundary Conditions ...................... 91

4. Other Physical Systems ......................... 96

4. 1 V i s c o e l a s t i c Model ........................ 96

4. 2 Heat T r a n s f e r of a C y l i n d r i c a l Rod ............. 97

4. 3 T h e r m a l C h a r a c t e r i s t i c s of F l u i d Flow i n a Duct ... 101

5. Concluding R e m a r k s ............................. 104

REFERENCES .................................... 107

iv
 .
t

LIST O F FIGURES

PAGE

F i g u r e 1. 1 B a s i c Relationships f o r C u r r e n t Flow T h r o u g h
a C a p a c i t o r , Inductor, and R e s i s t o r ..... ..... C
-I

F i g u r e 1. 2 Funicular Current Diagram f o r

Mechanic a1 O s c i l l a t o r .... ............... 8

F i g u r e 1. 3 Sketch of the Mechanical O s c i l l a t o r and the

Equivalent Mobility Analog C i r c u i t ........... 8

F i g u r e 1. 4 Mechanical I m p e d a n c e P a s s i v e Analog C i r c u i t
f o r a Mechanical O s c i l l a t o r ........... ..... 10

Figure 1 . 5 B a s i c Relationships Between Mechanical S y s t e m s and

T h e i r Equivalent Analog .................. 12

Figure 1.6 Reduced Equivalent C i r c u i t f o r the

Mechanical O s c i l l a t o r .................... 12

Figure 1.7 P l o t s of the Magnitudes of (Impedance)

X o h i i i t y Functions ............. ......... 16

F i g u r e 1. 8 P l o t s of the Magnitudes of (Admittance)

M e c h a n i c a l I m p e d a n c e Functions ... ......... 17

F i g u r e 1. 9 Sketches of Displacement, Velocity, and

A c c e l e r a t i o n F r e q u e n c y Response F u n c t i o n s f o r a
Lightly Damped M e c h a n i c a l O s c i l l a t o r ....... .. 19

F i g u r e 1. 10 D i s k - s h a f t M e c h a n i c a l System ............. 21

F i g u r e 1. 11 P a s s i v e Analog C i r c u i t f o r the D i s k - s h a f t
Mechanical S y s t e m ............... ....... 22

F i g u r e 1. 12 I d e a l Three-winding T r a n s f o r m e r ............ 23

F i g u r e 1. 1 3 Conventional Two-winding T r a n s f o r m e r and its

Equivalent A u t o - t r a n s f o r m e r ........... .... 25 '

F i g u r e 1. 14 Impedance T r a n s f e r A c r o s s a T r a n s f o r m e r ...... 27

V
 LIST O F FIGURES (continued)

PAGE

Figure 1 . 15 Sp r i n g - ma s s - 1e ve r Sin g 1e De g r e e - of - f r e e do 1 - n
System .......................... .. 28

F i g u r e 1. 16 P a s s i v e Analog f o r t h e S p r i n g - m a s s - l e v e r
S y s t e m of F i g u r e 1. 15 . . . . . . . . . . . . . . . . . . . 29

F i g u r e 1. 1 7 Equivalent Mobility C i r c u i t f o r F i g u r e 1 . 16 . . . . 30

F i g u r e 1. 18 Basic Operational Amplifier . . . . . . . . . . . . . . 32

F i g u r e 1. 1 9 General Feedback Circuit . . . . . . . . . . . . . . . . 32

F i g u r e 1. 20 Typical O p e r a t i o n a l A m p l i f i e r - f e e d b a c k C i r c u i t . . 33

F i g u r e 1. 21 Active C i r c u i t f o r a L i n e a r O s c i l l a t o r ........ 34

F i g u r e 1. 22 Amplifier Circuit Representing a C u r r e n t

Generator ..................... ..... 37

F i g u r e 2. 1 Nodal Analogy f o r t h e A l g e b r a i c S y s t e m ....... 41

F i g u r e 2. 2 Loop Analogy f o r the A l g e b r a i c S y s t e m ....... 42

F i g u r e 2. 3 Operational Amplifier Circuits f o r the

Algebraic System .............. ........ 43

F i g u r e 2. 4 T r a n s f o r m e r - v o l t a g e Analogy f o r t h e
Algebraic System ............ ......... 44

Figure 2. 5 T r a n s f o r m e r - c u r r e n t Analogy f o r t h e
Algebraic System ............ .......1 .. 45

F i g u r e 2. 6 The Vibration I s o l a t o r S y s t e m and its

Equivalent Mobility Analog ..... .......... 47

F i g u r e 2. 7 T h r e e - d e g r e e - of - f r e e d o m S y s t e m and i t s
Equivalent Mobility Analog ........ ....... 47

vi
 LIST O F FIGURES (continued)

PAGE

Figure 2 . 8 Composite T h r e e - d e g r e e - of - f r e e d o m S y s t e m
and its Equivalent Mobility Analog ...... .... 48

Figure 2 . 9 Composite T o r s i o n a l S y s t e m and i t s Equivalent

Mobility Analog ................... ... 48

E'igure 2. 10 L e v e r e d Mechanical System and i t s Equivalent

Mobility Analog ....... :............ ... 49

F i g u r e 2. 1 1 iModal Analog f o r an N - d e g r e e - o f - f r e e d o m
Mechanical S y s t e m ................ ..... 51

Figure 3 . 1 F u n i c u l a r D i a g r a m f o r a Difference Segment

of a Rod ...................... ..... 54

Figure 3 . 2 Mobility C i r c u i t f o r the Longitudinal V i b r a t i o n

of a Rod ......................... ... 55

Figure 3 . 3 Differential Segment of a Simple B e a m ....... 56

Figure 3 . 4 C i r c u i t R e p r e s e n t a t i o n s for t h e D i f f e r e n c e
Equations of a Simple B e a m ........ ...... 59

Figure 3. 5 G e n e r a l Mobility C i r c u i t f o r the L a t e r a l

Vibration of a Simple B e a m ....... ........ 60

Figure 3. 6 Static P a s s i v e Analog for a S i m p l e B e a m

in Bending . . . . . . . . . . . . . . . . . . . . ....... 61

Figure 3.7 Mobility Analog f o r the L a t e r a l V i b r a t i o n of a

Simple B e a m ..................... .. 62

Figure 3 . 8 Equivalent Mechanical Model for t h e Mobility

Analog of a Simple B e a m Segment ...... .... 63

Figure 3.9 Differential Segment of Timoshenko B e a m ..... 65

F i g u r e 3. 10 G e n e r a l D i f f e r e n c e C i r c u i t for S h e a r
D e f o r m a t i o n and Total Deflection . .......... 68

vii
 LIST O F FIGURES (continued)

PAGE

F i g u r e 3 . 11 Mobility C i r c u i t f o r the L a t e r a l Vibration

of a Timoshenko B e a m . . . . . . . . . . . . . . . . . . . 69

F i g u r e 3 . 12 Mobility C i r c u i t f o r the L a t e r a l Vibration of a

Simple B e a m on a n E l a s t i c Foundation . . . . . . . . 71

Figure 3. 13 C u r v e d B e a m S e g m e n t with the E x t e r n a l Loading,

Internal F o r c e s and Displacement Coordinates . . . 72

F i g u r e 3 . 14 Mobility Analog f o r the In-plane Vibration of a

Curved B e a m ...................... .. 75

Figure 3 . 15 D i f f e r e n t i a l S e g m e n t of a R e c t a n g u l a r
Shear Panel ................. ........ 77

F i g u r e 3 . 16 Mobility C i r c u i t f o r a R e c t a n g u l a r S h e a r P a n e l . . . 78

F i g u r e 3 . 17 D i f f e r e n t i a l S e g m e n t of R e c t a n g u l a r P l a t e and the
Associated F o r c e s ..................... 80

Figure 3 . 18-a & C i r c u i t f o r the L a t e r a l Vibration of a F l a t

Rectangular Plate ..................... 83

F i g u r e 3 . 18-b $ Circuit for the Lateral V i b r a t i o n of a Flat

Re c tan gul a r P1a t e ..................... 84

Figure 3 . 18-c 4 C i r c u i t f o r the L a t e r a l Vibration of a F l a t

Rectangular P l a t e ..................... 85

Figure 3 . 18-d Component Values f o r the R e c t a n g u l a r P l a t e

Circuits ......................... ... 86

Figure 3. 19 G e n e r a l Scale F a c t o r R e l a t i o n s h i p s f o r
Mobility Analogs .............. ........ 89

F i g u r e 3 . 20 M e c h a n i c a l and E l e c t r i c a l L u m p e d P a r a m e t e r
Analogs f o r a C a n t i l e v e r e d B e a m ....... .... 93

Figure 3 . 2 1 F l e x i b l e Boundary f o r the B u i l t - i n End Condition

of a C a n t i l e v e r B e a m . . . . . . . . . . . . . . . . . . 94

viii
 LIST O F FIGURES (continued)

PAGE

Figure 3.22 Mobility Analog of a P a r t i a l l y L o a d e d

Distributed B e a m ............ ........ 95

F i g u r e 4. 1 Mobility C i r c u i t f o r a V i s c o e l a s t i c S p r i n g .... 97

F i g u r e 4. 2 Analog D i f f e r e n c e Network for T w o - d i m e n s i o n a l

H e a t F l o w i n C y l i n d r i c a l Coordinates ...... . 1co
F i g u r e 4. 3 Sketch Depicting T h e r m a l and F l u i d Flow
Through a Section of Duct ......... ...... 10 1

F i g u r e 4. 4 Difference C i r c u i t Depicting H e a t Flow a n d

F l u i d F l o w Through a Duct ......... ..... 103

ix

f
 LIST O F S Y M B O L S

-4 g a i n f a c t o r nf a n o p e r a t i o n a l a m p l i f i e r ; o r ,
c r o s s - s e c t i o n a r e a of a s t r u c t u r a l m e m b e r

a analog s c a l e f a c t o r

s u s c e p t a n c e or i m a g i n a r y p a r t of a c o m p l e x a d m i t t a n c e
*O

C a capacitor
-
C capacitor for the generalized m a s s

C c a p a c i t o r f o r the l a t e r a l i n e r t i a of t h e nth d i f f e r e n c e s e g m e n t
n

c n(e) c a p a c i t o r f o r the r o t a t o r y i n e r t i a of t h e nth difference s e g m e n t

capacitor for torsional inertia

'e
C v i s c o u s damping constant; or,

s p e c i f i c h e a t of a m a t e r i a l or fluid at c o n s t a n t p r e s s u r e

D p l a t e f l e x u r a l rigidity

dx d i f f e r e n t i a l length m e a s u r e d in the x d i r e c t i o n

E voltage a c r o s s s p e c i f i e d windings of a t r a n s f o r m e r ; or,

Young's modulus

e voltage

e voltage a c r o s s a c a p a c i t o r 1
C

e. input voltage of a n o p e r a t i o n a l a m p l i f i e r
in
e voltage a c r o s s a n i n d u c t o r
P
e output voltage of a n o p e r a t i o n a l a m p l i f i e r
0

e voltage a c r o s s a r e s i s t o r
r

xi
 .
e voltage denoting a n a n g u l a r velocity
0

F.. s h e a r f o r c e p e r p e n d i c u l a r to the i t h a x i s and a c t i n g i n the j d i r e c t i o n

1J

F radial shear force

r

F circumferential o r tangential f o r c e
9
f e x t e r n a l loading a p p l i e d t o a s t r u c t u r e

f(t) e x t e r n a l loading f o r a l i n e a r o s c i l l a t o r

f(x, t ) e x t e r n a l l a t e r a l loading p e r unit length

f ( x , y , t ) e x t e r n a l l a t e r a l loading p e r unit a r e a

e x t e r n a l r a d i a l loading p e r unit a r c length

e x t e r n a l tangential loading p e r unit a r c length

s h e a r modulus

conductance o r r e a l p a r t of a c o m p l e x a d m i t t a n c e

magnitude o r modulus of a c o m p l e x i m p e d a n c e

t h i c k n e s s of a p a n e l o r p l a t e

current; or,
the c r o s s - s e c t i o n a r e a m o m e n t of i n e r t i a

c u r r e n t flow f o r a g e n e r a l i z e d f o r c e

current for an external force

r o t a t o r y m o m e n t of i n e r t i a f o r a s e g m e n t of T i m o s h e n k o b e a m

c u r r e n t in amps; or,
the complex operator fi
c u r r e n t through a c a p a c i t o r

c u r r e n t through a n i n d u c t o r

c u r r e n t through a r e s i s t o r

xii
 .
4

J r o t a t i o n a l m a s s m o m e n t of i n e r t i a

K p o t e n t i o m e t e r coefficient

K' geometric correction f a c t o r f o r a Timoshenko b e a m

I( s p r i n g c o n s t a n t f o r a d i f f e r e n t i a l segment of a n e l a s t i c foundation
f
equivalent s p r i n g c o n s t a n t f o r a l e v e r e d s y s t e m
KO
s t i f f n e s s constant f o r a v i s c o e l a s t i c s p r i n g
Kb
torsional spring constant
Kt
k analog s c a l e f a c t o r ; o r ,
s p r i n g constant; o r
s u r f a c e conductivity

L a n a r b i t r a r y inductor
-
L i n d u c t o r f o r t h e g e n e r a l i z e d flexibility

Ln(Kf) i n d u c t o r f o r the e l a s t i c foundation of the n t h d i f f e r e n c e s e g m e n t

Ln(v) i n d u c t o r f o r the s h e a r deformation oi the r i i i i Jiifei-efiCe scgrilcill

L n (e) i n d u c t o r f o r the bending of the nth d i f f e r e n c e s e g m e n t

equivalent i m p e d a n c e f o r a l e v e r e d s y s t e m
LO
Us) s h e a r inductor

i n d u c t o r f o r t o r s i o n a l flexibility
Le
I length

M moment

bending m o m e n t p e r unit length of a s e c t i o n of p l a t e denoting t h e

Mii
bending p e r p e n d i c u l a r t o t h e ith axis

M.. twisting m o m e n t p e r unit l e n g t h of a s e c t i o n of p l a t e denoting t h e

1J
twisting p e r p e n d i c u l a r to t h e i t h d i r e c t i o n

xiii
M m o m e n t i n the nth d i f f e r e n c e s e g m e n t
n

m mass

symbol for mechanical mobility

N time scale factor; or,

n u m b e r of t r a n s f o r m e r windings

N "* notation f o r a u t o - t r a n s f o r m e r windings

n nth d i f f e r e n c e s e g m e n t i n finite d i f f e r e n c e notation

-
n v e c t o r n o r m a l to a s u r f a c e

s y m b o l r e f e r e n c i n g the p r o p e r t i e s f o r the nth d i f f e r e n c e s e g m e n t

In

P e l e c t r i c a l power

P p r i m a r y t r a n s f o r m e r windings f o r the nth d i f f e r e n c e s e g m e n t

n
analog s c a l e f a c t o r
pe
P analog s c a l e f a c t o r
4
P density p e r unit volume

Q s h a r p n e s s of a f r e q u e n c y r e s p o n s e c u r v e at the n a t u r a l f r e q u e n c y
of t h e s y s t e m

s h e a r f o r c e p e r unit length of a s e c t i o n of p l a t e p e r p e n d i c u l a r t o the

Qi
i t h axis

generalized coordinate; o r ,
h e a t flow b y conduction

v e c t o r f o r h e a t flow

q' h e a t flow f r o m e x t e r n a l s o u r c e s

xiv
R a resistor; or,
radius i n cylindrical coordinates
-
R r e s i s t o r f o r t h e g e n e r a l i z e d damping

R7 (0) r e s i s t o r f o r the s t a t i c bending of the nth d i f f e r e n c e s e g m e n t

'

r e s i s t a n c e or r e a l p a r t of a complex i m p e d a n c e
RO
r e s i s t o r c o r r e s p o n d i n g t o t o r s i o n a l v i s c o u s damping
Re
r r a d i u s of a c u r v e d b e a m s e g m e n t
.-
r v e c t o r for a n a r b i t r a r y s p a t i a l location

S s u r f a c e a r e a of a n a r b i t r a r y body

S s e c o n d a r y t r a n s f o r m e r windings for t h e nth d i f f e r e n c e s e g m e n t

n

S t h e L a p l a c e o p e r a t o r : or,
t h e p e r i m e t e r of a duct c r o s s - s e c t i o n

T t o r q u e ; or,
t w i s t i n g m o m e n t ; or,
t e m p e r a t u r e of a body

t time

t electrical time
e
t m e c h a n i c a l t i m e c o r r e s p o n d i n g to time t
m
U longitudinal motion i n t h e x d i r e c t i o n

V s h e a r f o r c e ; or,
v o l u m e of a body

V s h e a r i n t h e nth d i f f e r e n c e s e g m e n t
n
V s y m b o l denoting volts; o r ,
d i s p l a c e m e n t i n the r a d i a l d i r e c t i o n
-
V fluid velocity

W l a t e r a l deflection of a p l a t e f r o m s t a t i c e q u i l i b r i u m
-
W fluid m a s s flow r a t e

r e a c t a n c e o r i m a g i n a r y p a r t of a c o m p l e x i m p e d a n c e
xO
x c o o r d i n a t e f o r the motion of a m e c h a n i c a l s y s t e m d e s c r i b e d
a s a s e t of a l g e b r a i c equations; o r ,
the s p a t i a l d i m e n s i o n i n the x d i r e c t i o n

Y a n electrical admittance

Y a mechanical admittance
m
Y equivalent m e c h a n i c a l a d m i t t a n c e
m O
Y e l e c t r i c a l a d m i t t a n c e of a c a p a c i t o r
C

Y e l e c t r i c a l a d m i t t a n c e of a n i n d u c t o r
I
equivalent a d m i t t a n c e of a n e l e c t r i c a l network

Y e l e c t r i c a l a d m i t t a n c e of a r e s i s t o r
r

Y displacement f r o m static equilibrium for a linear oscillator; o r ,

the l a t e r a l d i s p l a c e m e n t f r o m s t a t i c e q u i l i b r i u m f o r a one-
dimensional structure; o r ,
t h e s p a t i a l c o o r d i n a t e i n the y d i r e c t i o n

velocity i n the y d i r e c t i o n
..
Y a c c e l e r a t i o n i n the y d i r e c t i o n

l a t e r a l deflection due to bending

b
'
l a t e r a l deflection due to s h e a r d e f o r m a t i o n
YS

xvi
 .

Z a n e l e c t r i c a l impedance

Z a m e c h a n i c a l impedance
rr'
Z equivalent m e c h a n i c a l impedance
m O
i m p e d a n c e t r a n s f e r r e d a c r o s s the windings of a t r a n s f o r m e r

Z e l e c t r i c a l i m p e d a n c e of a c a p a c i t o r
C

e l e c t r i c a l i m p e d a n c e of a n inductor
zl
equivalent i m p e d a n c e of a n e l e c t r i c a l network; o r ,
zO
feedback i m p e d a n c e of a n o p e r a t i o n a l a m p l i f i e r

Z e l e c t r i c a l i m p e d a n c e of a r e s i s t o r
r
z s p a t i a l d i m e n s i o n i n the z d i r e c t i o n

AE( ) s y m b o l denoting the voltage d r o p a c r o s s t h e quantity within

the parentheses

. A f !-
+3db) f r e q u e n c v i n t e r v a l denoting the h a l f power bandwidth

AX d i f f e r e n c e length m e a s u r e d i n the x d i r e c t i o n '

5 damping r a t i o

e p h a s e a n g l e of an equivalent impedance; o r ,
angular displacement f r o m static equilibrium
I - ..e angular acceleration

@ m a g n e t i c f l u x of a t r a n s f o r m e r ; o r ,
the phase angle for a viscoelastic spring

0 a n g u l a r excitation f r e q u e n c y in r a d i a n s p e r s e c o n d

w undamped n a t u r a l f r e q u e n c y in r a d i a n s p e r s e c o n d
n
s2 s y m b o l denoting o h m s
Ge c / o

xvii
A()
i
f i n i t e - d i f f e r e n c e s y m b o l denoting the d i f f e r e n c e of ( ) with
r e s p e c t to the i t h c o o r d i n a t e

D dell operator

(**I s e c o n d t i m e d e r i v a t i v e of the quantity within the p a r e n t h e s e s

xviii
 .
.

