String Vibration

Chapter 8

Distributed Parameter Systems

Distributed mass and stiffness

Infinite DOF
Functional analysis
Exact solution for simple problems

(x), T (x)

f(x, t)

y(x, t)
f(x, t)dx
T (x) +
(x)dx
y(x,t)
x

T (x) dx

y(x,t)
x

T (x)
x dx

2 y(x,t)
x2 dx

f(x, t)dx
T (x) +
(x)dx
y(x,t)
x

y(x,t)
x

T (x)
x dx

2 y(x,t)
x2 dx

T (x) dx

2
T (x)
y(x, t) y(x, t)
dx +
T (x) +
dx
+
2
x
x
x
y(x, t)
2 y(x, t)
f(x, t)dx T (x)
= (x)dx
x
t2

 2 y(x, t)
2 y(x, t) T (x) y(x, t)
+ f (x, t) = (x)
T (x)
+
2
x
x
x
t2

y(x, t)
2 y(x, t)
T (x)
+ f(x, t) = (x)
x
x
t2
y(0, t) = 0
y(L, t) = 0

Initial (unforced) Response

y(x, t)
2 y(x, t)
T (x)
=(x)
x
x
t2
y(0, t) = 0 y(L, t) = 0
y(x, t) = Y (x)F (t)

d
dY (x)
d2 F (t)
T (x)
F (t) =(x)Y (x)
dx
dx
dt2
Y (0) = 0 Y (L) = 0

1
d
dY (x)
1 d2 F (t)
2
=

T (x)
=
(x)Y (x) dx
dx
F (t) dt2
d2 F (t)
2
+

F (t) = 0
2
dt
F (t) = A sin t + B cos t = C cos(t + )

d
dY (x)
T (x)
= 2 (x)Y (x)
dx
dx
Y (0) = 0 Y (L) = 0

d
dY (x)
T (x)
= 2 (x)Y (x)
dx
dx
Y (0) = 0 Y (L) = 0

For constant mass distribution and tension

d2 Y (x) 2
+
Y (x) = 0
2
dx
T
d2 Y (x)
2
+

Y (x) =0
2
dx
Y (0) = 0 Y (L) = 0

2
=
T

d2 Y (x)
2
+

Y (x) =0
2
dx
Y (0) = 0 Y (L) = 0
Solution : Y (x) = A sin x + B cos x
BCs : Y (0) = B = 0
r L = r,
s

Y (L) = A sin L = 0
r = 1, 2,

T
r = r
, r = 1, 2,
2
L
rx
Yr (x) = Ar sin
, r = 1, 2,
L

Free Vibration Solutions

Possible Solutions:
y(x, t) = Y (x)F (t)
yr (x, t) = Yr (x)Fr (t),

r = 1, 2,
s
!
rx
T
cos r
= Cr sin
t + r
2
L
L

y(x, t) =
=

X
r=1

X
r=1

yr (x, t)
Cr Yr (x) cos (r t + r )

Orthogonality

d
dYr (x)
T (x)
= r2 (x)Yr (x)

dx
dx

d
dYr (x)
Ys (x)
T (x)
= r2 (x)Ys (x)Yr (x)
dx
dx

Z L
dYr (x)
d
T (x)
dx = r2
Ys (x)
(x)Ys (x)Yr (x)dx
dx
dx
0

d
dYr (x)

Ys (x)
T (x)
dx
dx
dx
0
L Z L
dYr (x)
dYs (x) dYr (x)
+
T (x)
dx
= Ys (x)T (x)

dx 0
dx
dx
0
Z L
dYs (x) dYr (x)
T (x)
=
dx
dx
dx
0
Z

dYs (x) dYr (x)

T (x)
dx = r2
dx
dx

(x)Ys (x)Yr (x)dx

dYs (x) dYr (x)

T (x)
dx = r2
dx
dx
dYr (x) dYs (x)
T (x)
dx = s2
dx
dx
0 = (r2 s2 )
0=
Z
0=

(x)Ys (x)Yr (x)dx

(x)Yr (x)Ys (x)dx

(x)Yr (x)Ys (x)dx

(x)Yr (x)Ys (x)dx

0
L

dYr (x) dYs (x)

