Forced 1dof Vibrat I

1
Mechanical Vibrations
Dr. Jorge A. Olrtegui Yume, Ph.D.
FORCED, VISCOUSLSY DAMPED, 1 DOF
VIBRATIONS
Mechatronics Engineering School
National University of Trujillo
Lecture No. 5
Forced, Visc. Damped 1DOF Vibrations
Dr. Jorge A. Olortegui Yume, Ph.D.
2
FREE, VISC. DAMPED 1 DOF VIBRATIONS
FORCED VIBRATION
Energy supplied to system through excitation.
Excitation: - Applied force (F(t))
- Imposed displacement (y(t))
- Mass imbalance( me)
SEP
x
Excitation: - Deterministic
a.- Harmonic (sines&cosines)
e.g., F(t)=F
o
sin(t)
e.g., y(t)=Ysin(t)
e.g., F*(t)=me
2
sin(t)
b.- Non-harmonic
i) Periodic
ii) Aperiodic
- Non-deterministic or Random
( ) t F kx cx x m = + +
- - -
EOM
( ) t F kx cx x m
o
e sin = + +
- - -
FORCED, VISCOUSLY-DAMPED, 1-DOF VIBRATION
If excitation is Harmonic force, e.g.,
F(t)=F
o
sin(t), then:
EOM
HARMONICALLY FORCED, VISC.-DAMPED, 1-DOF VIB.
3
FORCED, VISC. DAMPED 1 DOF VIBRATIONS
I. HARMONICALLY EXCITED, VISCOUSLY-DAMPED, 1-DOF VIBRATION
Excitation is harmonic (sines and/or cosines)
a) SEP & (+)x
b) FBD @ arbitrary position
c) Dynamics
( ) ( ) t F t F
o
e sin =
F
o
: Force amplitude (N)
|
.
|
\
|
=
- -
x m F
Harmonic exciting force
( ) t F kx cx x m
o
e sin = + +
- - -
EOM
d) Solve EOM
: Excitation freq. (rad/s)
( )
- -
= + x m t F F F
d s
( )
- - -
= + x m t F x c kx
o
e sin
( ) ( )
ss ss tr d
t
tr
t X t e X t x
n
| e | e
e
+ + =

sin ) sin(
tr: Transient
ss: Steady state
n
: Natural frequency (rad/s)
d
: Damped frequency (rad/s)
: Excitation frequency (rad/s)
SEP
x
-
x
- -
x
1
st
CASE: Direct Harmonic Forcing
Real-world applications:
-Rotating machines (turbines)
-Reciprocating machine (car engine)
-Support motion (vibratory tables)
Damping element present energy dissipation
Relevant cases:
Direct Forcing, Rotating imbalance, Support motion
Usually neglected
4
( ) t F kx cx x m
o
e sin = + +
- - -
Solution to EOM
2
nd
order, non-homogeneous, linear ODE
Nice&simple soln. but not general
( ) ( ) ( ) t x t x t x
P H
+ =
Homogeneous solution (x
H
(t))
Particular solution (x
P
(t))
0 = + +
- - -
kx cx x m
( )
t t
H
n n
e N e N t x
|
.
|
\
|
|
.
|
\
|
+
+ =
1
2
1
1
2 2
e e
0<<1 Underdamped Oscillation w/ decay most common
( ) ) sin(
H d
t
H H
t e X t x
n
| e
e
+ =

( ) t F kx cx x m
o
e sin = + +
- - -
0 0
( ) ( ) t
k
F
t x
o
P
e sin =
( ) ( )
P P H d
t
H
t X t e X t x
n
| e | e
e
+ + =

sin ) sin(
( ) ( )
P P P
t X t x | e = sin
General solution
( ) ( ) ( ) ( ) t x t x t X t e X t x
ss tr ss ss tr d
t
tr
n
+ = + + =

| e | e
e
sin ) sin(
Total General solution
Homogeneous/Transient solution
(dies out)
Particular/Steady-
state solution
(remains)
5
Solution to EOM (contd)
( ) ( ) ( ) ( ) t x t x t X t e X t x
ss tr ss ss tr d
t
tr
n
+ = + + =