ELECTRICAL ANALOGIES AND THE VIBRATION O F LINEAR

MECHANICAL SYSTEMS

INTRODUCTION

The u s e of e l e c t r i c a i a n a i o g i e s to solve probleiris c e m ~ c n

te strl-lc-
t u r e s and s t r u c t u r a l dynamics is not a new concept. Two of t h e e a r l i e s t
p a p e r s dealing with t h e s e topics w e r e w r i t t e n i n 1933 and 1934 by F i r e s t o n e
( R e f e r e n c e 7 ) and Bush ( R e f e r e n c e 5 ) r e s p e c t i v e l y . By a c o n c i s e and
r a t h e r c o m p l e t e r e v i e w of t h e l i t e r a t u r e , Higgins ( R e f e r e n c e 10) p r o v i d e s
a h i s t o r i c a l p e r s p e c t i v e of e l e c t r o a n a l o g i c methods. R e c e n t a u t h o r s of
m e c h a n i c a l v i b r a t i o n t e x t s a s F r e b e r g (Chapter 10 of R e f e r e n c e 8) a n d
Thomson ( C h a p t e r 8 of R e f e r e n c e 18) mention e l e c t r i c a l a n a l o g i e s although
such discussions a r e introductory in nature. More complete presentations
of s t r u c t u r a l a n a l o g i e s a r e given by B a r n o s k i ( R e f e r e n c e 1) a n d MacNeal
( R e f e r e n c e 13).
Although e l e c t r i c a l a n a l o g i e s a r e d i s c u s s e d h e r e i n a g e n e r a l way,
p r i m e e m p h a s i s is given t o p a s s i v e a n a l o g s of e l a s t i c s t r u c t u r a l s y s t e m s .
As c o n t r a s t e d with a c t i v e e l e c t r i c a l analogs c o n s i s t i n g of o p e r a t i o n a l a m p l i -
f i e r c i r c u i t s , the p a s s i v e analog is a c i r c u i t c o n s i s t i n g of s o m e combination
of r e s i s t o r s , i n d u c t o r s , c a p a c i t o r s , and t r a n s f o r m e r s . A d i r e c t o r one-to-
one c o r r e s p o n d e n c e e x i s t s between t h e components i n t h e e l e c t r i c a l n e t w o r k
and the e l e m e n t s of the m e c h a n i c a l s y s t e m . T h e e x a c t r e l a t i o n s h i p s , how-
e v e r , depend c o m p l e t e l y on t h e definition of the analogy.
F o r dynamic s i m u l a t i o n of m e c h a n i c a l s t r u c t u r e s , two t y p e s of
p a s s i v e c i r c u i t s a r e defined: 1 ) f o r c e - c u r r e n t , velocity-voltage analog,
and 2 ) f o r c e - v o l t a g e , v e l o c i t y - c u r r e n t analog. Using t h e c l a s s i c definition
of a n e l e c t r i c a l i m p e d a n c e , the f i r s t analogy e q u a t e s e l e c t r i c a l i m p e d a n c e
with m e c h a n i c a l mobility w h e r e a s t h e second analogy e q u a t e s e l e c t r i c a l
i m p e d a n c e with m e c h a n i c a l i m p e d a n c e .

1
Thus, the f o r c e - c u r r e n t , velocity-voltage analog m a y b e a p p r o p r i a t e l y
called a mobility c i r c u i t o r mobility analog and the f o r c e - v o l t a g e , velocity-
c u r r e n t analog b e c o m e s t h e m e c h a n i c a l i m p e d a n c e c i r c u i t o r m e c h a n i c a l
impedance analog. T h e s e two t y p e s of c i r c u i t s a r e d u a l s of one a n o t h e r
and a p p e a r topologically d i s t i n c t . In e i t h e r c a s e , the s a m e b a s i c c i r c u i t
a n a l y s e s and v i b r a t i o n techniques c a n be applied t o efficiently a n a l y z e the
e l e c t r i c a l a n a l o g s f o r both d a m p e d and undamped m e c h a n i c a l s y s t e m s .
In t h i s d i s c u s s i o n , the f o r c e - c u r r e n t , velocity-voltage p a s s i v e analog
or mobility c i r c u i t i s e m p h a s i z e d . F o r t h i s type of c i r c u i t , r e s i s t o r s c o r -
respond to v i s c o u s damping, the i n d u c t o r s t o flexibility, the c a p a c i t o r s to
m a s s , and t r a n s f o r m e r s d e s c r i b e g e o m e t r i c r e l a t i o n s h i p s . F o r distributed
s t r u c t u r e s , t h i s analog c o r r e s p o n d s m e c h a n i c a l l y to a l u m p e d p a r a m e t e r
model a n d c o r r e s p o n d s m a t h e m a t i c a l l y to a f i n i t e - d i f f e r e n c e model. The
analog i m p e d a n c e s a r e equivalent t o m e c h a n i c a l m o b i l i t i e s and the analog
a d m i t t a n c e s (the r e c i p r o c a l s of the i m p e d a n c e s ) a r e equivalent t o m e c h a n i -
cal i m p e d a n c e s .
T h i s r e p o r t i s subdivided i n t o f i v e s e c t i o n s . The f i r s t s e c t i o n u s e s
the s i n g l e - d e g r e e - o f - f r e e d o m s y s t e m a s a m e a n s t o d i s c u s s and i l l u s t r a t e
mobility, m e c h a n i c a l i m p e d a n c e , and o p e r a t i o n a l a m p l i f i e r c i r c u i t s . In
addition, f r e q u e n c y r e s p o n s e functions, t r a n s f o r m e r s and c u r r e n t g e n e r -
a t o r s a r e reviewed and p l a c e d i n context of the e l e c t r i c a l analog. The s e c -
ond s e c t i o n c i t e s the u s e of mobility, m e c h a n i c a l i m p e d a n c e , t r a n s f o r m e r ,
and a m p l i f i e r c i r c u i t s t o s i m u l a t e a s y s t e m d e s c r i b e d a s s e t s of a l g e b r a i c
equations. I n addition, mobility c i r c u i t s a r e e m p h a s i z e d f o r two and t h r e e -
d e g r e e - o f - f r e e d o m s y s t e m s and a n analog e q u i v a l e n c e of m o d a l t h e o r y i s
shown.
Section t h r e e t r e a t s p a s s i v e m o b i l i t y analogs of d i s t r i b u t e d s t r u c t u r a l
systems. D e r i v a t i o n techniques a r e e m p h a s i z e d although b r i e f d i s c u s s i o n s
of s c a l e f a c t o r s a n d b o u n d a r y conditions a r e included. Difference analogs

2
a r e s h o w n f o r t h e longitudinal v i b r a t i o n of a r o d ; the lateral v i b r a t i o n of
s i m p l e , T i m o s h e n k o a n d c u r v e d b e a m s ; a b e a m on a n elastic foundation;
a r e c t a n g u l a r s h e a r panel; and the lateral vibration of a r e c t a n g u l a r plate.
Section f o u r d i s c u s s e s mobility o r i e n t e d c i r c u i t s which a r e u s e f u l for p r o b -
l e m s t y p i c a l l y found i n v i s c o e l a s t i c i t y , heat t r a n s f e r a n d fluid flow.
Section f i v e p r e s e n t s suriiiiiaiy r e m a r k s oii p t c n t i a 1 z p p l i c a t i n n s of, as
w e l l a s the d i s t i n c t i o n between, the a n a l o g c i r c u i t s f o r s t r u c t u r a l v i b r a -
tions a n d the p h y s i c a l s y s t e m s t y p i c a l of s e c t i o n four.

3
 1. THE LINEAR OSCILLATOR

1. 1 MOBILITY ANALOG
(FORCE-CURRENT, VELOCITY -VOLTAGE ANALOG)

The d e r i v a t i o n of p a s s i v e a n a l o g c i r c u i t s s i m u l a t i n g l i n e a r m e c h a n i -
c a l oscillators is d i s c u s s e d i n m a n y i n t r o d u c t o r y t e x t s on m e c h a n i c a l v i b r a -
tions s u c h a s i n C h a p t e r s 9 a n d 10 of R e f e r e n c e 8 o r C h a p t e r 8 of R e f e r e n c e
18. However, t h i s e f f o r t i s r e p e a t e d h e r e f o r c o m p l e t e n e s s of t h i s d i s c u s s i o n .
The equation of motion f o r a m a s s - e x c i t e d l i n e a r o s c i l l a t o r is

my + c $ + ky = f(t)

w h e r e m is the mass of the s y s t e m , c t h e damping c o n s t a n t of the d a s h p o t ,

k t h e s p r i n g c o n s t a n t , f ( t ) the e x t e r n a l loading a p p l i e d t o the m a s s , y the
d i s p l a c e m e n t of the mass f r o m s t a t i c e q u i l i b r i u m , t h e velocity of the m a s s ,
and t h e a c c e l e r a t i o n of the mass. E x p r e s s e d a s a function of v e l o c i t y , the
o s c i l l a t o r equation of motion b e c o m e s

m 4
dt
t c; t k

F r o m basic circuit theory, the c u r r e n t s through a capacitor, inductor,

a n d r e s i s t o r s a r e shown a s F i g u r e 1. 1.

4
 Capacitor T KiC i
de
= C - C

iT C dt

i
Q

Inductor e iQ = 'Ie1
L dt

e
Resistor e i --r
r R

i
P o s i t i v e c u r r e n t s a r e shown t o flow i n t o the node and f r o m t h e h i g h e r poten-
t i a l t o the l o w e r potential w h e r e t h e a r r o w s y m b o l i s m denotes a p o s i t i v e
voltage d r o p a c r o s s t h e c i r c u i t e l e m e n t s . The c u r r e n t s through the com-
ponents a r e r e p r e s e n t e d by i and t h e voltage d r o p s a c r o s s the components
by e w h e r e the s u b s c r i p t c r e f e r s to a capacitor, I t o a n i n d u c t o r , and r
to a resistor. The c a p a c i t o r C h a s units of f a r a d s (fd), t h e i n d u c t o r L i n
h e n r i e s ( h ) , and the r e s i s t o r R i n ohms (S2). T h e p h y s i c s of c u r r e n t flow
a s s o c i a t e d with a c a p a c i t o r , i n d u c t o r and r e s i s t o r is defined b y equations
noted a s functions of t i m e .

5
 An i m p e d a n c e i s a quantity defined a s the r a t i o of t h e L a p l a c e t r a n s -
f o r m s of the voltage to t h e c u r r e n t . It is a function of f r e q u e n c y and a p p e a r s

mathematically as a real, imaginary, o r complex number. F o r the c o m -

ponents i n F i g u r e 1. 1 , t h e c a p a c i t i v e i m p e d a n c e Z , inductive i m p e d a n c e
C
Z l , and resistive impedance Z appear as
r

where L ( ) denotes the L a p l a c e t r a n s f o r m of t h e quantity ( ) . T h e voltage e

h a s units of volts and the c u r r e n t i h a s units of a m p s .
Ignoring i n i t i a l conditions, t h e f i r s t t i m e d e r i v a t i v e and i n t e g r a t i o n
with r e s p e c t to t i m e a r e r e p r e s e n t e d b y L a p l a c e notation a s

s = -
d
dt

T h e capacitive, inductive, a n d r e s i s t i v e i m p e d a n c e s given i n Eq. (1. 3 )

become

6
 1
z =-
c cs

2 = SL
P

Z = R
r

w h e r e the o p e r a t o r s e q u a l s i w f o r h a r m o n i c s t e a d y s t a t e a s s u m p t i o n s .
By a s s u m i n g velocity p r o p o r t i o n a l t o voltage and f o r c e p r o p o r t i o n a l
t o c u r r e n t and noting the f o r m of the c u r r e n t e x p r e s s i o n s i n F i g u r e 1.1, t h e
t e r m s of E q . (1. 2 ) a r e e x p r e s s e d in c i r c u i t n o m e n c l a t u r e as

de
C -
dt
t Re t
L
I e d t = I(t)

w h e r e e i s a n a r b i t r a r y nodal voltage r e f e r e n c e d t o ground and I(t) corre-

sponds to t h e e x t e r n a l f o r c e f ( t ) . Comparing t h e t e r m s of t h e above equa-

tion with (1. 2 ) , c a p a c i t a n c e c o r r e s p o n d s t o m a s s , inductance t o flexibility
( t h e r e c i p r o c a l of t h e s t i f f n e s s ) , and the r e s i s t a n c e t o t h e r e c i p r o c a l of vis-
cous damping. In t e r m s of m e c h a n i c a l quantities, t h e analog i m p e d a n c e s a r e

1 1
z =-=-
c sm iwm

z = - s= - i w
P k k

E l e c t r i c a l l y , Eq. (1. 6) denotes a n a l g e b r a i c s u m of f o u r c u r r e n t s

acting at a node which c a n be e a s i l y s a t i s f i e d by applying Kirchhoff's c u r r e n t
law. This law s t a t e s t h e s u m m a t i o n of c u r r e n t s a c t i n g at a node e q u a l s z e r o .

7
Mechanically, K i r c h h o f f ' s c u r r e n t law is noted a s equivalent t o f o r c e equi-

librium. In f u n i c u l a r f o r m , Eq. (1. 7 ) is r e p r e s e n t e d a s F i g u r e 1. 2.

l
e

F i g u r e 1. 2 Funicular C u r r e n t Diagram for Mechanical Oscillator

F r o m the r e l a t i o n s h i p s p r o v i d e d i n F i g u r e 1. 1, t h e s e c u r r e n t s a r e s i m u l a t e d
b y a n R L C n e t w o r k w h e r e the r e s i s t o r R , i n d u c t o r L, a n d c a p a c i t o r C a r e
connected i n p a r a l l e l a s i l l u s t r a t e d i n F i g u r e 1. 3.

f(t)

M e c ha nica 1 Os c i lla t o r Analog C i r c u i t

F i g u r e 1. 3 Sketch of t h e M e c h a n i c a l O s c i l l a t o r a n d the Equivalent

Mobility Analog C i r c u i t

8
The topological similarity between t h e mechanical d i a g r a m and the analog
c i r c u i t is a c h a r a c t e r i s t i c typical of t h i s type of a n a l o g a n d r e a d i l y p r o m o t e s
a n i n t u i t i v e u n d e r s t a n d i n g of t h e e l e c t r i c a l c i r c u i t s . The applied load f ( t )
is r e p r e s e n t e d as a c u r r e n t g e n e r a t o r w h o s e c u r r e n t flow is d i r e c t e d into
the node. The fixed boundary conditions at the b a s e of t h e o s c i l l a t o r a r e
r e p r e s e n t e d as grounded terminals on b o t h the r e s i s t o r a n d i n d u c t o r . Tne
i n e r t i a l f o r c e of the mass is shown a s a c a p a c i t o r r e f e r e n c e d t o ground.
Since Newton's s e c o n d law of motion r e q u i r e s t h e i n e r t i a l f o r c e be r e f e r e n c e d
to a n a b s o l u t e o r i n e r t i a l frame of r e f e r e n c e , e l e c t r i c a l ground t h u s c o r r e -
sponds t o a n i n e r t i a l r e f e r e n c e frame.

1.2 MECHANICAL IMPEDANCE ANALOG

(FORCE-VOLTAGE, V E L O C I T Y - C U R R E N T ANALOG)

C o n s i d e r t h e development of the f o r c e - v o l t a g e , v e l o c i t y - c u r r e n t o r
the m e c h a n i c a l i m p e d a n c e analog of t h e m e c h a n i c a l o s c i l l a t o r . F o r the
c i r c u i t e l e m e n t s i n F i g u r e 1. 1, t h e voltage d r o p s a c r o s s the c a p a c i t o r ,
. -*--
iiizcLLzA
f--
act! r e s i s t n r a r e
~

e =L/i dt
c c c
di
P
e =L-
P dt

e = R i
r r

A s s u m i n g the c u r r e n t p r o p o r t i o n a l t o velocity and the voltage p r o p o r t i o n a l

t o f o r c e , t h e o s c i l l a t o r equation of motion a p p e a r s i n the f o r m

9
C o m p a r i n g the t e r m s of the above equation with the voltage e x p r e s s i o n s of
( 1 . 8 ) , m a s s is noted a s a n i n d u c t a n c e , the dashpot a s a r e s i s t o r , a n d t h e

fl-exibility a s a c a p a c i t o r .
E l e c t r i c a l l y , Eq. (1. 9 ) i s a n e x p r e s s i o n of Kirchhoff's voltage law;
that i s , t h e s u m of the potential d r o p s ( o r r i s e s ) a r o u n d a c l o s e d loop i s
zero. Applying Kirchhoff's voltage l a w to Eq. (1. 9 ) r e s u l t s in the c i r c u i t
shown a s F i g u r e 1. 4

F i g u r e 1. 4 M e c h a n i c a l I m p e d a n c e P a s s i v e Analog
Circuit for a Mechanical Oscillator

w h e r e t h e voltage d r o p s a c r o s s the c i r c u i t e l e m e n t s a r e equivalent to t h e

t e r m s i n (1. 9). The a p p l i e d loading is shown a s a voltage g e n e r a t o r r e f e r -
enced to ground. A s c o n t r a s t e d with the p a r a l l e l a r r a n g e m e n t of c i r c u i t
e l e m e n t s i n the mobility a n a l o g , t h e c i r c u i t e l e m e n t s a r e c o n n e c t e d i n
series.

1.3 IMPEDANCE P R O P E R T I E S , MOBILITY AND FREQUENCY

RESPONSE FUNCTIONS

In general, analog simulations using mechanical impedance (force-

voltage, v e l o c i t y - c u r r e n t a s s u m p t i o n s a r e a s s o c i a t e d with c o n c e p t s c o m m o n

10
t o loop c i r c u i t s w h e r e a s s i m u l a t i o n s using mobility ( f o r c e - c u r r e n t , v e l o c i t y -
voltage) a s s u m p t i o n s a r e a s s o c i a t e d with concepts c o m m o n to nodal c i r c u i t s .
In a p p e a r a n c e , mobility c i r c u i t s a r e d i s t i n c t f r o m m e c h a n i c a l i m p e d a n c e
c i r c u i t s but a r e r e l a t e d e l e c t r i c a l l y a s d u a l c i r c u i t s of one a n o t h e r . Irre-

s p e c t i v e of the p a r t i c u l a r analog c i r c u i t u s e d , the s a m e c i r c u i t a n a l y s i s

p r o c e d u r e s a r e applicabie. F o r interpreiirig the iiiechaiiica? e q u i v d e ! ~ tnf

the analog r e s u l t s , h o w e v e r , the analog m u s t be e x p l i c i t l y defined.

In t h i s text, the w o r d i m p e d a n c e i m p l i e s a n e l e c t r i c a l i m p e d a n c e of
an analog c i r c u i t defined a s the r a t i o of the L a p l a c e t r a n s f o r m s of t h e voltage
t o c u r r e n t both r e f e r e n c e d to the s a m e datum at t h e s a m e i n s t a n t of t i m e .
Any o t h e r u s a g e w i l l b e s p e c i f i c a l l y noted. If the c i r c u i t i s a f o r c e - c u r r e n t y
velocity-voltage analogy, the i m p e d a n c e is m e c h a n i c a l l y equivalent t o
mobility and the c i r c u i t is c a l l e d a mobility analog o r mobility c i r c u i t . If
the c i r c u i t is a f o r c e - v o l t a g e , v e l o c i t y - c u r r e n t analogy, t h e i m p e d a n c e is
m e c h a n i c a l l y equivalent to m e c h a n i c a l impedance a n d t h e c i r c u i t is c a l l e d a
m e c h a n i c a l i m p e d a n c e analog o r mechanical i m p e d a n c e c i r c u i t .
The r e l a t i o n s h i p s between the p r o p e r t i e s of a m e c h a n i c a l s y s t e m , the
mobility a n a l o g , and the m e c h a n i c a l impedance a n a l o g a r e s u m m a r i z e d i n
t a b u l a r f o r m a s F i g u r e 1. 5. F o r e x a m p l e , m e c h a n i c a l mobility ( o r s i m p l y
m o b i l i t y ) is equivalent to a n i m p e d a n c e i n a m o b i l i t y a n a l o g but equivalent t o
a n a d m i t t a n c e i n a m e c h a n i c a l i m p e d a n c e analog. T h u s , mobility a n d m e c h -
a n i c a l i m p e d a n c e c o n c e p t s a r e r e c i p r o c a l s of one a n o t h e r .
F o c u s i n g a t t e n t i o n on the m o b i l i t y analogy, m o b i l i t y r u l e s a r e a n a l o g o u s
with i m p e d a n c e l a w s a n d m e c h a n i c a l impedance r u l e s a r e a n a l o g o u s with a d -
m i t t a n c e l a w s . C i r c u i t t e c h n i q u e s f o r adding i m p e d a n c e s or a d m i t t a n c e s i n
series i n p a r a l l e l , o r i n s e r i e s - p a r a l l e l combination find d i r e c t application.
F o r i m p e d a n c e i n s e r i e s , t h e r e s u l t a n t i m p e d a n c e is t h e s u m of t h e individual
impedances. F o r i m p e d a n c e s i n p a r a l l e l , the r e s u l t a n t i m p e d a n c e is t h e
r e c i p r o c a l of t h e s u m of the individual a d m i t t a n c e s . For a series-parallel

11
 ~

Mobility
Mechanic a1 or

I;;;
System Force-current
Velocity-voltage
Analog
l..ll-. -.-.----..-.---- . .- _._. _--
-__.
Viscous m Capacitance Inductance L

Conductance Resistance R
C
Damping
1
-
Flexibility Inductance Capacitance C
k
Mobility
‘/11 Impedance Ad mi t t a n c e Y
Mechanical
Z Ad mi t t a n c e Impedance Z
Imp e d a n c e m

Figure 1. 5 B a s i c Relationships Between M e c h a n i c a l S y s t e m s a n d T h e i r

Equivalent Analog

combination of i m p e d a n c e s , t h e o r i g i n a l a n a l o g c i r c u i t u s u a l l y c a n b e
r e d u c e d s o t h a t the p r e c e d i n g two r u l e s c a n be a p p l i e d to c a l c u l a t e a r e s u l t -
a n t i m p edanc e.
C o n s i d e r i n g t h e mobility a n a l o g s t r i c t l y i n the s e n s e of a n e l e c t r i c a l
network, the o s c i l l a t o r c i r c u i t c a n b e r e d u c e d to a n equivalent i m p e d a n c e
Z to g r o u n d a s shown i n F i g u r e 1 . 6 .
0

f
1
Figure 1.6 Reduced E q u i v a l e n t C i r c u i t f o r t h e
M e c ha nica 1 Os c illa t o r

12
 The equivalent i m p e d a n c e Z is the r e s u l t a n t impedance of t h e r e s i s t o r ,
0
i n d u c t o r , and the c a p a c i t o r conn e c t e d i n p a r a l l e l . F r o m f u n d a m e n t a l
c i r c u i t t h e o r y , the r e s u l t a n t i m p e d a n c e f o r the RLC network of F i g u r e
1. 3 i s given as

- 1- - -
1
t-
1
+- 1 (1.10)
'0 'c 'r

where Z is the c a p a c i t i v e i m p e d a n c e , Z
the resistive impedance, and
C r
Z the inductive impedance. Substituting the i m p e d a n c e r e l a t i o n s h i p s given
P
b y (1. 5 ) into Eq. (1. 10) p r o d u c e s f o r h a r m o n i c motion

1
z =1 1
(1.11)
O -
R
t i(wc--)
W L

I n s e r t i n g t h e m e c h a n i c a l equivaients of the r e s i s i o r , iaprisixor, a i i. ~ 1

iiciu~x~
7 -&---

into the above p r o v i d e s

W
-1 i-
0-
z0 = c
-- 11

2
(1. 12)

w h e r e the undamped n a t u r a l f r e q u e n c y w and damping r a t i o c a r e r e l a t e d

n
t o t h e o s c i l l a t o r p a r a m e t e - r s as

=- and %an -
- -C
w (1. 13)
n m

13
 E l e c t r i c a l l y , the equivalent o r r e s u l t a n t i m p e d a n c e defined by

Eq. ( 1 . 10) m a y be c a t e g o r i c a l l y noted a s

Z = R t i X (1. 14)
0 0 0

where R i s the r e s i s t a n c e of the c i r c u i t i n o h m s and r e f l e c t s the

0
m e c h a n i c a l damping, while X i s the r e a c t a n c e of the c i r c u i t i n o h m s
0
and c o r r e s p o n d s t o the undamped d y n a m i c p r o p e r t i e s . In t e r m s of a m a g -
nitude and p h a s e angle, the equivalent i m p e d a n c e m a y b e e x p r e s s e d a s

( 1 . 15) .

where the a b s o l u t e magnitude i s

( 1 . 16)

and the a s s o c i a t e d p h a s e angle (defined a s the a n g l e by which the voltage

l e a d s the c u r r e n t ) a p p e a r s a s

X
-1 0
tan
€I= - (1. 1 7 )
RO

T h e r e c i p r o c a l of a n i m p e d a n c e i s a n a d m i t t a n c e and l i k e w i s e c o n s i s t s
of a r e a l and a n i m a g i n a r y p a r t w r i t t e n a s

Y = G t i B
0 0 0 (1. 18)

where G i s the r e a l component of t h e a d m i t t a n c e noted a s the conductance

0

14
a n d Bo is the i m a g i n a r y component of the a d m i t t a n c e noted a s the s u s c e p -
tance. The a d m i t t a n c e h a s units of m h o s . The r e l a t i o n s h i p s between the
i m p e d a n c e s a n d a d m i t t a n c e s of the mobility analog with the mechanical
impedance and mechanical admittance a r e

(1. 19)

where Z is the m e c h a n i c a l i m p e d a n c e and Y is the mechanical ad-

m O m O
m i t t a n c e . The m e c h a n i c a l a d m i t t a n c e i s the r a t i o of f o r c e to velocity and
is noted a s the r e c i p r o c a l of the mechanical impedance.
It is s o m e t i m e s m a t h e m a t i c a l l y convenient t o u s e a d m i t t a n c e s r a t h e r
than i m p e d a n c e s i n n e t w o r k a n a l y s i s . F o r example, a n a l t e r n a t e way t o c o m -
pute t h e equivalent i m p e d a n c e Z for the o s c i l l a t o r is to add the a d m i t t a n c e s
0
of the inductor, c a p a c i t o r , and r e s i s t o r , then take the r e c i p r o c a l of the r e -
sultant s u m . F r o m Eq. (1. l l ) , t h e equivalent admittance Y,.. of the o s c i l l a t o r
Y

is

(1.20)

and, upon substituting the m e c h a n i c a l equivalents of the r e s i s t o r , c a p a c i t o r ,

and i n d u c t o r , t h e a d m i t t a n c e Y becomes
0

k
Y = c t j(mo - -) (1.21)
0 w

P l o t t e d on log-log p a p e r as c u r v e s of magnitude v e r s u s the excitation

f r e q u e n c y , the mobility a n d m e c h a n i c a l impedance magnitudes f o r l i n e a r
o s c i l l a t o r a p p e a r as F i g u r e s 1. 7 a n d , l . 8. A l s o shown a r e the individual

15
\
1
/
W

\ lZcl =wm /
qzll = k
\

w
n

Excitation Frequency w

Figure 1 . 7 P l o t s of t h e Magnitudes of ( I m p e d a n c e )
Mobility F u n c t i o n s

16
 /
/-

W
n

Excitation Frequency w

Figure 1 . 8 P l o t s of t h e Magnitudes of (Admittance)

Mechanical Impedance F u n c t i o n s

17
m e c h a n i c a l i m p e d a n c e s f o r the o s c i l l a t o r m a s s , flexibility, and damping.
Since the mobility analog is u s e d , mobility is e q u i v a l e n t t o a n i m p e d a n c e
i n the analog c i r c u i t w h e r e a s m e c h a n i c a l i m p e d a n c e i s e q u i v a l e n t t o a n a d -
mittance in the analog c i r c u i t . A S e x p r e s s e d b y Eq. (1. 1 9 ) t h e c u r v e s i n

F i g u r e s 1 . 7 a n d 1 , 8 a r e noted a s r e c i p r o c a l s of one a n o t h e r .
The plots f o r the individual components a p p e a r a s l i n e s with c o n s t a n t
slopes. The c a p a c i t i v e i m p e d a n c e plot c o r r e s p o n d s t o a c o n s t a n t mass l i n e
w h e r e a s the inductive i m p e d a n c e plot c o r r e s p o n d s t o a c o n s t a n t s t i f f n e s s
line. The i n t e r s e c t i o n of t h e c a p a c i t i v e and inductive i m p e d a n c e l i n e s y i e l d s
t h e undamped n a t u r a l f r e q u e n c y w
of the o s c i l l a t o r . T h e r e s p o n s e
n lz0l
i s noted predominantly a s a s p r i n g a t f r e q u e n c i e s s o m e w h a t below w and
n
a s a m a s s a t frequencies >> w , The r e s i s t i v e i m p e d a n c e i s independent
n
1
of the f r e q u e n c y with a magnitude - e q u a l t o the m a x i m u m value of Z
C 0'
Mechanically-, this m a x i m u m Z value i s i n t e r p r e t e d as the m a x i m u m
0
x-elocit\- r e s p o n s e of an o s c i l l a t o r e x c i t e d at t h e m a s s b y a s i n u s o i d a l f o r c e ,
and o c c u r s when the excitation f r e q u e n c y equals the undamped n a t u r a l
frequency.
For a l i n e a r s y s t e m , the r a t i o of the s t e a d y s t a t e output r e s p o n s e to
a s i m p l e h a r m o n i c input excitation i s a f r e q u e n c y r e s p o n s e function. This
is c o n s i s t e n t with t h e definition of a n e l e c t r i c a l i m p e d a n c e w h e r e s = i w f o r
steady s t a t e a s s u m p t i o n s . Thus, f o r a n y a r b i t r a r y l i n e a r s y s t e m , m a n y
s u c h functions e x i s t a n d depend only upon the units of both t h e output r e -
sponse and input excitation. F o r t h e mobility analog, t h e i m p e d a n c e i s one
s u c h quantity a n d a p p e a r s a s a c o m p l e x valued function of f r e q u e n c y i n t h e
f o r m given by Eq. (1. 15). The a b s o l u t e magnitude H (w)
I o I is commonly

called t h e gain f a c t o r and t h e a s s o c i a t e d p h a s e a n g l e 8 i s t h e p h a s e f a c t o r .

E x p r e s s e d i n t e r m s of the o s c i l l a t o r p a r a m e t e r s , t h e m a g n i t u d e and p h a s e
angle of the velocity to f o r c e f r e q u e n c y r e s p o n s e function Z a r e shown a s
0
E q s . (1. 2 2 ) a n d (1. 23).

18
 1
3 1 3c.

0 ’
0

1
3 1 3c

I
3 1 3c.

19
 -
w
0
n
(1.22)

-1
0 = tan (1. 23)
2 5 2
0
n

The1 Z o l plot in F i g u r e 1. 7 is a log-log plot of E q . (1. 22) w h e r e a s the

plot in F i g u r e 1. 8 i s a log-log plot of the r e c i p r o c a l of Eq. (1. 22).
Iyo I
F o r s t e a d y s t a t e conditions, dividing Z by t h e L a p l a c e o p e r a t o r
0
(s = iw) yields the d i s p l a c e m e n t to f o r c e f r e q u e n c y r e s p o n s e f u n c t i o n a n d
multiplying Z by s yields the a c c e l e r a t i o n to f o r c e f r e q u e n c y r e s p o n s e
0
function. The magnitudes of t h e s e r e s p o n s e functions i n a d d i t i o n t o the
magnitude of the velocity to f o r c e f r e q u e n c y r e s p o n s e function I H O ( w ) I are
sketched a s F i g u r e 1. 9. T h e top r o w of c u r v e s d i s p l a y the m a g n i t u d e s of the
r e s p o n s e functions v e r s u s the f r e q u e n c y r a t i o o / w a n d the l o w e r r o w of
n
c u r v e s show the p h a s e a n g l e v a r i a t i o n with the f r e q u e n c y r a t i o o/o At the
n
undamped n a t u r a l f r e q u e n c y ( O / O = l ) , the p h a s e a n g l e s a r e noted a s 90

and is a maximum f o r 141.

n
d e g r e e s and the magnitudes a r e a p p r o x i m a t e l y maxima f o r 1;1 and I:"I.
A m o r e c o m p l e t e d i s c u s s i o n of f r e q u e n c y r e -
sponse function i s given by P i e r s o l i n Section 7 of R e f e r e n c e 15.
The s h a r p n e s s of the f r e q u e n c y r e s p o n s e c u r v e s a t the n a t u r a l f r e q u e n c y
of the s y s t e m i s u s u a l l y d e s c r i b e d by t h e Q of the s y s t e m defined as

f
n
Q = (1. 24)
Af (+
- 3db)

20
 where f is the undamped n a t u r a l f r e q u e n c y of the o s c i l l a t o r o r t h e c e n t e r
n
f r e q u e n c y ( a p p r o x i m a t e l y ) of the r e s p o n s e function and A f (-
t 3 db) is the half-
power bandwidth. T h i s bandwidth is the frequency i n t e r v a l 3 db down f r o m
t h e r e s p o n s e magnitude at the c e n t e r frequency f
n
.
The 3 db points c o r r e -
spond t o a m p l i t u d e v a l u e s which a r e 0 . 7 0 7 t i m e s t h e magnitude at t h e c e n t e r
frequency.

1.4 TORSIONAL SYSTEM

This s y s t e m may be c o n s i d e r e d a s a t o r s i o n a l o s c i l l a t o r a n d c o n s i s t s
of a d i s k a t t a c h e d t o a r i g i d l y mounted shaft a s shown i n F i g u r e 1. 10.

/, ” ’’’ -1’
i f
i
A-
\

iy
I-

F i g u r e 1. 10 D i s k - s h a f t Mechanical S y s t e m

I The equation of motion f o r t h i s s y s t e m is

2
J - 2e + k te = o
d (1. 25)
dt

w h e r e J is the mass m o m e n t of i n e r t i a about t h e axis of r o t a t i o n , k the

t
t o r s i o n a l s t i f f n e s s ( s p r i n g c o n s t a n t ) of the s h a f t , 8 the a n g u l a r d i s p l a c e m e n t

21
of the d i s k f r o m s t a t i c e q u i l i b r i u m , a n d t the t i m e . Note t h a t the f o r m of
t h i s equation is i d e n t i c a l to a n undamped l i n e a r o s c i l l a t o r . Consequently,
the analog c i r c u i t f o r the t o r s i o n a l o s c i l l a t o r a p p e a r s i d e n t i c a l t o the a n a l o g
c i r c u i t f o r a n undamped l i n e a r o s c i l l a t o r a s s k e t c h e d i n F i g u r e 1. 11.

T
J

4 - 1 4 - -- e
e
‘e
F i g u r e 1. 11 P a s s i v e Analog C i r c u i t f o r the
Disk- shaft Mechanical S y s t e m

T h i s s i m p l e L C c i r c u i t is the mobility ( f o r c e - c u r r e n t , v e l o c i t y - v o l t a g e )
analog f o r t h e t o r s i o n a l o s c i l l a t o r . The i n d u c t o r L c o r r e s p o n d s to t h e
e
t o r s i o n a l flexibility l / k the c a p a c i t o r C to the p o l a r mass m o m e n t of
t’ e
i n e r t i a of the d i s k J , the voltage e to the a n g u l a r v e l o c i t y , the c u r r e n t
e
through the c a p a c i t o r a s the i n e r t i a l f o r c e , a n d the c u r r e n t t h r o u g h the
inductor a s the s h a f t t o r q u e . In t e r m s of i m p e d a n c e s , the t o r s i o n a l c i r c u i t
elements a r e related a s

(1. 2 6 )

22
Damping, i f included, is noted as a r e s i s t o r i n p a r a l l e l with the inductor

of magnitude

1
Z ( Q = R =-
r e ct

where c is the v i s c o u s damping coefficient f o r t o r s i o n a l v i b r a t i o n .

t

1.5 TRANSFORMERS AND L E V E R E D SYSTEMS

T y p i c a l p r o b l e m s i n m e c h a n i c a l vibrations often include s y s t e m s

with r i g i d , w e i g h t l e s s r o d s o r l e v e r s . T h e s e l e v e r s are r e p r e s e n t e d
e l e c t r i c a l l y by i d e a l t r a n s f o r m e r s .
Symbolic ally, a n i d e a l multi-winding t r a n s f o r m e r m a y b e s k e t c h e d
as shown i n F i g u r e 1 . 1 2 .

P i c t o r ial
Sketch

'IE3
Circuit
Schematic i-

N1

F i g u r e 1. 12 I d e a l Three-winding T r a n s f o r m e r

23
 The p i c t o r i a l s k e t c h d e p i c t s t h e t r a n s f o r m e r a s d i s c r e t e windings
about a f e r r o m a g n e t i c c o r e w h e r e + is t h e m a g n e t i c flux i n t h e c o r e . The
d i r e c t i o n of the windings a b o u t the c o r e d i c t a t e s the p o l a r i t y of the t r a n s -
f o r m e r a n d the a s s u m e d positive d i r e c t i o n s of c u r r e n t flow a n d voltage
d r o p a c r o s s the individual windings a r e shown. The t r a n s f o r m e r i d e a l l y
is a n o n - d i s s i p a t i v e m a g n e t i c c i r c u i t w h e r e the v o l t a g e s , c u r r e n t s , a n d
n u m b e r of t u r n s i n the windings a r e r e l a t e d a s

n
1 N . I. = 0 (1. 2 7 )
j=l J J

E. E.+1
1=- j = 1, 2 , 3 ... n ( 1 . 28)
N J. Nj+l

Eq. (1. 27) i s the law of Biot and S a v a r t and i n t e r r e l a t e s the n u m b e r of

t u r n s a n d c u r r e n t i n e a c h individual winding. Eq. ( 1 . 2 8 ) i s F a r r a d a y ' s
law of e l e c t r o - m a g n e t i c induction a n d i n t e r r e l a t e s the voltage and n u m b e r
of t u r n s i n e a c h individual winding. Since a n i d e a l t r a n s f o r m e r c o n s u m e s
no power, t h e p r o d u c t of t h e v o l t a g e s and c u r r e n t s f o r all windings i s

n n
P . = C E.I.=O (1. 2 9 )
j=1 J j=1 J J

Applying t h e c u r r e n t a n d voltage l a w s t o the three-winding t r a n s f o r m e r

yields

24
 I N t I N + I N = O (1. 30)
1 1 2 2 3 3

_--
- - - E2 - E 3 (1. 31)
N1 N2 N3

Substituting (1. 31) into (1. 3 0 ) p r o v i d e s

E 1 + E 1 t E I = O (1. 32)
1 1 2 2 3 3

For c e r t a i n a p p l i c a t i o n s , i t i s convenient t o c o n v e r t a conventional

tnro-xvinding t r a n s f o r m e r c i r c u i t into a n equivalent a u t o - t r a n s f o r m e r .
S c h e m a t i c a l l y , two such c i r c u i t s a r e shown a s F i g u r e 1. 13.

Conventional Two -winding Equivalent

T r a n sf or m e r Auto-transforme r

F i g u r e 1. 13 Conventional Two-winding T r a n s f o r m e r and the

Equivalent A u t o - t r a n s f o r m e r

25
Applied t o the conventional two-winding t r a n s f o r m e r , the c u r r e n t a n d
voltage l a w s produce

I N + I N = O
1 1 2 2

(1. 3 3 )
E2

F o r the a u t o - t r a n s f o r m e r , the c u r r e n t and voltage l a w s yield

--
N; - N l
J, .
I
, P" VI.

( 1 . 34)
o.r .L

I N-'' t (I t I ) N"'= 0
1 1 1 2 2

From t h e s e e q u a t i o n s , the r e l a t i o n s h i p s between the t u r n s f o r the two-

winding a n d a u t o - t r a n s f o r m e r s a r e

(1. 3 5 )

It i s common i n t r a n s f o r m e r u s a g e to t r a n s f e r a s e r i e s i m p e d a n c e
a c r o s s the t r a n s f o r m e r windings. S c h e m a t i c a l l y , t h i s i s depicted by
Figure 1. 14.

26
 Original Circuit Equivalent C i r c u i t with the
T r a n s f e r r e d Impedance
F i g u r e 1. 1 4 I m p e d a n c e T r a n s f e r A c r o s s a T r a n s f o r m e r

Using the t r a n s f o r m e r voltage l a w s , the voltages a c r o s s e a c h of the im-

pedances are

I
A E ( Z 1 ) = El +-
N2 E 2

f1. 3 6 )

.I- N2
+-
A E (Z.'') = E
1 2
N1

w h e r e A E ( ) denotes t h e voltage difference a c r o s s t h e t e r m i n a l s of t h e

e l e m e n t s p e c i f i e d within the p a r e n t h e s e s . Requiring t h e power d i s s i p a t i o n
to b e the s a m e i n e a c h c i r c u i t p r o v i d e s

(1.37)
1
1

Substituting the voltage d i f f e r e n c e equations of (1. 3 6 ) i n t o the above yields

27
 ( 1 . 38)

4-
1
.

Thus, the t r a n s f e r r e d i m p e d a n c e Z is r e l a t e d t o the o r i g i n a l i m p e d a n c e

1
Z by the s q u a r e of the t u r n s r a t i o .
1
C o n s i d e r the s p r i n g - m a s s - l e v e r m e c h a n i c a l s y s t e m depicted a s
F i g u r e 1. 15.

fk

F i g u r e 1 . 1 5 S p r i n g - m a s s - l e v e r Single D e g r e e - o f - f r e e d o m S y s t e m

The r o d ( l e v e r ) i s a s s u m e d rigid, w e i g h t l e s s , and of length 1 . The s y s t e m

i s hinged a t one end, f r e e a t the o t h e r end with a n a t t a c h e d m a s s m, and
h a s a r e s t o r i n g t o r q u e due t o the e l a s t i c s p r i n g k l o c a t e d a t position a .
A s s u m i n g small d i s p l a c e m e n t s , the l a t e r a l deflections of the mass
and spring constant y a r e related as
ym k

- - - -- k'
yrn
-e (1. 39)
I a

where 8 denotes the a n g u l a r r o t a t i o n of the rod. Summing t o r q u e s about the

hinged s u p p o r t yields the equation of motion as

28
 0. a 2
metk(-) e=o (1. 40)
I

o r in reduced f o r m

m'e't k e= 0 (1. 41)

0

a 2
where k is the equivalent s p r i n g constant equal t o k (-) .
0 P
The mobility c i r c u i t o r f o r c e - c u r r e n t , velocity-voltage analog f o r the
s p r i n g - m a s s - l e v e r s y s t e m is shown as Figure 1. 16.

.
4 -+ ...
N
...
1
+ 1 L-+*- *+

ii2 fi
F i g u r e 1. 16 P a s s i v e Analog for t h e S p r i n g - m a s s - l e v e r
S y s t e m of F i g u r e 1. 15

* *
The r i g i d rod is shown as a n a u t o - t r a n s f o r m e r with N* = a and N' + N* = I ,
1 1 2
t h e s p r i n g a s the inductor L, and t h e m a s s a s t h e c a p a c i t o r C . The i n d u c t o r
is r e p r e s e n t e d s y m b o l i c a l l y a s a r e s i s t o r to e l i m i n a t e confusion between
t r a n s f o r m e r windings and i n d u c t o r s . Although t h i s d e p a r t u r e f r o m conven-
tional s y m b o l i s m p r o v i d e s no p a r t i c u l a r advantage f o r t h i s p r o b l e m , t h e

advantages b e c o m e a p p a r e n t when i n t e r p r e t i n g LC T r a n s f o r m e r c i r c u i t s
f o r m o r e complicated s t r u c t u r e s s u c h as a b e a m .