| e | e
e
sin ) sin(
General
solution
Transient response dies out eventually mostly Steady state response is relevant
( ) ( ) ( ) ( ) | e | e = = = t X t X t x t x
ss ss ss
sin sin
Constants determination (X, |) Undetermined coefficients method
( ) t F kx cx x m
o
e sin = + +
- - -
EOM
Steady-state
response/solution
( ) ( ) | e = t X t x sin
( ) ( ) | e e =
-
t X t x cos
( ) ( ) | e e =
- -
t X t x sin
2
Replacing:
( ) ( ) ( ) ( ) ( ) ( ) ( ) t F t X k t X c t X m
o
e | e | e e | e e sin sin cos sin
2
= + +
( ) ( ) ( ) ( ) t
X
F
t c t m k
o
e | e e | e e sin cos sin
2
= +
( )| | | | ( ) t
X
F
t t c t t m k
o
e | e | e e | e | e e sin sin sin cos cos sin cos cos sin
2
= + +
( ) | | ( ) | | ( ) ( ) t t
X
F
t c m k t c m k
o
e e e | e | e e | e | e cos 0 sin cos cos sin sin sin cos
2 2
+ = + + +
6
Solution to EOM (contd)
Constants determination (X, |) Undetermined coefficients method
( ) | | ( ) | | ( ) ( ) t t
X
F
t c m k t c m k
o
e e e | e | e e | e | e cos 0 sin cos cos sin sin sin cos
2 2
+ = + + +
( )
X
F
c m k
o
= + | e | e sin cos
2
( ) 0 cos sin
2
= + | e | e c m k
Comparing coefficients for cost
2
tan
e
e
|
m k
c
=
e c
2
e m k
( ) ( )
2
2
2
e e m k c +
|
( )
( )
( ) ( ) ( ) ( )
X
F
m k c
c
c
m k c
m k
m k
o
=
+
+
+
2
2
2
2
2
2
2
2
e e
e
e
e e
e
e
Comparing coefficients for sint
( ) ( )
( ) ( )
=
+
+
X
F
m k c
m k c
o
2
2
2
2
2
2
e e
e e
( ) ( )
2
2
2
e e c m k
F
X
o
+
=
7
Solution to EOM (Conclusion)
( ) t F kx cx x m
o
e sin = + +
- - -
( ) ( ) ( ) ( ) t x t x t X t e X t x
ss tr ss ss tr d
t
tr
n
+ = + + =

| e | e
e
sin ) sin(
General solution
Usually more relevant! ( ) ( ) ( ) | e = = t X t x t x
ss
sin
2
tan
e
e
|
m k
c
=
( ) ( )
2
2
2
e e c m k
F
X
o
+
=
Amplitude
Phase lag
Steady-state
response/solution
X, | do not depend upon ICs !!!
Dies out eventually
( ) ( )
tr d
t
tr tr
t e X t x
n
| e
e
+ =

sin Transient response/solution
X
tr
, |
tr
depend upon ICs
F
o
: Amplitude of harmonic force
: Excitation frequency (rad/s)
SEP
x
EOM
8
( ) t F kx cx x m
o
e sin = + +
- - -
( ) ( ) | e = t X t x sin
2
tan
e
e
|
m k
c
=
( ) ( )
2
2
2
e e c m k
F
X
o
+
=
Response
EOM
1
st
CASE: Direct Harmonic Forcing (Observations)
(i) Same EOM & Soln. / diff. configurations
(ii) Relationship between excitation and response
Harmonic force
(Freq.)
Harmonic response
(Freq. )
F(t)=F
o
sint x(t)=Xsin(t-|)
F(t)=F
o
cost x(t)=Xcos(t-|)
Frequency same
x(t) lags F(t) by phase lag |
Change x y
e
|
|
ss
ss
t =
e
t
t
2
=
9
2
tan
e
e
|
m k
c
=
( ) ( )
2
2
2
e e c m k
F
X
o
+
=
1
st
CASE: Direct Harmonic Forcing (Observations)
(iii) Plots for X and |
rad rad
n
57 . 1
2
max
~ = =
=
t
| |
e e
n
e e =
n
X X
e e=
~
max
n
e e =
k
F
X
o
=
=0 e
Amplitude harmonically forced system
10
( ) ( ) | e = t X t x sin
2
tan
e
e
|
m k
c
=
( ) ( )
2
2
2
e e c m k
F
X
o
+
=
S.S.
Response
1
st
CASE: Direct Harmonic Forcing (Non-dimensional analysis)
S.S.
Amplitude
Phase lag
Amplitude harmonically forced system
( ) t F kx cx x m
o
e sin = + +
- - -
EOM
Non-dimensional analysis
Purpose: Condense all possible cases
Static Deflection (o
st
)
k
F
X
o
st
= =
=0 e
o
Non-dimensional amplitude (M)
st
o
X
k
F
X
M
o
= =
X : S.S. amplitude (m)
o
st
: Static deflection (m)
M: Non-dim. (no units)
Frequency ratio (r)
n
r
e
e
=
: Excitation freq. (rad/s)
n
: Natural freq. (rad/s)
r: Non-dimensional (no units)
...
/ 52
/ 26
/ 4
/ 2
= = = =
s rad
s rad
s rad
s rad
r
n
e
e
Damping ratio ()
cr
c
c
=
c: Damping constant (N.m/s
2
)
c
cr
: Critical damping constant (N.m/s)
: Non-dimensional (no units)
...
/ . 5
/ . 25
/ . 1
/ . 5
= = = =
m s N
m s N
m s N
m s N
c
c
cr
...
002 . 0
02 . 0
005 . 0
05 . 0
= = = =
m
m
m
m X
M
st
o
F(t)=F
o
sin(t)
x
x
11
( ) t F kx cx x m
o
e sin = + +
- - -
EOM
( ) t F
m
kx cx x m
m
o
e sin
1 1
|
.
|
\
|
=
|
.
|
\
|
+ +
|
.
|
\
|
- - -
|
.
|
\
|
m
1
( ) t
m
F
x
m
k
x
m
c
x
o
e sin
|
.
|
\
|
= + +
- - -
n
m
c
e 2 =
n
m
k
e =
Using
( ) t
m
F
x x x
o
n n
e e e sin 2
2
|
.
|
\
|
= + +
- - -
STD form of EOM
Non-dimensional form of equations
12
( ) ( )
2
2
2
e e c m k
F
X
o
+
=
|
.
|
\
|
|
.
|
\
|
k
k
1
1
( ) ( )
( )
2
2
2
2
2 2
2
2
2
2
/
1
1
1
|
.
|
\
|
+
|
|
.
|
\
|
=
|
.
|
\
|
+
|
.
|
\
|