29
 The hinged end condition i s s i m u l a t e d by grounding the c i r c u i t a t the
.&

negative end of the N’”winding w h e r e a s the f r e e end is shown as a node with

1
a n attached c a p a c i t o r . The voltage a c r o s s t h e c a p a c i t o r d e n o t e s the a n g u l a r
velocity at the f r e e end of the rod a n d the voltage a c r o s s the i n d u c t o r d e -
notes the a n g u l a r velocity of the r o d a t position a . The relationship b e -
tween the velocity at the end of the rod and the velocity a t position a i s

-
ym- - -- ‘k -6 (1. 42)
I a

which is obtained by taking the f i r s t t i m e d e r i v a t i v e of ( 1 . 39). With voltage

p r o p o r t i o n a l t o velocity, the above e x p r e s s i o n i s i d e n t i c a l i n f o r m with the
voltage r e l a t i o n s h i p s f o r the a u t o - t r a n s f o r m e r given b y ( 1 . 34).
B y making u s e of the i m p e d a n c e t r a n s f e r p r o c e d u r e depicted i n F i g -
u r e 1. 14, the a u t o - t r a n s f o r m e r c a n b e e l i m i n a t e d yielding the L C analog
0
c i r c u i t of F i g u r e 1. 17.

F i g u r e 1. 17 Equivalent Mobility C i r c u i t f o r F i g u r e 1 . 16

F r o m t h e i m p e d a n c e t r a n s f e r e x p r e s s i o n given as Eq. (1. 3 8 ) , t h e i n d u c t o r s

i n the c i r c u i t s of F i g u r e 1. 16 and 1. 17 a r e r e l a t e d as

(1. 43)

30
 f

Since s t i f f n e s s is i n v e r s e l y p r o p o r t i o n a l t o inductance, Eq. (1. 43) y i e l d s

the r e l a t i o n s h i p between the equivalent s p r i n g c o n s t a n t k and t h e o r i g i n a l
0
s p r i n g c o n s t a n t k as

a 2
ko = (TI k (1.44)

This equivalent s p r i n g is noted t o be the s a m e as t h a t given by Eq. (1.40).

1.6 A C T I V E ELECTRICAL ANALOGIES

In c o n t r a s t to modeling a n e l a s t i c s t r u c t u r e using p a s s i v e components,

such 2 s y s t e m c a n be s i m u l a t e d using a differential a n a l y z e r . The a n a l y z e r
i s b a s i c a l l y a n a s s e m b l a g e of p a s s i v e components and a c t i v e e l e c t r i c a l e l e -
m e n t s s u c h a s m u l t i p l i e r s , function g e n e r a t o r s , and o p e r a t i o n a l a m p l i f i e r s
which a r e i n t e r c o n n e c t e d to r e p r o d u c e the equations t h a t d e s c r i b e t h e p h y s i -
cal system. T h e s e a c t i v e c i r c u i t s a r e s p e c i f i c a l l y intended to a n a l y z e s e t s

i" .... .... T.r a r i -

of ordinary- d i i i e r e n t i a i equatioris wi,ci-e si,rix cr71illj is tk:-2fc$~---J-n+ \ -__
able and find wide application i n c o n t r o l s y s t e m s t u d i e s and p r o b l e m s of
purely mathematical origin. O t h e r topic a r e a s g e n e r a l l y a s s o c i a t e d with
active c i r c u i t s a r e nonlinear d i f f e r e n t i a l equations, s i m u l t a n e o u s solutions

to s e t s of l i n e a r or n o n l i n e a r a l g e b r a i c equations and t r a n s c e n d e n t a l e q u a -
tions i n o n e v a r i a b l e . Although i t e r a t i v e methods a r e a v a i l a b l e to d e a l w i t h
c e r t a i n t y p e s of p a r t i a l d i f f e r e n t i a l equations, t h e s e a r e m o r e e a s i l y t r e a t e d
by p a s s i v e a n a l o g s .

The o p e r a t i o n a l a m p l i f i e r is e x t r e m e l y i m p o r t a n t t o a c t i v e c i r c u i t
simulation. Coupled with feedback c i r c u i t s , this d e v i c e is u s e d t y p i c a l l y t o
c r e a t e s u m m i n g a m p l i f i e r s , s u m m i n g i n t e g r a t o r s , and i n v e r t e r s . Basically,
a n a m p l i f i e r i s a n e l e c t r o n i c d e v i c e where t h e output-input voltage is r e l a t e d
by a negative constant f a c t o r as shown i n F i g u r e 1. 18.

31
 F i g u r e 1. 18 Basic Operational Amplifier

The coefficient A is the gain f a c t o r and h a s a magnitude typically ranging

4 8
from 10 to 1 0 . A typical f e e d b a c k c i r c u i t i s s k e t c h e d a s F i g u r e 1. 1 9

e
1

e
2

e
3

F i g u r e 1. 19 General Feedback Circuit

w h e r e the input i m p e d a n c e s a r e noted a s Z Z2’ and Z the input voltages

1’ 3;
b y e l ’ e2’ and e3; the a m p l i f i e r input voltage by e ; the f e e d b a c k i m p e d a n c e
g
b y Zo; a n d t h e output voltage of t h e a m p l i f i e r by e It i s d e s i r e d to c a l -
0’
culate the r e l a t i o n s h i p s b e t w e e n t h e output voltage and the input voltages
a s s u m i n g n o c u r r e n t flow through t h e a m p l i f i e r . This assumption c o r r e -
sponds to a n infinite i m p e d a n c e f o r the b a s i c a m p l i f i e r and g u a r a n t e e s c u r -
r e n t f l o w t h r o u g h the f e e d b a c k i m p e d a n c e . Summing c u r r e n t s a t e accord-
g
ing to Kirchhoff’s c u r r e n t law y i e l d s

e - e e - e e - e e - e
1 2
gt R t 3 F r , + O g O (1.45)
z1 z2 z3 zO

32
 e
Noting t h e a m p l i f i e r input voltage is approximately z e r o as e = -
g
--
A
0
- 0,
the above equation r e d u c e s t o

- e . = zO e- t-
zO zO
+,e
3
(1.46)
&3

If the s a m e type of components a r e used f o r t h e f e e d b a c k and input

i m p e d a n c e s , the i m p e d a n c e r a t i o s r e d u c e to c o n s t a n t s and F i g u r e 1. 19
appears as a s u m m e r circuit. This often is done using p r e c i s i o n r e s i s t o r s
a s t h e s e a r e usually m u c h l e s s e x p e n s i v e than e i t h e r p r e c i s i o n c a p a c i t o r s
o r inductors. If the feedback and input components are different, t h e im-
pedance r a t i o s contain t h e L a p l a c e o p e r a t o r s s o r l / s and F i g u r e 1. 19
b e c o m e s a s u m m e r c i r c u i t containing d i f f e r e n t i a t o r s a n d / o r i n t e g r a t o r s .
A s an e x a m p l e , c o n s i d e r t h e feedback c i r c u i t shown as F i g u r e 1. 20.

z
*-1
c, u
e
1 It
e
2
'i R3
e
0

F i g u r e 1. 20 Typical O p e r a t i o n a l A m p l i f i e r - f e e d b a c k C i r c u i t

Substituting t h e c a p a c i t i v e and r e s i s t i v e impedances of (1. 5) into Eq. (1.46)

yields

e e
-e 1
= - - +1- c2 1 3
e t-- (1.47)
0 RICO s cO 2 R3C0 s

33
 As a function of t i m e , t h i s equation m a y b e e x p r e s s e d a s

-e =-/. 1 d t t -c2 1
e 2 t -/ e 3 dt (1. 48)
1
O RICo cO R3 co

Thus, a s shown by E q . ( 1 . 48), t h i s f e e d b a c k c i r c u i t i s a combination s u m m e r -

i n t e g r a t o r w h e r e the p a s s i v e components f o r m c o n s t a n t coefficients.
By connecting o p e r a t i o n a l a m p l i f i e r and f e e d b a c k c i r c u i t s in t a n d e m ,
the i i n e a r o s c i l l a t o r is r e p r e s e n t e d by s i m u l a t i n g the velocity to f o r c e f r e -
quency r e s p o n s e function. C o n s i d e r t h e following network shown a s
F i g u r e 1. 21

I
I
e l
e' 3
e l 2
1

F i g u r e 1. 21 Active C i r c u i t f o r a L i n e a r i O s c i l l a t o r

where K K 2 , and K denote variable potentiometers. The input-output

1 ' 3
r e l a t i o n s h i p s for the o p e r a t i o n a l a m p l i f i e r s a r e

e ' = -A e
1 1 1

e t = -A e (1.49)
2 2 2

e ' = -A e
3 3 3

34
w h e r e the p r i m e s u p e r s c r i p t s denote output voltages. Applying Kirchhoff's
c i r c u i t law a t e a c h of the a m p l i f i e r input nodes p r o v i d e s

e -e' e - K 3 E e - K e'
1
at e *
1 .
3 +
R
t 1 1 1 + C1s (el - e ' ) = 0
1
( 1 . 50)
R3 4 R!

at e . e' = -A e = - A K e '
2 ' 2 2 2 2 2 1 (1. 51)

e - e'
3 2
at e . t C z s (e - e')= 0 (1. 52)
3 ' 3 3
R2

Substituting (1. 51) and (1. 52) into Eq. (1. 50) and r e a r r a n g i n g terms p r o d u c e s
the voltage r a t i o

e'
1 c-
- --
-K3
(1.53)
K a4 R .A,K,
L f L L
- K 1 t R C s t
R1 4 1 R3RZC2s

which can be e x p r e s s e d i n the f o r m

K3R1
-
e'
- 1- - K1R4
( 1 . 54)
E
l t
1 1
S F +
*ZK2 1
K1

The velocity t o f o r c e frequency r e s p o n s e function is given by t h e

i m p e d a n c e of ( 1 . 1 2 ) and c a n b e r e s t a t e d a s

35
 1I C - 1I C
z0 =
-3 [
- (1. 5 5 )
1 f
m
-
C s [ 1 t 1 f Q
W
n
1

where the undamped n a t u r a l f r e q u e n c y and Q of the o s c i l l a t o r a r e e x p r e s s e d

as

(1. 5 6 )
k
Q = -
cw
n

By comparing d i r e c t l y the t e r m s of Eq. (1. 54) and (1. 55), the r e l a t i o n s h i p s

between the quantities i n the o p e r a t i o n a l a m p l i f i e r c i r c u i t and the quantities
i n the o s c i l l a t o r f r e q u e n c y r e s p o n s e function a p p e a r a s

-1 -- -K3
- R1 - P e a k Gain
KlR4

-Q
- -- R I C l (1. 57)
w
n K1

2 *ZK2
w =
R2R3C1C2

R a t h e r than change the p a s s i v e components i n the a m p l i f i e r c i r c u i t s , it

b e c o m e s c l e a r f r o m (1. 57) t h a t t h e p o t e n t i o m e t e r s a r e u s e d t o conveniently
adjust the o s c i l l a t o r p a r a m e t e r s .

36
 1.7 CURRENT GENERATORS

In p a s s i v e e l e m e n t s i m u l a t i o n , t h e e l a s t i c s t r u c t u r e is r e p r e s e n t e d
e l e c t r i c a l l y by s o m e combination of r e s i s t o r s , i n d u c t o r s , c a p a c i t o r s , a n d /
o r transformers. E x t e r n a l loadings applied to the m e c h a n i c a l s y s t e m , how -
e v e r , a r e usually r e p r e s e n t e d by a c t i v e c i r c u i t s connected t o f o r m a c u r r e n t
generator.
A c u r r e n t o r f o r c e g e n e r a t o r is a device whose output c u r r e n t is inde-
pendent of i t s output voltage. One s u c h o p e r a t i o n a l - a m p l i f i e r c i r c u i t c a l l e d
a T)-pe-I1 c u r r e n t g e n e r a t o r ( s e e pg.190, R e f e r e n c e 13) is r e p r e s e n t e d
s c h e m a t i c a l l y a s F i g u r e 1. 2 2 .

e .-a+ 1
I
- I
___)

I
1 I IO
I
I 1
e? ,I

F i g u r e 1. 22 Amplifier Circuit Representing a C u r r e n t Generator

The input-output r e l a t i o n s h i p s for the a m p l i f i e r s a r e

-e’ = A e
1 1 1
(1. 58)
-e‘ = A e
2 2 2

and the gains of the a m p l i f i e r s (A and A ) a r e a s s u m e d m u c h g r e a t e r t h a n

1 2
one.

37
Applying Kirchhoff's c u r r e n t l a w to nodes e and e yields
1 2

e e Ke e'
3 4 0 1
1 1 ' s at e 0

1.-
-
z3 t-t-t-=o
Z
( 1 . 59)
z4 g z1

e e' e t IZo
5 e6 1 0
1's a t e ' -t- t - +
Z
= o (1. 6 0 )
2.- z5 '6 c z2

where

e' - e e
2 0 0
I= = I t- ( 1 . 61)
zO Rk

Solving the above equations f o r the output c u r r e n t Io p r o d u c e s

(1. 6 2 )
+-
zz
o z2c (
-Z- -I -K- ) e z o z c
Zg RkZ2
Z

z2
C
0

Setting Z = Z a n d a s s u m i n g t h e i m p e d a n c e s i n the a m p l i f i e r c i r c u i t a r e
2 c
r e s i s t o r s , the output c u r r e n t b e c o m e s

38
 I = - -1 R 1 e + R- 1e 4 ) - 4 q eR2
5 + q e R2
. )
O &3 R4

(1. 6 3 )

Setting the voltage gain of the potentiometer a c r o s s the output voltage e

0
equal to

) l . 64)

r e d u c e s the e coefficient i n the above equation to z e r o and p r o v i d e s t h e

0
output c u r r e n t a s

This e x p r e s s i o n is the output c u r r e n t of the c u r r e n t - g e n e r a t o r and is noted

a s independent of the output voltage e Although not shown explicitly i n the
0'
s c h e m a t i c of F i g u r e 1. 22, the cornmon t e r m i n a l s f o r both a m p l i f i e r s a r e
connected t o ground.

39
 2. MULTI-DEGR E E - O F - F R E E D O M SYSTEMS

In the p r e v i o u s section, a s i n g l e d e g r e e - o f - f r e e d o m s y s t e m w a s u s e d t o
introduce concepts c o m m o n t o ( 1 ) the mobility o r f o r c e - c u r r e n t , velocity-voltage
analog, ( 2 ) the m e c h a n i c a l i m p e d a n c e o r f o r c e - v o l t a g e , v e l o c i t y - c u r r e n t analog,
and (3) o p e r a t i o n a l a m p l i f i e r o r a c t i v e c i r c u i t s . In t h i s s e c t i o n , t h e s e c o n c e p t s
will be applied to s i m u l a t i n g s y s t e m s with two o r m o r e d e g r e e s - o f - f r e e d o m .

2.1 ALGEBRAIC SYSTEMS

Consider, as a n e x a m p l e , a m e c h a n i c a l s y s t e m fully d e s c r i b e d by the

a l g e b r a i c equations

6~
1
- x - 3~
2 3
= -1

-x t 4 x - x = 2
1 2 3
-3x
1
- x
2
t 5x =
3
3

In m a t r i x f o r m , t h e s e equations a p p e a r a s

w h e r e the unknowns a r e e x p r e s s e d a s the ( x ) column m a t r i x , the coefficients

of the equations a r e the e l e m e n t s of the s q u a r e m a t r i x , and the c o n s t a n t s on
the right-hand s i d e of the equations a r e given a l s o a s a column m a t r i x . The

coupling t e r m s of the equations a r e noted a s the off-diagonal e l e m e n t s of the

square matrix.

I n t e r p r e t i n g the unknowns a s nodal v o l t a g e s , K i r c h h o f f ' s c u r r e n t law

can be applied to yield the r e s i s t i v e network shown a s F i g u r e 2. 1.

40
 F i g u r e 2. 1 Nodal Analogy f o r the
Al g e b r a i c System'

The coupling t e r m s a r e noted as r e s i s t o r s interconnecting the a p p r o p r i a t e

nodes. F o r t h i s c i r c u i t , t h e coupling r e s i s t o r s f o r m a delta(A1circuit whose
m a g n i t u d e s a r e r e c i p r o c a l s of the off-diagonal m a t r i x e l e m e n t s . The r i g h t -
hand s i d e of Eq. ( 2 . 2 ) is f o r m e d with t h e u s e of t h e b a t t e r i e s as voltage
s o u r c e s and connected as shown. Note t h a t the m i n u s s i g n (-1) f o r t h e first
equation of ( 2 . 1 ) is c r e a t e d by grounding the positive t e r m i n a l of the half-
volt b a t t e r y . T h i s c a n be e a s i l y checked by applying K i r c h h o f f ' s c u r r e n t law
t o the x node.
1
I n t e r p r e t i n g the e l e m e n t s of the x column m a t r i x as c u r r e n t s , K i r c h h o f f ' s
voltape law c a n be applied to yield the r e s i s t i v e n e t w o r k of F i g u r e 2 . 2 .

I 41
 3 v
-
---
-
=
t

Figure 2. 2
-
Loop Analogy f o r the A l g e b r a i c S y s t e m
i

T h e coupling t e r m s a r e shown a s r e s i s t o r s common t o two c i r c u i t loops and

have magnitudes equal t o the off-diagonal e l e m e n t s i n the 3 by 3 matrix of
Eq. ( 2 . 2 ) . The coupling r e s i s t o r s f o r t h e s e e q u a t i o n s f o r m a wye n e t w o r k ;
and, a s b e f o r e , b a t t e r i e s a r e u s e d a s the voltage s o u r c e s to r e p r e s e n t the
righthand column m a t r i x of Eq. ( 2 . 2 ) .
To r e d u c e the network of F i g u r e 2. 1 into a t r a c t a b l e s e r i e s - p a r a l l e l
combination, the r e s i s t i v e d e l t a network m u s t be r e d u c e d t o a n equivalent
wye network. C o n v e r s e l y , t h e wye c i r c u i t in F i g u r e 2 . 2 m u s t be r e d u c e d to
a n equivalent d e l t a n e t w o r k b e f o r e the loop analogy c a n b e a n a l y z e d using
series-parallel impedance relationships. These delta-wye transformations
a r e found in m o s t s t a n d a r d t e x t s of c i r c u i t a n a l y s i s .
T o conveniently s i m u l a t e Eq. ( 2 . 1 ) using o p e r a t i o n a l a m p l i f i e r s , the
original equations a r e first r e s t a t e d a s

42
 1 1 i
x = --+
1 6
-x
6 2
+ -x
2 3

1 1 1
x = - + - x +-x
2 2 4 1 4 3

3 3 1
x = - + - x +-x
3 5 5 1 5 2

Using r e s i s t o r s f o r the feedback and input e l e m e n t s , a m p l i f i e r c i r c u i t s

simulating t h e equations of ( 2 . 3 ) a p p e a r as F i g u r e 2.3.

1R 1R

lR
1.67 S2

F i g u r e 2. 3 O p e r a t i o n a l A m p l i f i e r C i r c u i t s for the A l g e b r a i c S y s t e m

43
T h e t h r e e a m p l i f i e r s with the input and feedback r e s i s t o r s equal t o unity a r e

sign r e v e r s e r s and u s e d t o obtain p o s i t i v e v a l u e s of x 1 9 x2 9 a n d x3 ' The

coupling t e r m s a r e obtained by i n t e r c o n n e c t i n g a p p r o p r i a t e a m p l i f i e r output
voltages a s input v o l t a g e s t o o t h e r s u m m i n g a m p l i f i e r s . The c o n s t a n t s

( - 1 , 2, and 3) a r e c r e a t e d by u s i n g b a t t e r i e s t o f o r m b i a s e d voltage inputs

t o the s u m m e r s .
Defining the unknowns a s v o l t a g e s , the t r a n s f o r m e r voltage law p r o v i d e s
a multi-winding t r a n s f o r m e r analogy shown a s F i g u r e 2 . 4 .

1 -/+ 1

X
2

F i g u r e 2. 4 T r a n s f o r m e r - v o l t a g e Analogy f o r the A l g e b r a i c S y s t e m

44
T h i s analogy c o n s i s t s of t h r e e interconnected four-winding t r a n s f o r m e r s
w h o s e t u r n s r z t i o s a r e equal n u m e r i c a l l y t o the e l e m e n t s of t h e 3 b y 3 m a t r i x

a p p e a r i n g i n Eq. (2. 2). The s i g n changes a r e a c c o m p l i s h e d by r e v e r s i n g t h e

p o l a r i t y of t h e a p p r o p r i a t e t r a n s f o r m e r windings, and the right-hand c o l u m n
matrix of (2. 2) i s siAmu!ated by v ~ l t a0o-e0.-
-enerators.

Defining t h e unknowns a s c u r r e n t s , the t r a n s f o r m e r c u r r e n t law p r o -

duces a multi-m'inding t r a n s f o r m e r analogy shown as F i g u r e 2. 5.

01, X X

f1 i
1 3

F i g u r e 2. 5
I~
3
5

T r a n s f o r m e r - c u r r e n t Analogy f o r t h e A l g e b r a i c S y s t e m

T h i s c i r c u i t is a d u a l n e t w o r k of F i g u r e 2.4. Except for polarity changes in

the windings w h e r e t h e c u r r e n t g e n e r a t o r s a r e applied, t h e transformer

c i r c u i t r y is identical. As c o n t r a s t e d with voltage g e n e r a t o r s , the right-hand

45
column m a t r i x of ( 2 . 2) i s f o r m e d by c u r r e n t g e n e r a t o r s applied a t the shown
nodal locations. Note t h a t the nodal locations f o r applying t h e e x t e r n a l gen-
e r a t o r s and m e a s u r i n g the unknowns f o r the c u r r e n t analogy differ f r o m those
used i n the t r a n s f o r m e r c i r c u i t s of F i g u r e 2 . 4.

2.2 DISCRETE MECHANICAL SYSTEMS

In the previous section, v a r i o u s e l e c t r i c a l analogies w e r e i l l u s t r a t e d

simulating a hypothetical m e c h a n i c a l s y s t e m depicted a s a s e t of a l g e b r a i c

equations. Although a l l of the analogies a r e e l e c t r i c a l l y equivalent to the
s a m e t h r e e a l g e b r a i c equations, the f o r m and a p p e a r a n c e of each c i r c u i t

a r e totally dependent on the defined r e l a t i o n s h i p s between quantities in the

m a t h e m a t i c a l and e l e c t r i c a l s y s t e m s .
In many i n s t a n c e s , mobility c i r c u i t s (which is a n o t h e r n a m e f o r f o r c e -
c u r r e n t , velocity-voltage a n a l o g s ) a r e topologically s i m i l a r t o m e c h a n i c a l
systems. T h u s , t h e s e a n a l o g i e s c a n be d r a w n s i m p l y by sketching t h e
mechanical system where m a s s e s appear as capacitors, springs a s inductors,
d a s h p o t s a s r e s i s t o r s , and r i g i d l e v e r s a s t r a n s f o r m e r s . Restricting atten-
tion t o mobility a n a l o g s , c o n s i d e r by way of i l l u s t r a t i o n F i g u r e s 2.6 through 2 . 1 0 .
depicting m e c h a n i c a l s y s t e m s and t h e i r equivalent mobility c i r c u i t s .
The nodal v o l t a g e s r e p r e s e n t v e l o c i t i e s a t the c o r r e s p o n d i n g p o s i t i o n s
in the m e c h a n i c a l d i a g r a m and c u r r e n t g e n e r a t o r s r e p r e s e n t the e x t e r n a l
loads acting on the m e c h a n i c a l s y s t e m . E l e c t r i c a l ground is shown s y m b o l i -
cally a s and c o r r e s p o n d s t o t h e f i x e d b o u n d a r i e s . F o r the RLC networks,

t h e spring is s k e t c h e d a s a n i n d u c t o r w h e r e a s , whenever t r a n s f o r m e r s a r e
used, the s p r i n g i s s k e t c h e d a s a r e s i s t o r .

46
 p L2

I E
F i g u r e 2. 6 The Vibration I s o l a t o r S y s t e m and i t s Equivalent Mobility Analog

"f"
t

r 3
r
e

F i g u r e 2. 7 T h r e e - D e g r e e - o f - F r e e d o m S y s t e m and i t s Equivalent Mobility

Analog

47
 Y1

y2
Ri

R3

3
c3
Figure 2. 8 Composite Three-Degree-of-Freedom System and i t s
Equivalent Mobility Analog

Jj
J2 J3

C
2

Figure 2 . 9 Composite Torsional System and i t s Equivalent Mobility Analog

48
 '2

F i g u r e 2. 10 L e v e r e d M e c h a n i c a l System and its Equivalent Mobility

Analog

49
2.3 MODAL THEORY AND ITS ANALOG EQUIVALENCE

A t y p i c a l a n d c l a s s i c a l a p p r o a c h f o r calculating the d y n a m i c r e s p o n s e c
of m u l t i - d e g r e e - o f - f r e e d o m s y s t e m s i s the u s e of m o d a l t h e o r y . This theory

is a s e p a r a t i o n of v a r i a b l e s technique a n d r e p r e s e n t s the d i s p l a c e m e n t s a t

various positions on the s t r u c t u r e a s

where

is a c o l u m n m a t r i x denoting the d i s p l a c e m e n t - t i m e
{ y}
h i s t o r i e s a t s p a t i a l l o c a t i o n s on the s t r u c t u r e

[$] i s a s q u a r e m a t r i x c o n s i s t i n g of the mode s h a p e s of

the s t r u c t u r e

i s a c o l u m n m a t r i x denoting d i s p l a c e m e n t - t i m e h i s t o r i e s
(q)
of modal o s c i l l a t o r s i n g e n e r a l i z e d c o o r d i n a t e s

The (y) column m a t r i x i s a function both of s p a c e a n d t i m e w h e r e a s the

m o d a l m a t r i x i s a function only of the s p a c e c o o r d i n a t e s a n d the g e n e r a l i z e d
coordinate column m a t r i x is a function only of t i m e . M a t h e m a t i c a l l y , Eq. (2. 4 )
c a n b e thought of a s a t r a n s f o r m a t i o n r e l a t i n g the p h y s i c a l c o o r d i n a t e s of the
m e c h a n i c a l s y s t e m with the g e n e r a l i z e d c o o r d i n a t e s defined b y m o d a l t h e o r y .
By using the orthogonality p r o p e r t i e s of n o r m a l m o d e s , i t is found t h a t the
g e n e r a l i z e d c o o r d i n a t e s r e p r e s e n t the output r e s p o n s e f r o m l i n e a r o s c i l l a t o r s
w h o s e coefficients a r e d e s c r i b e d i n t e r m s of g e n e r a l i z e d m a s s , g e n e r a l i z e d
s t i f f n e s s , g e n e r a l i z e d d a m p i n g , a n d the g e n e r a l i z e d f o r c e . E a c h mode s h a p e
h a s a n a s s o c i a t e d l i n e a r o s c i l l a t o r i n g e n e r a l i z e d c o o r d i n a t e s which is
appropriately called the modal oscillator.
Using the t r a n s f o r m e r v o l t a g e l a w s , a n e l e c t r i c a l r e p r e s e n t a t i o n of

Eq. ( 2 . 4 ) is s k e t c h e d a s F i g u r e 2. 11.

50
 Yl
t

$1 1

+
'21

5EIt
'\ 3
c3
R3 1
t

'3 1

..
I n1

F i g u r e 2. 11 Modal Analog f o r an N - d e g r e e - o f - f r e e d o m Mechanical S y s t e m

The t r a n s f o r m e r windings denote the mode s h a p e s of t h e s t r u c t u r e a n d t h e

R L C c i r c u i t s denote the m o d a l o s c i l l a t o r s . The o v e r b a r i n the modal c i r c u i t
r e f e r to t h e g e n e r a l i z e d f o r c e (I), t h e g e n e r a l i z e d flexibility (L), t h e g e n e r -
a l i z e d mass ( C ) , and the g e n e r a l i z e d damping (R). The t r a n s f o r m e r s shown
a r e noted a s n-winding t r a n s f o r m e r s which, depending on t h e magnitude of n,
m a y be i m p r a c t i c a l to obtain e l e c t r i c a l l y . However, i n c o n c e p t , a n y l i n e a r
n - d e g r e e - o f - f r e e d o m s y s t e m m a y be s i m u l a t e d by the modal analog shown

above.

51
 3. DISTRIBUTED STRUCTURAL SYSTEMS

Contrasted with d i s c r e t e m u l t i - d e g r e e - of -fr eedom s y s t e m s , t h e v i b r a -

tion of a d i s t r i b u t e d o r continuous e l a s t i c s t r u c t u r e a p p e a r s m a t h e m a t i c a l l y
a s a p a r t i a l d i f f e r e n t i a l equation i n s t e a d of s e t s of coupled o r d i n a r y d i f f e r e n t i a l
equations. T h i s equation is functionally dependent upon both the s p a t i a l c o o r -
dinates and t i m e . Except f o r s i m p l e s t r u c t u r a l p r o b l e m s , explicit a n a l y t i c a l
solutions to s u c h equations a r e n o n t r i v i a l m a t h e m a t i c a l t a s k s and, in m a n y
c a s e s , a n understanding of the p h y s i c a l p r o b l e m is m a s k e d by the s h e a r p r e -
ponderance of m a t h e m a t i c a l d e t a i l s .
Consequently, i n e n g i n e e r i n g p r a c t i c e , it is c o m m o n t o study the
dynamic behavior of a d i s t r i b u t e d s t r u c t u r e by examining a lumped m o d e l of
the original s t r u c t u r e . M a t h e m a t i c a l l y , m a t r i x techniques a r e u s e d t o a n a l y z e
the m u l t i - d e g r e e - o f - f r e e d o m o r lumped m o d e l . E l e c t r i c a l l y , p a s s i v e mobility
c i r c u i t s c a n be u s e d t o s i m u l a t e t h e lumped mode1,and the a n a l y s i s c a n p r o c e e d
using either a p a s s i v e analog c o m p u t e r o r d i g i t a l c o m p u t e r .
The c i r c u i t s t o be c o n s i d e r e d h e r e a r e mobility a n a l o g s for d i f f e r e n t i a l
s e g m e n t s of a v a r i e t y of e l a s t i c s t r u c t u r e s . These analogs r e p r e s e n t the
differential s t r u c t u r a l s e g m e n t s a s d i f f e r e n c e s e g m e n t s and a r e u s e d t o
synthesize complete e l e c t r i c a l m o d e l s of s t r u c t u r a l s y s t e m s . In addition to
e l a s t i c s t r u c t u r e s , t h e d e r i v a t i o n p r o c e d u r e s c a n be applied t o m o s t p h y s i c a l
s y s t e m s d e s c r i b e d by p a r t i a l d i f f e r e n t i a l equations.

3.1 LONGITUDINAL VIBRATION O F A ROD

The equation of m o t i o n f o r t h e longitudinal o s c i l l a t i o n of a thin, u n i f o r m ,
homogeneous r o d a p p e a r s a s

AE-
a2u =m-
2
a u
2
ax at2

52
\There A i s the c r o s s - s e c t i o n a r e a , E the Young's modulus, m the m a s s p e r
unit length, t the t i m e , u the longitudinal d i s p l a c e m e n t a n d a function of x
and t . and x the s p a t i a l position along the length of the rod. Expressing the
s p a t i a l d e r i v a t i v e a s a f i n i t e - d i f f e r e n c e e x p r e s s i o n yields the o r i g i n a l p a r t i a l
d i f f e r e n t i a l equation a s

Ax
[ ( u ~ -+ u~n ) - (un - 1
u ~ - ~= )mAx 'un'

..
\\,here the double dot notation ( ) denotes the s e c o n d time d e r i v a t i v e of ( ).
The s e c o n d p a r t i a l d e r i v a t i v e with r e s p e c t t o x is r e d u c e d t o d i f f e r e n c e f o r m
as

while the f i r s t p a r t i a l d e r i v a t i v e is noted a s

- -a( I A,(
ax Ax
( 3 - 4)

w h e r e Ax i s the d i f f e r e n c e length of t h e rod s e g m e n t a n d A X

( ) denotes t h e

change of the quantity ( ) with r e s p e c t to t h e x c o o r d i n a t e . For more com-

plete d i s c u s s i o n s of f i n i t e - d i f f e r e n c e techniques a p p l i e d t o s t r u c t u r e s , the
r e a d e r is d i r e c t e d to Section 2. 9 of Reference 4.
I n t e r p r e t i n g t h e longitudinal d i s p l a c e m e n t s of ( 3 . 2 ) a s voltages at the
nodal position n + 1, n, a n d n - 1, Ohm's law a n d Kirchhoff's c u r r e n t law
a r e a p p l i e d to yield the f u n i c u l a r c u r r e n t d i a g r a m shown a s F i g u r e 3 . 1.

53
 n

F i g u r e 3. 1 F u n i c u l a r D i a g r a m f o r a Difference S e g m e n t of a Rod

In a f o r m c o n s i s t e n t with mobility p r o c e d u r e s , the above c u r r e n t s c a n be

e x p r e s s e d a s functions of v e l o c i t i e s a s

-
AE - u ) = -J(Antl
AE - An) dt ( 3 . 5)
~x ( U n t l n AX

-AE
(u - u ) ="/(: - 6 ) dt
AX n n-1 Ax n n-1 (3.6)

(3.7)

T h e f i r s t two equations denote c u r r e n t flow t h r o u g h i n d u c t o r s w h e r e a s the

l a s t equation d e s c r i b e s t h e c u r r e n t flow of a c a p a c i t o r . T h e r e f o r e , the
mobility c i r c u i t f o r t h e longitudinal v i b r a t i o n of a d i f f e r e n c e s e g m e n t of r o d
b e c o m e s the L C n e t w o r k shown a s F i g u r e 3. 2.

54
 u
n-
-1 u
n
+$
d- Ax -- B

e e
n+ 1

Mobility C i r c u i t
f o r a Section of Rod
-Y*Y +
Tn
F i g u r e 3. 2 Mobility C i r c u i t f o r the Longitudinal Vibration of a Rod

I n t e r p r e t e d as a lumped m o d e l , the mobility c i r c u i t d e s c r i b e s a s y s t e m

of undamped l i n e a r o s c i l l a t o r s connected i n tandem. The nodal v o l t a g e s
denote the v e l o c i t i e s a t the s p a t i a l locations a n d the c u r r e n t flows denote e x -
tensional f o r c e s and inertial forces. The c i r c u i t c o m p o n e n t s a r e r e l a t e d t o
the m e c h a n i c a l p a r a m e t e r s a s

Cn = mkln

w h e r e the s u b s c r i p t s below the v e r t i c a l line refer t o the d i f f e r e n c e s e g m e n t

o v e r which e a c h of the m e c h a n i c a l quantities a r e t o be evaluated. F o r the nth
i n d u c t o r (Ln), the flexibility d i s t r i b u t i o n of the r o d is i n t e g r a t e d f r o m s p a t i a l
position n t o n + 1. F o r the nth c a p a c i t o r (C ), h o w e v e r , t h e mass d i s t r i b u t i o n
n
of the r o d is i n t e g r a t e d f r o m s p a t i a l position n - 21 t o n 2.
1 +

55
 Although sketched a s e q u a l d i f f e r e n c e l e n g t h s , the d i f f e r e n c e s e g m e n t s
c a n vary in length while t h e f o r m of the c i r c u i t r e m a i n s unchanged. For a
r o d with nonuniform m a s s a n d f l e x i b i l i t y p r o p e r t i e s , the f o r m of the mobility
c i r c u i t likewise d o e s not change. T h e c i r c u i t component v a l u e s a r e c a l c u l a t e d
by integrating the nonuniform p r o p e r t i e s o v e r the a p p r o p r i a t e s e g m e n t a l l e n g t h s
t h u s r e p r e s e n t i n g the nonuniform r o d by "weighted" u n i f o r m s e c t i o n s .

3.2 LATERAL VIBRATION O F A SIMPLE BEAM

T h e s e c t i o n of b e a m t o be t r e a t e d h e r e is a s s u m e d u n i f o r m , homogeneous,
a n d to obey small deflection t h e o r y . Although u n i f o r m b e a m p r o p e r t i e s a r e
a s s u m e d for the analog d e r i v a t i o n , t h e f o r m of t h e analog c i r c u i t w i l l be the
s a m e f o r nonuniform p r o p e r t i e s

Consider a d i f f e r e n t i a l length of a s i m p l e b e a m in bending ( a l s o c o m m o n -

ly called the B e r n o u l l i - E u l e r b e a m ) shown a s F i g u r e 3 . 3 >

t mdx'y.
Iy+ax aM
ax

IV+-dx
av
ax
I
Y dx
4 )I

F i g u r e 3 . 3 D i f f e r e n t i a l S e g m e n t of a S i m p l e B e a m

w h e r e M d e n o t e s the bending m o m e n t , V the s h e a r , f(x, t ) the e x t e r n a l

loading p e r unit s e g m e n t a l l e n g t h , a n d m y dx the i n e r t i a l loading

56
 a c t i n g at t h e c e n t e r of g r a v i t y of t h e d i f f e r e n t i a l s e g m e n t . The equation of

m o t i o n f o r t h i s b e a m is given by

4 2
a Y
E1 -
4
+ m a-Y
2
= f!x, t) (3.1 1)
i3X at

w h e r e E i s Young’s modulus, I t h e cross-secLlun a r e a m o m e n t of i n e r t i a

about the bcnding a x i s , f(x, t ) the external l a t e r a l loading p e r unit length,

m the m a s s p e r unit length, t the t i m e , x the position along t h e length of
the b e a m , and y t h e l a t e r a l d e f l e c t i o n f r o m s t a t i c e q u i l i b r i u m noted as
a function cf both the s p a t i a l c o o r d i n a t e x a n d t i m e t .
The d e r i v a t i o n of t h i s f o u r t h - o r d e r p a r t i a l d i f f e r e n t i a l equation is
b a s e d upon four, f i r s t - o r d e r d i f f e r e n t i a l e x p r e s s i o n s which m a y b e w r i t t e n
as

de
M = EI-
dx (3.12)

2
(d) m-
dt
2
= =
ax + f ( x , t )

w h e r e 8 is noted a s t h e s l o p e i n bending. As f i r s t - o r d e r d i f f e r e n c e e x p r e s -
s i o n s , t h e s e equations b e c o m e

(3. 1 3 )

57
 A x ( M In+Z
1
1
(c) - vn = - vn + l , n -
Ax = AX
-(M 1 - M nf,,1 n-Z1)
n f ,3 , n+Z

f Ax
n

where M is the m o m e n t i n the b e a m s e g m e n t a t position n a n d c o r r e s p o n d s

n
1 1
to moment flow f r o m position n+z to n - 2 , V the s h e a r f o r c e i n the nth
n
b e a m s e g m e n t a n d c o r r e s p o n d s to s h e a r flow f r o m position n f l to n , f the
n
e x t e r n a l loading p e r unit length a c t i n g on t h e nth b e a m s e g m e n t , m the
n
m a s s per unit length f o r the d i f f e r e n c e s e g m e n t c e n t e r e d a t position n , 0
nfZ
the slope of t h e & a m s e g m e n t a t position n+$, Ax the d i f f e r e n c e length of
a beam segment, ( ) t h e change of the quantity ( ) with r e s p e c t to the
X
x coordinate. E l e c t r i c a l l y , t h e s e equations a r e s i m u l a t e d by the d i f f e r e n c e
c i r c u i t s of F i g u r e 3 . 4.
Defining a c o m p o s i t e d i f f e r e n c e g r i d w o r k , the c i r c u i t s i n F i g u r e 3 . 4
a r e combined to yield the g e n e r a l s y m b o l i c c i r c u i t shown a s F i g u r e 3. 5.
Note that the s l o p e c o o r d i n a t e s a r e shown a t positions i n t e r m e d i a t e to the
deflection c o o r d i n a t e s . The bending m o m e n t M i s defined a s the m o m e n t
n
1 1
i n t h e beam f r o m s p a t i a l position n+Z t o n - z while the s h e a r f o r c e V is
n
defined a s the s h e a r flow i n the b e a m f r o m s p a t i a l position n f l t o n- 1. The
bending m o m e n t c o r r e s p o n d s t o the c u r r e n t m e a s u r e d i n the 0 s l o p e c i r c u i t
a n d the s h e a r flow c o r r e s p o n d s to the c u r r e n t m e a s u r e d i n t h e y deflection
circuit. The t r a n s f o r m e r windings couple the s l o p e a n d deflection c i r c u i t s
and a r e shown u s i n g conventional p r i m a r y P a n d s e c o n d a r y S notation. The
n n
p r i m a r y winding is l o c a t e d i n the d e f l e c t i o n c i r c u i t a n d , with the s e c o n d a r y
winding s e t to unity, c o r r e s p o n d s n u m e r i c a l l y t o the b e a m s e g m e n t a l length
defined f r o m s p a t i a l position n to n + l . The i n e r t i a l loading is shown a s
the impedance Z while the bending flexibility is noted a s the i m p e d a n c e
n
Zn(0). Consistent with the p o s i t i v e s i g n convention, the e x t e r n a l load on t h e
nth difference s e g m e n t f Ax i s shown a s a c u r r e n t g e n e r a t o r d i r e c t e d into
n
the nth node of the deflection c i r c u i t .

58
 Voltage law f o r the
- Ynt1 - 'n
Id ea 1 T r a n s f o r n:e r
e n t r1 -
AX &+

and
'nt:
V A x t M 3 K i r chhoff' s c u r rent
n ntz, n t + law applied to the
slope c i r c u i t at
1 = 0
- M n+z,
1 n-r location n t + V Ax
n

V
'n
- 3-r -E Ax? . Kirchhoff's c u r r e n t ' n , n - l * T V n t l , n
n,n-i n -n
law applied t o the
deflection c i r c u i t a t
/ \ f n Ax
+f A x t V = o m Ax?
n n
n ntl, n location n

Electrical Equivalent
Difference
Equation
0 Circuit
Concept
a Difference
Circuit

F i g u r e 3 . 4 Circuit Representations for the

Difference Equations of a Simple B e a m

59
 n-21 n f z1
1 Ax
r-- -~ -
I
--I
I I
M
n

P
1 1
P
n-1 t n +

n- 1

Figure 3 . 5
I
!---/
I
n
Ax
n I
n+ 1

G e n e r a l Mobility C i r c u i t f o r the L a t e r a l Vibration

i
1
!
i
y Circuit

of a S i m p l e B e a m

F r o m the c i r c u i t s of F i g u r e 3 . 5, c o n s i d e r the d e v e l o p m e n t of a n analog

depicting the bending of a s i m p l e b e a m due to a n e x t e r n a l s t a t i c load. Consis-

tent with the mobility a p p r o a c h , the r e q u i r e d a n a l o g i s a f o r c e - c u r r e n t ,

d i s p l a c e m e n t - v o l t a g e c i r c u i t a n d d i f f e r s f r o m a mobility a n a l o g only i n the
definition of the m e c h a n i c a l equivalence of voltage. Such a c i r c u i t f o r t h e
s t a t i c bending of a b e a m is a p p r o p r i a t e l y c a l l e d a s t a t i c a n a l o g a n d a p p e a r s
a s F i g u r e 3 . 6.