=
+
=
e e
o
e e
o
e e
k
m
m
c
m k
k
c
k
m
k
c m k
k
F
X
st st
o
( ) ( )

+
=
|
|
.
|
\
|
|
|
.
|
\
|
+
|
|
.
|
\
|
|
|
.
|
\
|
=
2
2
2 2
2
2
2 1
2 1
r r
X
st
n n
st
o
e
e
e
e
o
( ) ( )
2
2
2
2 1
1
r r
M
X
st

o
+
= =
S.S. Amplitude
Non-dimensional amplitude (M)
2
tan
e
e
|
m k
c
=
Phase lag
Also, Magnification factor (M)
|
.
|
\
|
|
.
|
\
|
k
k
1
1
2
2
2
2 2
1
2
1
1
1
2
/
1
1 1
tan
r
r
m k
k
m
m
c
k
m
k
c
n
n
=
|
|
.
|
\
|
|
|
.
|
\
|
=
|
.
|
\
|
|
.
|
\
|

=
|
.
|
\
|
|
.
|
\
|
=

e
e
e
e
e
e
e
e
|
2
1
2
tan
r
r
=

|
Phase lag (|)
Non-dimensional form of equations
13
Non-dimensional plots for M and | as functions or r ( fixed)
Resonance: Excitation frequency () equals natural frequency(
n
)
1 = = =
n
n
n
r
e
e
e
e
( )
( ) ( ) ( )

+
=
=
2
2
2
1
1 2 1 1
1
r
r M
( )
2
1
1
= =
= r
res
r M M
Peak value of M:
( )
0 =
dr
r dM
0 = r
( )
2 2 1
1 2
1
2

= =
= r
peak
r M M
=
2
2 1 r
res peak
M M = ~
2
1
If 0
( )
( ) ( ) ( )

+
=
=
2
2
2
0
0 2 0 1
1
r
r M
( ) 1
0
=
= r
r M
( )
( ) ( ) ( )

+
=

2
2
2
2 1
1
r
r M
( ) 0 =
r
r M
Asymptote
( )
( ) ( )
2
2
2
2 1
1
r r
r M
+
=
Asymptote (M=0) Resonance
Intercepts:
14
Resonance: Excitation frequency () equals natural frequency(
n
)
1 = = =
n
n
n
r
e
e
e
e
( )
( )
( ) =
|
.
|
\
|
=

=
1
2
1
1
tan
1 1
1 2
tan

|
r
r
( ) rad rad r
r
5708 . 1
2
1
= =
=
t
|
( ) 0 =
r
r M
( )
( ) ( )
2
2
2
2 1
1
r r
r M
+
=
Asymptote (M=0) Resonance
Asymptote (|=t)
( )
|
.
|
\
|
=

2
1
1
2
tan
r
r
r

|
Resonance
| = t/2 rad
( ) 1
0
=
= r
r M
15
( )
( ) ( )
2
2
2
2 1
1
,
r r
r M
+
=
Resonance
05 . 0 =
1 . 0 =
15 . 0 =
239 . 0 =
7071 . 0
2
1
= =
0 . 1 =
5 . 1 =
4 . 0 =
decreasing
Non-dimensional plots for M and | as functions or r and ( also changing)
Resonance and small values of :
( )
( ) ( )( ) ( )
=
+
=
2
2
2
1 0 2 1 1
1
0 , 1
M
Very large values of X !!!
st
X
M
o
=
Recall:
2
1
>
2
1
<
Bump No Bump
Limiting value of :
( )
|
.
|
\
|
=

2
1
1
2
tan ,
r
r
r

|
Resonance
|= t/2 rad
Relationship to time domain plots
F(t)=F
o
sin(t)
x
x
m=50kg;c=200N.s/m;k=3500N/m;Fo=500N;=trad/s
38 . 0 = = =
m
k
r
n
t
e
e
239 . 0
2
= =
km
c

16
FREE, UNDAMPED 1 DOF VIBRATIONS
Example

Forced 1dof Vibrat I

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Forced, Visc. Damped 1DOF Vibrations

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