60
 n
A

I
c--.
it

R n (0)
+ +
0 Circuit

E+
7-
+
'7
j}
r vn I
I
1
I
iy
I
I I
y Circuit

I
n- 1
Ax
n n+ 1
n
P
n
- - -Ax
S n
n

Figure 3.6 S t a t i c P a s s i v e Analog f o r a S i m p l e B e a m i n Bending

S i n c e t h e r e is no i n e r t i a l load, t h e i n e r t i a l c a p a c i t o r Z d o e s not
n
appear. The bending i m p e d a n c e Z
n
(e) i s noted a s a r e s i s t o r a n d all o t h e r
p a r t s of t h e c i r c u i t r e m a i n s unchanged. The magnitude of t h e nth bending
r e s i s t o r is obtained by i n t e g r a t i n g the beam flexibility d i s t r i b u t i o n f r o m
1
s p a t i a l position n- i t o n+$ w h e r e a s t h e nth t r a n s f o r m e r winding r a t i o is
the length of d i f f e r e n c e s e g m e n t f r o m position n t o n + l . The c u r r e n t

61
g e n e r a t o r c o r r e s p o n d s to the applied s t a t i c loading l u m p e d a t the deflection
coordinates. F o r e x a m p l e , the magnitude of the loading a t t h e nth position
1 1
is found b y i n t e g r a t i n g the d i s t r i b u t i o n of the e x t e r n a l l o a d f r o m 2 - 2 t o ntz.
F r o m the g e n e r a l c i r c u i t of F i g u r e 3 . 5 , a mobility c i r c u i t f o r t h e
vibration of a s i m p l e b e a m is shown a s F i g u r e 3 . 7.

1 1
n- z nt2
I I

I n
<
t Ln (0) t

P P
n- 1 n

t -t

I I
I I I
n- 1 ntl

P
n
-
S
= Ax
n
n

F i g u r e 3 . 7 Mobility Analog f o r t h e L a t e r a l V i b r a t i o n of a S i m p l e B e a m

62
C o n s i s t e n t with mobility r e l a t i o n s h i p s , t h e c u r r e n t s c o r r e s p o n d to s h e a r f o r c e
and bending m o m e n t s w h e r e a s t h e nodal voltages c o r r e s p o n d to s l o p e and
l a t e r a l velocities. T h i s analog is equivalent t o a f i n i t e - d i f f e r e n c e m a t h e m a t i c a l
m o d e l of the s i m p l e b e a m a n d is s o m e t i m e s c a l l e d a d i f f e r e n c e mobility c i r c u i t .
The c i r c u i t components a r e e x p r e s s e d i n t e r m s of t h e i r m e c h a n i c a l equivalents
w h e r e t h e flexibility a p p e a r s as a n inductor (shown s y m b o l i c a l l y a s a r e s i s t o r ) ,
t h e i n e r t i a l loading a s a c a p a c i t o r , a n d t h e s l o p e g e o m e t r y a s a t r a n s f o r m e r
coupling the deflection c i r c u i t with t h e slope c i r c u i t . The magnitude of t h e
bending i n d u c t o r is obtained by i n t e g r a t i n g the flexibility d i s t r i b u t i o n f r o m
1 1
position n-2 to ntz. Likewise, the c a p a c i t o r and c u r r e n t g e n e r a t o r magni-
tudes a r e c a l c u l a t e d by i n t e g i a t i n g t h e m a s s a n d e x t e r n a l loading d i s t r i b u t i o n s
o v e r t h e s e g m e n t a l length between position n-$ a n d ni$.
C o n s t r u c t e d as a m e c h a n i c a l m o d e l , the mobility d i f f e r e n c e c i r c u i t
shown in F i g u r e 3 . 7 (without the e x t e r n a l loading) is d e p i c t e d a s F i g u r e 3. 8.

I ant
!
0
n

'n- 1
-
n
'
0

'nt 1

_- -
AX I- AX
n- 1 n

Figure 3. 8 Equivalent Mechanical Model f o r t h e Mobility

Analog of a Simple B e a m Segment

63
Note the topological s i m i l a r i t y with t h e c i r c u i t . The t r a n s f o r m e r s a r e
sketched a s the l e v e r s while t h e bending inductor L
n
(e) and inertial capacitor
C
n
appear a s the s p r i n g k
n
(e) and c o n c e n t r a t e d m a s s &In respectively.
By c o m p a r i n g the s t a t i c c i r c u i t s of F i g u r e 3 . 6 with t h e mobility c i r c u i t
of F i g u r e 3. 7, the f o r m of t h e two c i r c u i t s a r e identical. T o c o n v e r t the
s t a t i c c i r c u i t t o the mobility c i r c u i t , t h e nodal v o l t a g e s a r e f i r s t a s s u m e d a s
slope and l a t e r a l v e l o c i t i e s . Then, a n i n e r t i a l c a p a c i t o r C
is added to the
n
nth mode in t h e deflection c i r c u i t and the bending r e s i s t o r R (8) i s c o n v e r t e d
n
t o a bending inductor Ln(0). Since t h e t r a n s f o r m e r s d e s c r i b e t h e slope
g e o m e t r y , they r e m a i n unchanged. In a similar m a n n e r , m o s t d y n a m i c
analogs f o r s t r u c t u r e s c a n be conveniently d e r i v e d f r o m t h e i r s t a t i c c i r c u i t s .
T h i s conversion r e q u i r e s t h a t t h e r e s i s t o r s be changed t o i n d u c t o r s and
c a p a c i t o r s added t o the a p p r o p r i a t e nodes t o account f o r i n e r t i a l loaclLys.
The mobility analog shown h e r e h a s the a c c u r a c y l i m i t a t i o n s of f i n i t e -
difference equations. F o r a c c u r a c y i m p r o v e m e n t , the u s e of h i g h e r o r d e r
difference methods c a n be u s e d a s i s d i s c u s s e d f o r b e a m a n a l y s i s by
Greenwood i n R e f e r e n c e 9. As c o n t r a s t e d t o p a s s i v e analogs, h o w e v e r ,
Greenwood u s e s active o r o p e r a t i o n a l a m p l i f i e r c i r c u i t s .
O t h e r b e a m c i r c u i t s a l s o a r e available i n the l i t e r a t u r e . One v e r y
useful mobility c i r c u i t i s t h e R u s s e l l b e a m analogy d i s c u s s e d by R u s s e l l and
MacNeal in R e f e r e n c e 17 and again b y MacNeal i n R e f e r e n c e 1 3 . In c o n t r a s t
with the mobility c i r c u i t s e m p h a s i z e d in this d i s c u s s i o n , a m e c h a n i c a l i m -
pedance c i r c u i t ( f o r c e - v o l t a g e , v e l o c i t y - c u r r e n t analogy) f o r the b e a m i s
d i s c u s s e d by Molloy i n R e f e r e n c e 14 a s a f o u r - p o l e - p a r a m e t e r network.

64
3 . 3 LATERAL VIBRATION OF A TIMOSHENKO BEAM

This b e a m m a y be d e s c r i b e d as t h e simple b e a m in bending plus the

effects of both r o t a r y i n e r t i a and s h e a r deformation. If t h e s h e a r d e f o r m a -
tion is i g n o r e d in a Timoshenko b e a m , t h e r e s u l t a n t s t r u c t u r e is c a l l e d
the Rayleigh beam. P i c t o r i a l l y , a differential s e g m e n t of t h e Timoshenko
b e a m i s shown as F i g u r e 3 . 9

M( v

dx

Figure 3. 9 Differential Segment of T i m o s h e n k o B e a m

w h e r e M denotes t h e bending m o m e n t , V the s h e a r f o r c e , f(x, t) t h e e x t e r n a l

..
loading p e r unit length, mi: dx t h e l a t e r a l i n e r t i a l f o r c e of the d i f f e r e n t i a l
s e g m e n t , and I 9 dx the r o t a t o r y i n e r t i a l f o r c e of t h e d i f f e r e n t i a l s e g m e n t .
e
The equations of motion f o r t h i s b e a m may b e w r i t t e n a s

( 3 . 14)

ax

65
w h e r e A is the c r o s s - s e c t i o n a r e a , E t h e Young's modulus, I t h e c r o s s -
s e c t i o n a r e a m o m e n t of i n e r t i a about t h e bending a x i s , I the m a s s moment
e
of i n e r t i a about the bending a x i s , G t h e s h e a r modulus, K' a g e o m e t r i c
c o r r e c t i o n f a c t o r noted as the r a t i o of a v e r a g e s h e a r s t r e s s to m a x i m u m
s h e a r s t r e s s o v e r a c r o s s s e c t i o n , m t h e m a s s p e r unit length, y t h e t o t a l

b e a m deflection f r o m t h e s t a t i c e q u i l i b r i u m position, y t h e b e a m deflection

b
due t o bending, y t h e b e a m deflection due t o s h e a r deformation, 8 t h e
S
..
s l o p e due to bending, and ( ) t h e s e c o n d t i m e d e r i v a t i v e of t h e function
within the p a r e n t h e s e s .
The d e r i v a t i o n of t h e equations i n ( 3 . 14) is b a s e d upon t h e following
f i r s t - o r d e r differential equations.

my =
.. av + f (x, t )
-
ax
.. aM
I 9 = V + -
e ax

de
M = EI- ( 3 . 15)
dx

The f i r s t two equations (a, b) a r e d e r i v e d f r o m f o r c e e q u i l i b r i u m conditions,

the next t h r e e equations (c, d, e ) a r e a p p l i c a b l e s t a t e m e n t s f r o m s i m p l e b e a m
t h e o r y , the s i x t h equation ( f ) is obtained f r o m e l e m e n t a r y s t r e n g t h of m a t e r i a l s ,
and t h e l a s t equation ( g ) i s a g e o m e t r i c definition.

66
 A s f i n i t e - d i f f e r e n c e e x p r e s s i o n s , the above equations a p p e a r a s

(3.16)

The f i r s t two equations a r e e l e c t r i c a l l y s a t i s f i e d by Kirchhoff's c u r r e n t

law, equations c , d , and 3 a r e shown i n F i g u r e 3 . 4, and equation f is
e l e c t r i c a l l y s a t i s f i e d by O h m ' s law. Both the f a n d g equations a r e
s i m u l a t e d by the c i r c u i t shown as F i g u r e 3. 10. e/e- -c/o

67
 1
n+,
I

8 Circuit
+

* zn(VI 7
y Circuit
I V
I n
I I
I I

F i g u r e 3 . 10 General Difference Circuit for Shear Deformation

a n d Total Deflection

By applying O h m ' s law w h e r e A x ( ys ) d e n o t e s the voltage d r o p a n d

n
the V
c u r r e n t , the s h e a r i m p e d a n c e s Zn(V) a c o u n t f o r the deflection due to s h e a r
d e f o r m a t i o n given by Eq. (3.16-f). By adding the p o s i t i v e voltage d r o p s d x ( y s )
and A x ( yb ), the t o t a l voltage d r o p A x ( y n ) is obtained a s s p e c i f i e d by Eq. ( 3 . 16-g).
By e x p r e s s i n g the l a t e r a l a n d r o t a t i o n a l a c c e l e r a t i o n s a s w e l l a s the
s l o p e and d i s p l a c e m e n t c o o r d i n a t e s i n t e r m s of a n g u l a r a n d l a t e r a l v e l o c i t i e s ,
a p a s s i v e mobility c i r c u i t f o r t h e lateral v i b r a t i o n of a s e g m e n t of Timoshenko
b e a m a p p e a r s i n F i g u r e 3 . 11. The d i f f e r e n c e between t h i s c i r c u i t a n d t h a t of
a s i m p l e b e a m i s the addition of ( 1 ) the r o t a t o r y i n e r t i a l c a p a c i t o r s C(e) i n the
s l o p e c i r c u i t a n d ( 2 ) t h e s h e a r d e f o r m a t i o n i n d u c t o r s L ( V ) a n d L ' ( V ) in the
lateral velocity c i r c u i t . S h o r t i n g the s h e a r d e f o r m a t i o n i n d u c t o r s f r o m t h e
a b o v e c i r c u i t yields t h e m o b i l i t y c i r c u i t f o r a Rayleigh b e a m . T h e magnitude

68
 .

n - 21 n + +
I I
I 1
Ax
F
I
Y

I
..
IqAx9

1-
I 9
Circuit

Cir c uit

1 1

k
I I Ax I
n
n - 1 n n + 1

C =mAx
n

Ax
L ( V ) =- C (0) = I e A x
n
n K'AGI n

f
P
~

--n
L (V) =- - Ax
n G
I:: S n
n

F i g u r e 3. 11. Mobility Circuit f o r t h e Lateral Vibration of Timoshenko B e a m

69
 ( e ) i s obtained
of the r o t a t o r y i n e r t i a l c a p a c i t o r f o r the nth b e a m s e g m e n t C
n
by integrating the d i s t r i b u t i o n of t h e m a s s m o m e n t of i n e r t i a f r o m s p a t i a l
position n t o n t l . The m a g n i t u d e s of L ( V ) a n d L ’ ( V ) a r e c a l c u l a t e d by
n n
integrating the d i s t r i b u t i o n of
1
K’AG
- f r o m s p a t i a l position n t o n t + f o r
L ( V ) and f r o m n t $ t o n t l f o r L ’ ( V ) .
n n

3.4 LATERAL VIBRATION O F A SIMPLE BEAM O N

AN ELASTIC F O U N D A T I O N

T h e s t r u c t u r e c o n s i d e r e d h e r e is the s i m p l e o r B e r n o u l l i - E u l e r b e a m
on a d i s t r i b u t e d , e l a s t i c foundation. T h e r e m a r k s of t h i s d i s c u s s i o n , hoirTever,
a r e equally a p p r o p r i a t e to a b e a m defined by Timoshenko b e a m t h e o r y .
F o r a d i f f e r e n t i a l s e g m e n t of a b e a m , the e l a s t i c foundation i s a s s u m e d
equivalent to a n e l a s t i c s p r i n g a t t a c h e d below the c e n t e r of g r a v i t y of the
beam segment. The equation of motion is e x p r e s s e d a s

4 2
EI’Y t m ~-a t K y = f(x, t )
f
(3.17)
ax4 at
2

w h e r e t h e s y m b o l s a r e t h o s e f o r the s i m p l e b e a m with the additional t e r m

K denoting the foundation s t i f f n e s s p e r unit length. T h i s f o u r t h - o r d e r
f
equation is b a s e d on f o u r f i r s t - o r d e r d i f f e r e n t i a l equations which a r e
expressed in finite-difference f o r m a s

e n t z1 = AX

(3.18)

A ( v ) ~ m= ~
X
x y + K AXY
n f n
- f
n
AX

70
 Except for the t e r m i n the d equation denoting the force due to the e l a s t i c
foundation, these equations a r e the s a m e a s those for the simple beam.
By applying Kirchhoff’s c u r r e n t law a t the nth node, the foundation force
i s incorpordied into the s i a p ! e beam- a ~ i l o g yand yields the mobility analog

of Figure 3 . 12.

n-z1 1
ni-2
Ax
t- -

I I

0 Circuit

y Circuit

L
n-

I
I
n- 1 n Ax n+ 1
n

cn = mAxln

P
- n= a x
S n
n

F i g u r e 3 . 12 Mobiliiy Circuit for the Lateral Vibration of a Simple Beam

on a n Elastic Foundation

71
The e l a s t i c foundation is shown e l e c t r i c a l l y a s a n inductor L ( K ) t o ground
n f
and is i n s e r t e d in p a r a l l e l with the l a t e r a l i n e r t i a l c a p a c i t o r C.n
The
magnitude of the foundation inductor f o r the nth s e g m e n t is obtained by
integrating the d i s t r i b u t i o n of t h e foundation flexibility f r o m s p a t i a l position
n--j1 t o n t i .

3.5 IN-PLANE VIBRATION O F A CURVED BEAM

T h e s t r u c t u r e c o n s i d e r e d h e r e is a c u r v e d b e a m loaded e x t e r n a l l y in
the r a d i a l d i r e c t i o n by t h e f o r c e f (+, t). The b e a m t h e o r y is e s s e n t i a l l y
r
that f o r a c u r v e d s i m p l e b e a m . A d i f f e r e n t i a l s e c t i o n of a c u r v e d b e a m with
the e x t e r n a l loading, i n t e r n a l f o r c e , and d i s p l a c e m e n t c o o r d i n a t e s is shown
a s Figure 3.13:

aF
.- r
db
a+

\
r

F i g u r e 3. 13 Curved B e a m Segment with the E x t e r n a l Loading, I n t e r n a l

F o r c e s and Di s pla c erne nt Coordinate s

72
 .)

where F
r
is the s h e a r f o r c e a c t i n g in the r a d i a l d i r e c ion, F
sional o r tangential f o r c e acting in the angular coordinate +
+d i r ethe exten-
ction,
i (0,t ) the exqeriia! r a d i a l loading p e r unit a r c length, M the bending
r
moment, f ( 9 , t) the e x t e r n a l tangential loading p e r unit a r c length, m the
0
m a s s p e r unit a r c length, r the r a d i u s of t h e c u r v e d segment, u the
a x i a i d i s p i a c e m e n t m e a s u r e d in the + diiecticc, -.r the r i d i a l d i s p l a c e m e n t
m e a s u r e d in the r d i r e c t i o n , 8 t h e slope of the b e a m , + t h e a n g u l a r
coordinate,
..)
and ( ) the second t i m e d e r i v a t i v e of the quantity ( ).
C o n s i s t e n t with the f o r m a t of t h e previous d e r i v a t i o n s , t h e f i r s t - o r d e r
d i f f e r e n t i a l equations for this b e a m segment a r e

-dM
- - -F r
d+ r
(3.19)

dv
-=ut€Ir
d4

Except f o r notational changes and the radial i n e r t i a l f o r c e , t h e s e equations

a r e found i n R e f e r e n c e 12.

73
.
 .

E x p r e s s e d a s f i r s t - o r d e r d i f f e r e n c e e q u a t i o n s , the equations of (3. 1 9 ) a p p e a r

as

A4w41n - -(F t f r ) A 4
r 4

(3.20)

T h e first t h r e e equations a r e obtained f r o m f o r c e e q u i l i b r i u m conditions

a n d a r e s i m u l a t e d e l e c t r i c a l l y by applying K i r c h h o f f ' s c u r r e n t law a t
a p p r o p r i a t e nodes. The f o u r t h equation is d e t e r m i n e d f r o m s t r e s s - s t r a i n
conditions a n d is s i m u l a t e d e l e c t r i c a l l y by applying O h m ' s law in t h e slope
circuit. T h e l a s t two equations a r e obtained f r o m s t r a i n - d i s p l a c e m e n t
conditions a n d a r e s i m u l a t e d by i d e a l t r a n s f o r m e r s .
Defining a conventional d i f f e r e n c e g r i d w o r k , a mobility c i r c u i t f o r
t h e in-plane v i b r a t i o n of a c u r v e d b e a m is shown as F i g u r e 3. 14. The
magnitude of the bending inductor is c a l c u l a t e d by i n t e g r a t i n g t h e bending
flexibility d i s t r i b u t i o n o v e r t h e a r c length f r o m a n g u l a r position 4 n - 21 t o
+n t z .
1 S i m i l a r l y , t h e magnitude of t h e r a d i a l i n e r t i a l c a p a c i t o r is obtained
by integrating t h e mass d i s t r i b u t i o n o v e r the s a m e a n g u l a r positions.
Setting t h e S winding e q u a l t o unity, t h e P winding c o r r e s p o n d s to the
n n
difference a r c length f o r t h e nth b e a m s e g m e n t , w h e r e a s the r e m a i n i n g
t r a n s f o r m e r s denote the magnitude of t h e + angle.

74

I
 4

Io
8 Circuit

/ \+
P
- 7
n

I
G Circuit

f \''
- h A
9

1
P:'
n
Circuit

F+ln

I I
b 1
I
n
I
n+ 1

P
C n = rnrA+ln - =n
sn rA' In

P' P'I
n
- =n -
sn S"
n

F i g u r e 3 . 14 Mobility Analog f o r the In-plane V i b r a t i o n of a C u r v e d B e a m

75
Deleting the p r i m e d t r a n s f o r m e r s r e d u c e s the c u r v e d b e a m c i r c u i t s to t h o s e
f o r the l a t e r a l v i b r a t i o n of a s i m p l e b e a m . Thus, these t r a n s f o r m e r s
account f o r the g e o m e t r y change n e c e s s a r y t o c o n v e r t a s t r a i g h t b e a m s e g -
ment into a c u r v e d b e a m s e g m e n t a n d i s shown t o couple t h e r a d i a l (v) a n d
tangential (u) motions.
By making u s e of the p r e v i o u s d e r i v a t i o n s , the b a s i c c i r c u i t of
F i g u r e 3 . 14 c a n be intuitively a l t e r e d to include additional e f f e c t s . A s an
e x a m p l e , r o t a t o r y i n e r t i a a n d s h e a r d e f o r m a t i o n a r e a c c o u n t e d f o r i n the
Timoshenko b e a m c i r c u i t by t h e i n e r t i a l c a p a c i t o r C
n
(e) a n d the s h e a r
inductors L ( V ) a n d L'(V). T h e s e e f f e c t s a r e included in the c u r v e d b e a m
n n
by adding a r o t a t o r y i n e r t i a l c a p a c i t o r C
n
(e) to the s l o p e c i r c u i t a t n + + a n d
adding (in s e r i e s ) t h e s h e a r i n d u c t o r s L ( V ) a n d L ' ( V ) t o e i t h e r s i d e of the
n n
P winding i n the v c i r c u i t .
n

3.6 RECTANGULAR SHEAR P A N E L

A s h e a r panel i s a t w o - d i m e n s i o n a l s t r u c t u r e c a p a b l e of r e s i s t i n g
s h e a r f o r c e s applied to i t s e d g e s . A d i f f e r e n t i a l s e g m e n t of a r e c t a n g u l a r
s h e a r panel with the s h e a r f o r c e s , the a c c o m p a n y i n g d i s p l a c e m e n t s , a n d
coordinate d i r e c t i o n s is shown a s F i g u r e 3 . 15. This s k e t c h d e p i c t s u a n d
u ' a s the deflection c o m p o n e n t s i n the x d i r e c t i o n , v a n d v ' t h e deflection
components i n the y d i r e c t i o n , F the s h e a r f o r c e p e r p e n d i c u l a r t o t h e
YX
y a x i s a n d i n the x d i r e c t i o n , a n d F the s h e a r f o r c e p e r p e n d i c u l a r to
XY
the x a x i s a n d i n the y d i r e c t i o n . F r o m f o r c e e q u i l i b r i u m conditions

F d x = F dy (3.21)
XY YX

76
 Y

I F i g u r e 3. 15 D i f f e r e n t i a l Segment of a Rectangular S h e a r P a n e l

F r o m s t r e s s - s t r a i n c o n s i d e r a t i o n s , t h e s h e a r flow a p p e a r s as

( 3- 2 2 )

I where G is the s h e a r modulus and h the panel t h i c k n e s s . As first-order

differ enc e e quat ions, the above diff e r ent ial equations b e c o m e

(3.23)

w h e r e the lower equation d e s c r i b e s a coupling of m u t u a l l y p e r p e n d i c u l a r

motions .
C o n s i s t e n t with the mobility a p p r o a c h , the equations of ( 3 . 2 3 ) a r e
e x p r e s s e d in t e r m s of f o r c e and velocity a s

77
 F Ax= F Ax
XY YX

(3.24)

a z i i n i n g a two-dimensional r e c t a n g u l a r d i f f e r e n c e g r i d , t h e s e e q u a t i o n s a r e
simulated i n the c i r c u i t shown a s F i g u r e 3 . 16.

AX

e
-+

I
V'

b
U 0
I
I
I

I
F
- -Y X

hl7
-11; - - -

-t
P
1 I
I
I

I
;I ny
r
I
xy
I

L(s) = ay
GtAx

F i g u r e 3 . 16 Mobility C i r c u i t f o r a R e c t a n g u l a r S h e a r P a n e l

T h e t r a n s f o r m e r s e r v e s to couple t h e and motions and the s h e a r

inductor L ( s ) a c c o u n t s f o r the s h e a r s t r a i n e n e r g y of the panel. If the

i n e r t i a l f o r c e s of the p a n e l w e r e included, c a p a c i t o r s would b e added to

the and nodes.

78
3.7 LATERAL V I B R A T I O N O F A F L A T , RECTANGULAR P L A T E

A s c o n t r a s t e d to a o n e - d i m e n s i o n a l s t r u c t u r e s u c h a s a b e a m , the plate
c o n s i d e r e d h e r e is a two-dimensional e l a s t i c s t r u c t u r e a s s u m e d as homo-
g e n e o u s , u n i f o r m , and t o obey small deflection theory. Although the plate
p h y s i c a l p r o p e r t i e s a r e a s s u m e d u n i f o r m , the c i r c u i t s to be d e r i v e d a r e
equally a p p r o p r i a t e f o r nonuniform p r o p e r t i e s .
A d i f f e r e n t i a l s e c t i o n of a l a t e r a l l y loaded p l a t e with t h e accompanying
m o m e n t s a n d s h e a r f o r c e s is s k e t c h e d a s F i g u r e 3 . 17. The f o r c e notation
shows M a s the bending m o m e n t s p e r unit length, Q the s h e a r f o r c e s p e r
unit length, a n d f(x, y , t ) the e x t e r n a l loading p e r unit a r e a . The d i f f e r e n t i a l
s e g m e n t is of t h i c k n e s s h a n d has t h e d i f f e r e n t i a l d i m e n s i o n s dx and dy.
F r o m the content of C h a p t e r 4 i n R e f e r e n c e 19, the equation of motion f o r
the l a t e r a l v i b r a t i o n of a flat r e c t a n g u l a r plate c a n be e x p r e s s e d as

( 3 . 25)

w h e r e m is the mass p e r unit a r e a , w the l a t e r a l deflection f r o m the static

equilibrium position, v the P o i s s o n ' s r a t i o , a n d ( O 0 ) the second time
d e r i v a t i v e of the quantity ( )

Eh3
D = p l a t e f l e x u r a l rigidity =
2
12(1- Y )

The loading is a s s u m e d n o r m a l t o t h e s u r f a c e a n d the d e f l e c t i o n s a r e small

i n c o m p a r i s o n with the p l a t e t h i c k n e s s . The e f f e c t on bending due to the
shearing forces Q and Q a n d the c o m p r e s s i v e s t r e s s i n t h e l a t e r a l d i r e c -
X Y
t i o n due t o t h e e x t e r n a l loading a r e both neglected.

79
 h
A
T

I
=/

Differential Segment

/. aM
”);
t dx
ax

’L
’P ir XY XY
aM
xx
t dx
ax
aM xx
M t-
YY
dY
aM YY aY
M
YX O Y Bending and Twisting Moments

dx

Y
c
Q +>dy
aY
Shear Forces

Figure 3 . 17 Differential Segment of R e c t a n g u l a r P l a t e and t h e A s s o c i a t e d

Forces ,

80
 The equation of motion f o r the p l a t e i s d e r i v e d f r o m t h e following
d i f f e rent i a l e quat ions

aM aM
xx
2,-
aY ax - QX = O

(3.26)

M -
YY ax

dw
0 = -
x dx

T h e f i r s t t h r e e e q u a t i o n s (a, b, a n d c ) a r e obtained f r o m e q u i l i b r i u m con-

d i t i o n s , t h e next t h r e e m o m e n t equations (d, e , a n d f ) f r o m s t r e s s - s t r a i n
r e l a t i o n s h i p s , and t h e l a s t two equations ( g and h) f r o m s t r a i n - d i s p l a c e m e n t
definitions.
In f i n i t e - d i f f e r e n c e f o r m without t h e s p a t i a l p o s i t i o q notation, t h e above
equations a p p e a r a s

81
 n
Ax

(3.27)

Ax(w)
eX = Ax

Expressing the coordinate motions a s velocities, the mobility analog for the
f l a t rectangular plate is obtained by electrically simulating the above equa-
tions and a p p e a r s a s F i g u r e s 3.18.
These circuits a r e shown a s t h r e e distinct sets: ( 1 ) the l a t e r a l
velocity circuit &, ( 2 ) the slope c i r c u i t 8 for bending of the x axis, and
X
( 3 ) the slope circuit 8 f o r bending of the y axis. The gridwork displays
Y
four difference rectangular plate segments where the incremental distance
between consecutive numbers is one-half of a difference length. Although
the nodes in the 4 c i r c u i t a r e defined a t odd-odd coordinate locations, the
nodes in the slope c i r c u i t s occur a t odd-even coordinate positions.

82
 +
\
t

3
p
- p1

2 t

\
\

+ h t

2 p2

1 2 3 4 5

F i g u r e 3 . 18-a & C i r c u i t for the L a t e r a l Vibration of a Flat

Rectangular P l a t e

83
5

t I X 1 2 3 4 5

F i g u r e 3. 18-b 6X C i r c u i t f o r t h e L a t e r a l V i b r a t i o n of a F l a t
R e c t a n g u l a r Plat e

84
5 I - - - - - - - I----
I I

1 - I ----
I ------ I
Y
t x 1 2 3 4 5

F i g u r e 3. 18-c 8 C i r c u i t for the Lateral V i b r a t i o n of a Flat

Y
Rectangular P l a t e
 r -1
I I
I I
I
I
4 I
I
I
I
I I
I I
3
I Ay
I
I
I
2 I
I
I
I
1 L-

i
. 1 2 3
Ax
4 5

p1 p3
C = mAyAx - = AX
s1 s3

L = -A x
1 D p4
-
- = Ay
s2 s4

Eh3
D = - -A X
AY 1 2 ( 1 - v2) S AY
L = 5
3
D(l - V)

F i g u r e 3. 18-d Component Values f o r t h e R e c t a n g u l a r P l a t e C i r c u i t s

86
 The c u r r e n t s a r e shown in t e r m s of their m e c h a n i c a l equivalents and
c o r r e s p o n d t o the s h e a r f o r c e s and m o m e n t s in t h e d i f f e r e n c e s e g m e n t s .
The L1 a n d L i n d u c t o r s account f o r the s t r a i n e n e r g y i n bending, the L
2 3
inductor f o r the t o r s i o n a l s t r a i n e n e r g y , t h e c a p a c i t o r for t h e kinetic e n e r g y
of a p l a t e s e g m e n t , and t h e tr:,nsformers f o r t h e p l a t e g e o m e t r y .
F i g u r e s ( 3 . 18) r e p r e s e n t t h e fiat piate a s a r e c t a n g u l a r array of simple
b e a m s c o n s t r a i n e d i n bending by interlocking t o r s i o n m e m b e r s . The & cir-
c u i t s a r e t h o s e f o r a two-dimensional r e c t a n g u l a r g r i d w o r k of s i m p l e b e a m s
i n bending. The s l o p e c i r c u i t s , however, differ f r o m t h o s e c o r r e s p o n d i n g
to s i m p l e b e a m s i n bending due t o (1) Poisson coupling t e r m s r e l a t i n g t h e
M and M bending m o m e n t s , and (2) the t o r s i o n a l r e s t r a i n t due t o t h e
.YX YY
M
I and M twisting m o m e n t s . The P o i s s o n coupling is r e p r e s e n t e d by
sy YX
the t r a n s f o r m e r s n u m b e r t h r e e a n d f o u r and the t o r s i o n a l r e s t r a i n t by
t r a n s f o r m e r n u m b e r five.

F r o m the 8
.
By w a y of r e v i e w , c o n s i d e r t h e s i m u l a t i o n of t h e t o r s i o n a l r e s t r a i n t .
c i r c u i t i n F i g u r e 3 . 18-b, t h e voltage a c r o s s t h e L i n d u c t o r is
X 3

( 3 . 28)

Substituting t h e m e c h a n i c a l equivalent of the t r a n s f o r m e r r a t i o y i e l d s

(3. 29)

By adding the equations given a s (3. 27-f), the s u m of t h e twisting m o m e n t s

bec o m e s
-M
XY
+ M
YX
= D(l-
AY
"'Jf (6 y x +&A x A x (6y g d t (3. 30)

87
Consistent with mobility p r o c e d u r e s , t h e twisting m o m e n t s a r e a s s u m e d a s
c u r r e n t s a n d the voltage i s shown a s the equation of (3. 2 9 ) . By i m p o s i n g
Ohm's law, the f o r m of Eq. (3. 30) i s t h a t f o r c u r r e n t flow t h r o u g h the
inductor,

-
- AY ( 3 . 31)
L3 D(l - Y)

where L i s noted a s the t o r s i o n a l i n d u c t o r .

3
The m e c h a n i c a l equivalents of the c i r c u i t c o m p o n e n t s f o r a n a r b i t r a r y
plate s e g m e n t a r e shown a s F i g u r e 3. 18-d. The i n e r t i a l c a p a c t o r C , the
bending i n d u c t o r s L1 a n d L a n d the bending t r a n s f o r m e r s ( n u m b e r s o n e ,
2 '
two, t h r e e , a n d f o u r ) a r e r e f e r e n c e d t o the plate s e g m e n t c e n t e r e d a t the
g r i d position 3 , 3. The t o r s i o n a l coupling i n d u c t o r L a n d the coupling
3
t r a n s f o r m e r ( n u m b e r 5 ) a r e r e f e r e n c e d t o the c r o s s - h a t c h e d p l a t e s e g m e n t .

3.8 SCALE FACTORS

T o u s e t h e a n a l o g c i r c u i t s shown h e r e on a p a s s i v e e l e m e n t c o m p u t e r ,
s c a l e f a c t o r s often m u s t be c o n s i d e r e d to obtain e l e c t r i c a l v a l u e s c o m p a t i b l e
with a v a i l a b l e s e t t i n g v a l u e s f o r t h e c i r c u i t components. A s shown, the
c i r c u i t components f o r the a n a l o g c i r c u i t s a r e given only i n t e r m s of t h e i r
m e c h a n i c a l equivalents o r , i n o t h e r w o r d s , the s c a l e f a c t o r s a r e a s s u m e d
a s unity. Scale f a c t o r s , therefore, a r e introduced s o that the mechanical
quantities c a n be conveniently a d j u s t e d t o t h e a v a i l a b l e s e t t i n g v a l u e s o n the
computer. T h e s e f a c t o r s a r e c o n s t a n t s which r e l a t e the m a g n i t u d e of t h e
quantities i n the m e c h a n i c a l s y s t e m with the c o r r e s p o n d i n g quantity in the
electrical system.
R e q u i r i n g the power i n t h e a n a l o g c i r c u i t s to b e e q u a l to the e n e r g y
of the m e c h a n i c a l s y s t e m yields the s c a l e f a c t o r r e l a t i o n s h i p s shown a s
F i g u r e 3. 19. T h e s e f a c t o r s a r e d e r i v e d i n a g e n e r a l way by M a c N e a l i n
Section 3. 3 of R e f e r e n c e 13. The scaling constants a r e normally selected

88
 FORCES
I

k
F = mechanical force
F = -1
a
M = bending m o m e n t
0

M = -
kP6 T
0
= t o r q u e o r twisting m o m e n t
e a ‘e
I = c u r r e n t corresponding to F

T = I = current corresponding to M
3 0 0
I = c u r r e n t corresponding to T
9 +

COORDINATE MOTION
I
.
w
. = l a t e r a l nr l i n e a r velocity
0 = s l o p e velocity
e = -NkaP e*
~ e + = a n g u l a r (twisting) v e l o c i t y
t = real o r m e c h a n i c a l time
0 ka I m
+=-
NP
4
“4 e
W
= v o l t a g e c o r r e s p o n d i n g to &

e* = voltage c o r r e s p o n d i n g t o 8
= Nt
+.
t 0
m e
= voltage c o r r e s p o n d i n g t o
“4
I
’
I k,a, P , P , N = s c a l i n g c o n s t a n t s t o b e
I selected
te = e l e c t r i c a l t i m e
I

F i g u r e 3.19 G e n e r a l S c a l e F a c t o r R e l a t i o n s h i p s f o r Mobility Arlalogs

89
s u c h that the c a p a c i t o r s e t t i n g r a n g e f r o m . 050 m i c r o f a r a d s (pfd) t o . 900
m i c r o f a r a d s , inductor s e t t i n g s f r o m . 050 h e n r i e s (h) to 1 h e n r y , r e s i s t o r
settings f r o m 1 0 0 o h m s ( 5 2 ) to 1 0 , 0 0 0 , 0 0 0 ohms. The t i m e s c a l e f a c t o r N

i s s e l e c t e d s u c h t h a t the e l e c t r i c a l f r e q u e n c y r a n g e f o r t h e s p e c i f i c p r o b l e m
extends f r o m 80 c y c l e s p e r second ( c p s ) t o a p p r o x i m a t e l y 800 c y c l e s p e r
second.
Consider a n application of t h e s e s c a l e f a c t o r s t o d e t e r m i n e t h e s c a l e d
magnitude of the c i r c u i t components f o r t h e l a t e r a l v i b r a t i o n of a s i m p l e
beam. The l a t e r a l i n e r t i a l f o r c e of a b e a m s e g m e n t m a y be e x p r e s s e d a s

F. = m A x - d?
(3.32)
Y n dt
m

where t is noted a s m e c h a n i c a l t i m e . Substituting the f o r c e , l a t e r a l v e l o c -

m
ity, and t i m e s c a l e f a c t o r s f r o m F i g u r e 3 . 19 into the above e x p r e s s i o n

2 de
-
- a m Ax- P (3.33)
If N2 n dt
e

where I
f
d e n o t e s the c u r r e n t c o r r e s p o n d i n g t o the i n e r t i a l f o r c e F. . This
Y
equation c o r r e s p o n d s in f o r m t o c u r r e n t flow through a c a p a c i t o r of magnitude

2
a
cn = -
2
m Ax
n (3.34)
N

In a s i m i l a r m a n n e r , the bending inductor a n d t r a n s f o r m e r r a t i o a r e c a l c u -

l a t e d and shown t o equal

(3.35)

P Ax
n n
(3.36)

90
 As a n additional e x a m p l e , c o n s i d e r the c a l c u l a t i o n of the s h e a r d e f o r -
m a t i o n i n d u c t o r s L ( V ) i n the Timoshenko b e a m c i r c u i t s . The r e l a t i o n s h i p
n
between the s h e a r f o r c e and t h e d e f o r m a t i o n due to s h e a r is given b y E q . (3. 16-f)

as
(3.37)

Substituting the s h e a r , l a t e r a l velocity, and time s c a l e f a c t o r s into the above

difference expression provides

I
V
= a
2
-A
K'AG
a x x
(3. 38)

where I
V
d e n o t e s the c u r r e n t ' c o r r e s p o n d i n g to the s h e a r f o r c e V
n
. This
equation c o r r e s p o n d s i n f o r m to c u r r e n t flow t h r o u g h ail inductor of magnitude

1 Ax
L (V) = -
n 2
-
K'AG
(3.39)
a

Note t h a t t h e Ax i n t h e above e x p r e s s i o n is twice t h e d i f f e r e n c e length oi

the s h e a r i n d u c t o r s shown in F i g u r e 3 . 1 1 . Thus, the s u m of t h e i n d u c t o r s

in the T i m o s h e n k o b e a m c i r c u i t e q u a l s t h e magnitude given by Eq. (3.39).

3.9 BOUNDARY CONDITIONS

T h e m o b i l i t y circuits d e r i v e d in t h i s d i s c u s s i o n a r e e l e c t r i c a l m o d e l s
of d i f f e r e n c e s e g m e n t s f o r s p e c i f i c distributed e l a s t i c s y s t e m s . These

c i r c u i t s a r e e l e m e n t a l building blocks t o be u s e d i n s y n t h e s i z i n g c o m p l e t e
structural systems. In c o n s t r u c t i n g a complete e l e c t r i c a l m o d e l , t h e
boundary conditions of t h e o r i g i n a l s y s t e m m u s t be accounted f o r e l e c t r i c a l l y .
S e v e r a l b e a m p r o b l e m s w i l l be c o n s i d e r e d t o i l l u s t r a t e the handling of
t y p i c a l boundary conditions.

91
 C o n s i d e r a s i x - s e g m e n t r e p r e s e n t a t i o n of a c a n t i l e v e r b e a m d e s c r i b e d

by s i m p l e b e a m theory. The b a s i c c i r c u i t f o r a s e g m e n t of s i m p l e b e a m i s

shown a s F i g u r e 3. 7. I n t e r c o n n e c t i n g six s u c h c i r c u i t s (without the l a t e r a l

loading) i n t a n d e m yields the analog c i r c u i t shown a s F i g u r e 3 . 20.

The e l e c t r i c a l n e t w o r k is a mobility analog, t h u s , the voltages and
c u r r e n t s i n the slope c i r c u i t 6 correspond t o the s l o p e v e l o c i t i e s and bend-
ing m o m e n t s r e s p e c t i v e l y ; and, the voltages and c u r r e n t s i n the l a t e r a l
motion c i r c u i t c o r r e s p o n d t o l a t e r a l v e l o c i t i e s and s h e a r f o r c e s r e s p e c -
tively. The c i r c u i t components and t h e i r m e c h a n i c a l equivalents f o r the nth
s e g m e n t a r e shown: the c a p a c i t o r C c o r r e s p o n d s t o the l u m p e d m a s s
n
the inductor L (e) to the s p r i n g k (e), and the nth t r a n s f o r m e r t o the
mny n n
rigid l e v e r l a b e l e d a s A x
n
. The b e a m g r i d defines the l a t e r a l motion nodes

a s even dipits and the slope nodes a s odd d i g i t s . T h e r e f o r e , the d i f f e r e n c e

between any two odd o r any two e v e n positions i s the d i f f e r e n c e s e g m e n t
AX.
T h e b o u n d a r y conditions f o r a c a n t i l e v e r b e a m a r e e x p r e s s e d a s

(3.40)

3
a Y(J,~):Y
E1 3 = V(1,t ) = 0
ax

w h e r e the fixed o r b u i l t - i n end condition (x=O) allows no l a t e r a l deflection

n o r slope a n d the f r e e end ( x = l ) c a n c a r r y no s h e a r f o r c e n o r bending m o -

ment. No l a t e r a l n o r s l o p e motion at the b u i l t - i n end i s equivalent to

92
 c
3
.e
c
3
'
A
c

-0
a,
k

ld
U
ld

rn
M
0
4
ld
.2
k

ld
k

a"

4
l
d
u

0
N
m
u
'
k
M
i;l
93
L e r o voltage a t the a p p r o p r i a t e nodes i n t h e l a t e r a l motion a n d s l o p e c i r -

cuits. This is a c c o m p l i s h e d e l e c t r i c a l l y by grounding the nodes a t the

spatial location c o r r e s p o n d i n g to x = 0. N o bending m o m e n t n o r s h e a r a t

the f r e e end is equivalent t o z e r o c u r r e n t flow out of the a p p r o p r i a t e nodes

i n the $ and 6 circuits. This is done e l e c t r i c a l l y by opening the c i r c u i t

a t the s p a t i a l positions shown a s 11 a n d 12.

I n s t e a d of t h e fixed boundary conditions a t x = 0, s u p p o s e the c a n t i l e v e r
beam w a s a t t a c h e d to a flexible boundary allowing both l a t e r a l a n d bending
motions a t the root. T h i s i s a c c o u n t e d f o r e l e c t r i c a l l y by i n s e r t i n g i n d u c t o r s
L a n d L to ground i n both the 9 a n d 0 c i r c u i t s a t t h e x = 0 s p a t i a l location
0 Y
a s depicted i n F i g u r e 3 . 2 1 . The magnitudes of t h e s e i n d u c t o r s depend upon
the amount of flexibility i n t h e b o u n d a r i e s . Setting the i n d u c t o r s to z e r o
(shorting t h e m f r o m t h e c i r c u i t ) r e d u c e s the flexible b o u n d a r i e s t o a n infinite
stiffness o r t h e o r i g i n a l r i g i d boundary conditions f o r the fixed end of a
cantilever b e a m .

0 2

F i g u r e 3. 21 F l e x i b l e Boundary f o r the Built-in End

Condition of a C a n t i l e v e r B e a m

94
 C o n s i d e r t h e s i x - s e g m e n t s i m u l a t i o n of the p a r t i a l l y loaded beam
s t r u c t u r e shown a s Figure 3.22. Simple b e a m t h e o r y is assumed a d e q u a t e

to describe the structure. T h e boundary conditions a r e t h o s e of a cantilever

b e a m with a n intermediate s u p p o r t at t h e c e n t e r span. T h u s , t h e analog

s i m u l a t i o n c?f the end conditions a r e i d e n t i c a l w i t h those shown in F i g u r e 3.20.

The i n t e r m e d i a t e s u p p o r t allows no deflection a n d r e q u i r e s continuity i n t h e
bending m o m e n t a n d s l o p e at the m i d span. These a r e simulated electrically
b y grounding onlv t h e c i r c u i t a t t h e node c o r r e s p o n d i n g to s p a t i a l p o s i -
tion 6. The i n e r t i a l c a p a c i t o r is s h o r t e d f r o m t h e c i r c u i t a t this position
and i s not shown. The c u r r e n t g e n e r a t o r s c o r r e s p o n d t o t h e e x t e r n a l l o a d -
ing l u m p e d a t nodal positions 8, 10, and 12.

f(x, t )
Physical System

14 1 I J

I I
I I
0 2
i i i
1
I I
4 6 8 10 12

E l e c t r i c a l Analog

F i g u r e 3. 22 Mobility Analog of a P a r t i a l l y L o a d e d D i s t r i b u t e d B e a m

95
I

4. OTHER PHYSICAL SYSTEMS

P a s s i v c analog conccpts arc' g e n e r a l l y a p p l i c a b l e f o r m o s t any physical

systcxm dtxscribed a s a function of both s p a c e and t i m e , i . e . , a p a r t i a l

diffe r c n t i a l equation. Although v a r i o u s e l e c t r i c a l analogs w e r e c o n s i d e r e d

i n thti previous s e c t i o n s , mobility c i r c u i t s w e r e e m p h a s i z e d f o r s i m u l a t i n g
thcs vibration of l i n e a r e l a s t i c s t r u c t u r e s . In t h i s s e c t i o n , m o b i l i t y - o r i e n t e d
c i r c u i t s a r e cons1dc.rc.d f o r p h y s i c a l s y s t e m s o t h e r than e l a s t i c s t r u c t u r e s .

I 4. 1 VISCOELASTIC MODEL

F o r s o m e p r o b l e m s , the p r o p e r t i e s a s s o c i a t e d with a v i s c o e l a s t i c
m a t e r i a l such a s solid p r o p e l l a n t c a n be d e s c r i b e d a s a c o m p l e x s t i f f n e s s
w h e r e the f o r c e - d i s p l a c e m e n t r e l a t i o n s h i p i s

I E x p r e s s e d i n t e r m s of the velocity, the a b o v e equation b e c o m e s

io iw wi6
(4.3)

w h e r e f o r c e i s a s s u m e d a n a l o g o u s t o c u r r e n t a n d v e l o c i t y a n a l o g o u s t o voltage.
By O h m ' s law, Equation ( 4 . 3) is e l e c t r i c a l l y equivalent t o the c o m b i n e d
impedance of a n inductor in s e r i e s with a r e s i s t o r shown as F i g u r e 4 . 1 . The
m e c h a n i c a l equivalents of t h e inductor a n d r e s i s t o r a r e found by w r i t i n g t h e
impedance f o r the R L s e r i e s c o m b i n a t i o n a n d c o m p a r i n g t h e r e s u l t i n g t e r m s
with E q . ( 4 . 3 ) .

96
 1
L =
2
K'(1 + a )

9
R =
2
F K'(1 t 9 )

F i g u r e 4 . 1 Mobility C i r c u i t f o r a Viscoelastic Spring

T h i s s i m p l e mobility c i r c u i t c a n be used in conjunction with known

a n a l o g s of e l a s t i c s t r u c t u r e s to c r e a t e models of v i s c o e l a s t i c s t r u c t u r e s .
F o r e x a m p l e , to c r e a t e a n analog depicting the l a t e r a l motion of a v i s c o -
e l a s t i c b e a m , the RL s e r i e s combination is s u b s t i t u t e d f o r the bending
inductor L ( 0 ) i n F i g u r e 3 . 7. F o r a n analog m o d e l depicting t h e v i b r a t i o n
n
of a n e l a s t i c b e a m on a v i s c o e l a s t i c foundation, t h e R L series combination
is substituted f o r the e l a s t i c foundation inductor L (K ) in F i g u r e 3.12
n f
.
Other v i s c o e l a s t i c m o d e l s c a n be c r e a t e d by similar s u b s t i t u t i o n s .

4.2 HEAT TRANSFER O F A CYLINDRICAL ROD

C o n s i d e r t h e d e r i v a t i o n of a n analog c i r c u i t depicting the t e m p e r a t u r e

c h a r a c t e r i s t i c s of a homogeneous c y l i n d r i c a l s e c t i o n of rod. A s discussed
by P i p e s in Section 14 of R e f e r e n c e 1 6 , equating t h e l o s s of h e a t e n e r g y in a
volume of m a t e r i a l to t h e h e a t flow f r o m the v o l u m e t r i c s u r f a c e y i e l d s

where S is t h e s u r f a c e of t h e body, T the t e m p e r a t u r e of t h e body, V t h e

volume of t h e body, c t h e s p e c i f i c h e a t of the m a t e r i a l , E the v e c t o r a n o r m a l
-
t o the c y l i n d r i c a l s u r f a c e , q the v e c t o r denoting the h e a t flow, p t h e d e n s i t y
of t h e body p e r unit v o l u m e , and t the t i m e .

97
E x p r e s s i n g t h i s equation a s a v o l u m e t r i c i n t e g r a l p r o v i d e s

where Gauss' t h e o r e m i s used to t r a n s f o r m the s u r f a c e integral and v is

the dell o p e r a t o r c o m m o n t o v e c t o r a n a l y s i s .
Since the v o l u m e i s finite a n d t h e i n t e g r a l i s continuous, t h e i n t e g r a n d
of Eq. (4. 5) c a n v a n i s h only i f

dT
(4.6)

In expanded f o r m , Eq. (4. 6 ) a p p e a r s a s t h e diffusion equation f o r h e a t flow

w h e r e the h e a t flow is given b y

and k is t h e t h e r m a l conductivity. F o r cylindrical coordinates, the s q u a r e

of the dell o p e r a t o r is e x p r e s s e d a s

v = 1 aR
R aR
[ E) t--+-
R~
i a
ae2 aZ
a'
2 (4. 9 )

Substituting t h e above equation into (4. 7 ) y i e l d s t h e h e a t flow equation f o r a

cylindrical section

9dT =
k dt
lR aaR (R 2) 1 a2T
t--t-
a2T
2
(4. 1 0 )
R2ae2 aZ

98
 A s s u m i n g t h e t e m p e r a t u r e t o be independent of the a n g u l a r c o o r d i n a t e

8, Eq. (4. 10) r e d u c e s t o the two-dimensional h e a t flow equation

(4. 11)

E x p r e s s e d a s a f i n i t e - d i f f e r e n c e equation for a d i f f e r e n c e volume of t h e

m a t e r i a l , t h e two-dimensional h e a t flow equation a p p e a r s as

dT
c p r O r Az -
dt
- kraz
Ar
{(Tn+l - T n ) - (T - T
n n-1

w h e r e s u b s c r i p t s below the b r a c e s denote the c o o r d i n a t e d i r e c t i o n s a n d

A0 is a s s u m e d a s one r a d i a n .
Defining a r - z r e c t a n g u l a r g r i d , a d i f f e r e n c e R C network siiiiiikitkig

Eq. (4.1 2 ) is shown a s F i g u r e 4. 2. Consistent with the mobility a p p r o a c h ,

the t e m p e r a t u r e is p r o p o r t i o n a l to voltage and the h e a t flow p r o p o r t i o n a l to
the c u r r e n t . The c a p a c i t o r denotes the heat c a p a c i t y of the m a t e r i a l a n d the
r e s i s t o r the t h e r m a l r e s i s t i v i t y in the r a d i a l a n d axial d i r e c t i o n s . A heat
o r cooling s o u r c e would be r e p r e s e n t e d as a c u r r e n t g e n e r a t o r connected
to the a p p r o p r i a t e t e m p e r a t u r e node. Similar analogs for heat t r a n s f e r are
d i s c u s s e d i n g r e a t e r depth by K a r p l u s a n d Soroka in C h a p t e r 10 of R e f e r -
e n c e 11.

99
Difference Volume
i n Cylindri cal
Coordinate S
W”

Di f f e r en c e
Network
n

I n nt1

Ar
R = -
r krAz
AZ
R =-
z krAr

C = cprArAz

Figure 4.2 Analog Difference Network for Two-dimensional Heat Flow i n

Cylindrical Coordinates

100
4.3 THERMAL CHARACTERISTICS OF F L U I D F L O W IN A DUCT

C o n s i d e r the d e r i v a t i o n of a n e l e c t r i c a l analog depicting the t h e r m a l

c h a r a c t e r i s t i c s of fluid flow through a duct. The q u a n t i t i e s t o be c o n s i d e r e d
i n t h i s r e p r e s e n t a t i o n a r e shown i n F i g u r e 4 . 3 .

dx C r o s s - s e c t i o n of Duct W a l l
k 4

Flow - c
-
4
i
p.\ \ >
-
-
x

\I

9' q

F i g u r e 4. 3 Sketch Depicting T h e r m a l and F l u i d Flow Through a

Section of Duct

In t h i s s k e t c h , q denotes the h e a t flow into the f l u i d by conduction through

the duct wall, q' the h e a t flow into the fluid f r o m s o u r c e s o t h e r than the
s u r r o u n d i n g body ( s u c h a s i n t e r n a l f r i c t i o n o r r a d i a t i o n ) , and x a s p a t i a l
location along the flow path.
The d i f f e r e n t i a l equation d e s c r i b i n g the fluid t e m p e r a t u r e as a function
of time a n d s p a t i a l position may be e x p r e s s e d a s

= q t q ' (4.13)

where T is t h e t e m p e r a t u r e of the fluid, c t h e s p e c i f i c h e a t of the fluid a t

constant p r e s s u r e , t the time,
- -v t h e velocity of t h e fluid, and w the mass
flow r a t e of the fluid. Quantities such a s the t e m p e r a t u r e and velocity a r e
a s s u m e d c o n s t a n t o v e r the duct c r o s s - s e c t i o n at any instant. Although s u c h

101
 quantities may v a r y o v e r the c r o s s - s e c t i o n , m e a n v a l u e s a r e multiplied b y
the c r o s s - s e c t i o n a r e a to yield c o r r e c t v a l u e s of m a s s flow a n d h e a t flow
of the fluid. The heat flow q i n t o the fluid due to a t e m p e r a t u r e d i f f e r e n c e

between the fluid a n d the d u c t w a l l a p p e a r s a s

q = s k ( T d - T) (4.14)

w h e r e Td is the t e m p e r a t u r e of the a m b i e n t s u r r o u n d i n g s u c h a s the d u c t

wall, k t h e s u r f a c e conductivity coefficient b e t w e e n t h e fluid a n d the
ambient s u r r o u n d i n g s , a n d s the p e r i m e t e r of the d u c t c r o s s - s e c t i o n .
Substituting (4.14) into (4.13) a n d e x p r e s s i n g the r e s u l t a n t equation in f i n i t e -
difference form y i e l d s

(4.15)

An analog c i r c u i t e l e c t r i c a l l y s i m u l a t i n g t h i s d i f f e r e n c e equation is shown

a s Figure 4.4.
\

102
 .If Rd

1
R =-
d sMx

Figure 4 . 4 Difference C i r c u i t Depicting H e a t Flow and

F l u i d Flow Through a Duct

The c u r r e n t is analogous to h e a t flow, t h e nodal voltages to t h e d u c t

a n d fluid t e m p e r a t u r e s , t h e c a p a c i t o r t o the h e a t c a p a c i t y of the f l u i d , the

r e s i s t o r s R and R to the t h e r m a l r e s i s t i v i t y of t h e fluid a n d d u c t w a l l
d
respectively. The c a p i t a l Q and Q ' s y m b o l s denote the h e a t flows by
conduction and e x t e r n a l s o u r c e s f o r t h e d i f f e r e n c e l e n g t h Ax. A thorough
d i s c u s s i o n of t h i s topic a r e a is given b y Dixon i n R e f e r e n c e 6.

~ 103
 5. CONCLUDING REMARKS

The distinction b e t w e e n s t r u c t u r a l v i b r a t i o n p r o b l e m s and t h e topics

of Section 4 should b e c l e a r l y u n d e r s t o o d . Vibration of the s i m p l e r e l a s t i c
s t r u c t u r e s i s c a t e g o r i z e d m a t h e m a t i c a l l y a s a type of wave equation w h e r e a s
p r o b l e m s common to h e a t t r a n s f e r a n d fluid flow a r e c a t e g o r i z e d m a t h e -
matically a s diffusion equations. T h e d i f f e r e n c e b e t w e e n w a v e and diffusion
equations i s t h e o r d e r of t h e t i m e d e r i v a t i v e ; t h e w a v e equation h a s a s e c o n d
t i m e d e r i v a t i v e while the diffusion equation h a s a f i r s t t i m e d e r i v a t i v e .
Although the s a m e g e n e r a l p r o c e d u r e c a n b e applied to d e r i v e p a s s i v e
analog c i r c u i t s f o r both t y p e s of equations, the r e s u l t a n t a n a l o g s a r e d i s t i n c t .
Analogs f o r the v i b r a t i o n of s t r u c t u r e s a r e f o r c e - c u r r e n t , velocity-voltage
finite-difference c i r c u i t s of t h e w a v e equation. T h e s e t y p e s of c i r c u i t s a r e
called mobility analogs. E l e c t r i c a l l y t h e s e c i r c u i t s c o n s i s t of c a p a c i t o r s ,
inductors a n d t r a n s f o r m e r s . If v i s c o u s damping is included, r e s i s t o r s
then a r e added i n the mobility c i r c u i t s . The e l e c t r i c a l i m p e d a n c e of mobility
analogs c o r r e s p o n d s t o mobility w h e r e a s the e l e c t r i c a l a d m i t t a n c e of mobility
analogs c o r r e s p o n d s to m e c h a n i c a l i m p e d a n c e .
Analogs f o r h e a t t r a n s f e r a n d fluid flow a r e ' f l o w ' - c u r r e n t 'dependent-
v a r i a b l e ' - voltage, finite- d i f f e r e n c e c i r c u i t s of t h e diffusion equation. The s e
c i r c u i t s a r e r e f e r r e d t o a s q u a s i - m o b i l i t y a n a l o g s ; a n d differ f r o m mobility
analogs in t h e type of e l e c t r i c a l components n e e d e d a n d i n t h e m e c h a n i c a l
i n t e r p r e t a t i o n of t h e c u r r e n t a n d voltage. C u r r e n t i s a s s u m e d analogous to
h e a t flow a n d t e m p e r a t u r e i s t h e dependent v a r i a b l e f o r h e a t t r a n s f e r s i m u -
lation. E l e c t r i c a l l y , q u a s i - m o b i l i t y a n a l o g s c o n s i s t chiefly of r e s i s t o r s
and c a p a c i t o r s , although t r a n s f o r m e r s m a y s o m e t i m e s b e r e q u i r e d .
A n o t h e r i m p o r t a n t analogy c o m m o n t o s t a t i c a n a l y s e s of s t r u c t u r e s
is a f o r c e - c u r r e n t , d i s p l a c e m e n t -voltage, finite - d i f f e r e n c e c i r c u i t . This

104
 t y p e of c i r c u i t is r e f e r r e d t o a s a s t a t i c - m o b i l i t y analog and c o n s i s t s of
r e s i s t o r s and t r a n s f o r m e r s . Such a n a l o g s e l e c t r i c a l l y d e s c r i b e , i n f i n i t e -
I
. difference f o r m , the static behavior of l i n e a r e l e a s t i c s t r u c t u r e s as defined

by e l a s t i c i t y t h e o r y w h e r e t h e body f o r c e s a r e neglected. Since t h e s p a t i a l

d e r i v a t i v e s r e m a i n unchanged, t h e equations provided by the e l a s t i c i t y
t h e o r y d i f f e r i n f o r m f r o m t h a t of a wave equation only i n t h e a b s e n c e of
the t i m e d e r i v a t i v e t e r m . Thus, s i n c e e l a s t i c i t y t h e o r y contains all of t h e
s p a t i a l d e r i v a t i v e s f o r a given s t r u c t u r e , a n i m p o r t a n t u s e of s t a t i c - m o b i l i t y
analogs is to d e r i v e mobility analogs. By simply changing the r e s i s t o r s t o
i n d u c t o r s and adding c a p a c i t o r s to the nodes (to a c c o u n t f o r t h e i n e r t i a l o r
body f o r c e s ) , s t a t i c analogs a r e routinely converted to mobility analogs.
This p r o c e d u r e is i l l u s t r a t e d only f o r the s i m p l e b e a m .
In c o n t r a s t with t h e RLC ( r e s i s t o r - i n d u c t o r - c a p a c i t o r ) o r RC c i r c u i t s
common to t h e s i m p l e r , d i s c r e t e p h y s i c a l s y s t e m s , t r a n s f o r m e r s a r e i n t r o -
duced to d e s c r i b e the s p a t i a l c h a r a c t e r i s t i c s of d i s t r i b u t e d s y s t e m s . Mathe-
iiiatica!?i-, t h e s e sp-tizl c h a r a c t e r i s t i c s a r e defined a s the d i f f e r e n t i a l
o p e r a t o r s of the p a r t i a l d i f f e r e n t i a l equations and b e c o m e i n c r e a s i n g l y c o m -
plex i n p r o g r e s s i n g f r o m r e c t a n g u l a r to p o l a r c o o r d i n a t e s . Synthesizing c i r -
c u i t s f o r h i g h e r o r d e r s p a t i a l d e r i v a t i v e s i s one of the m o s t difficult t a s k s i n
analog derivation.
The analog d e r i v a t i o n p r o c e d u r e e m p h a s i z e d i n t h i s d i s c u s s i o n c o n s i s t s
of r e c o g n i z i n g c i r c u i t l a w s e l e c t r i c a l l y equivalent to f i r s t - o r d e r finite d i f f e r -
e n c e equations r e p r e s e n t i n g t h e dynamic behavior of t h e s t r u c t u r e s . Force
e q u i l i b r i u m c o r r e s p o n d s t o Kirchhoff's c u r r e n t l a w s , s t r e s s - s t r a i n r e l a t i o n -
s h i p s to O h m ' s law, and c o m p a t i b i l i t y e x p r e s s i o n s t o voltage d r o p r e l a t i o n -
ships. In c o n t r a s t t o t h i s p r o c e d u r e , B a r n o s k i ( R e f e r e n c e 1 ) and B a r n o s k i
and F r e b e r g ( R e f e r e n c e 3) equate s t r a i n energy w i t h e l e c t r i c a l p o w e r t o ob-
t a i n s t a t i c a n a l o g s of complex s t r u c t u r e s .

105
 The mobility analogs of t h i s d i s c u s s i o n a r e c o n s i d e r e d a s e l e m e n t a l
s t r u c t u r a l building blocks and c a n b e u s e d t o s y n t h e s i z e e l e c t r i c a l m o d e l s
of c o m p l e t e s t r u c t u r a l s y s t e m s . In g e n e r a l , t h e s e e l e c t r i c a l m o d e l s a r e
s e t up on a p a s s i v e e l e m e n t analog c o m p u t e r , a n d a planned e x p e r i m e n t a l
program is performed electrically. An a l t e r n a t e application of the analog
c i r c u i t s is t o u s e c i r c u i t a n a l y s i s p r o c e d u r e s t o a n a l y z e c o m p l e x s t r u c t u r e s
by digital c o m p u t e r s . Such a p p r o a c h e s a r e s u g g e s t e d b y B a r n o s k i (Ref-
e r e n c e 2 ) and Walker ( R e f e r e n c e 2 0 ) and, although s t i l l undeveloped, should
result in analysis procedures f o r complex s t r u c t u r a l s y s t e m s incorporating
the advantages of both analog and digital c o m p u t e r s .
 *

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