T (x)
dx
dx
dx

Normalization
Z

dYr (x)
T (x)
dx

r2

dx =

(x) [Yr (x)] dx

Select Yr (x) such that :

(x) [Yr (x)] dx = 1

dYr (x)
T (x)
dx

dx = r2

Modal Expansion
Eigenvectors:
Linearly independent
Complete set

Any continuous displacement distribution

can be represented as a linear
combination of the modal shapes
y(x, t) =

X
r=1

Yr (x)r (t)

Initial (unforced) Response

y(x, t)
2 y(x, t)
T (x)
= (x)
x
x
t2
y(0, t) = 0 y(L, t) = 0
y(x, 0) = y0 (x) y(x,
0) = v0 (x)
y(x, t) =

X
r=1

Yr (x)r (t)

Yr(x) are mass

normalized
mode shapes

X
X
d
d2 r (t)
dYr (x)
(x)Yr (x)
T (x)
r (t) =
2
dx
dx
dt
r=1
r=1

BCs Identically Satisfied : Y (0) 0 Y (L) 0

Uncoupled Modal Equations

Z

X
d
Ys (x)
dx
0
r=1
Z L
X
d
Ys (x)
dx
r=1 0
L

L
X
dYr (x)
Ys (x)
(x)Yr (x)
r (t)dx
T (x)
r (t)dx =
dx
0
r=1

Z L
X
dYr (x)
T (x)
dxr (t) =
(x)Ys (x)Yr (x)dx
r (t)
dx
r=1 0

s2 s (t) = s (t)

s (t) + s2 s (t) = 0

s (0)
s (t) = s (0) cos s t +
sin s t
s

Initial Conditions
y(x, 0) = y0 (x) y(x,
0) = v0 (x)
y(x, 0) =

Yr (x)r (0) = y0 (x)(0)

r=1
Z L
Z L

X
(x)Ys (x)
Yr (x)r (0)dx =
(x)Ys (x)y0 (x)dx
0

r=1

Do not forget:
Yr(x) are mass
normalized
mode shapes

s (0) =

(x)Ys (x)y0 (x)dx

s (0) =

(x)Ys (x)v0 (x)dx

Example
= 1 Kg/m T = 1 N L = 1 m
Initial Displacement : y0 (x)
0.1
0.25

Initial Velocity : v0 (x)

1 = rad/s
2 = 2 rad/s
3 = 3 rad/s
4 = 4 rad/s
5 = 5 rad/s

Normalized Mode Shapes

& Initial Condition

rx
Yr (x) = 2 sin
L

1 (0)
0.0540

2 (0) 0.0191

3 (0) =
0.0060

(0)
0.0000

5 (0)
0.0022

0.15
Initial Displacement
Modal Approximation
Mode 1
Mode 2
Mode 3
Mode 4
Mode 5

y0 (x)

0.1

0.05

-0.05
0

0.2

0.4

0.6
x

0.8

0.15
Exact
t = 0.00 s
t = 0.25 s
t = 0.50 s
t = 0.75 s
t = 1.00 s

0.1

y(x,t)

0.05
0
-0.05
-0.1

0.2

0.4

0.6
x

0.8

Forced Response

y(x, t)

y(x, t)
(x)
T (x)
= f(x, t)

2
t
x
x
y(0, t) = 0 y(L, t) = 0
0) = v0 (x)
y(x, 0) = y0 (x) y(x,
2

y(x, t) =

X
r=1

Yr (x)r (t)

Yr(x) are mass

normalized
mode shapes

d r (t)
d
dYr (x)
(x)Yr (x)

T (x)
r (t) = f(x, t)
2
dt
dx
dx
r=1
r=1

BCs Identically Satisfied : Y (0) 0 Y (L) 0

Uncoupled Modal Equations

Multiply by Ys(x)
Integrate over 0 to L
L

Ys (x)
0

X
r=1

(x)Yr (x)
r (t)dx
=

L
0

X
d
dYr (x)
T (x)
r (t)dx
Ys (x)
dx
dx
r=1
Ys (x)f (x, t)dx

s (t) + s2 s (t) = Ns (t)

Ns (t) =

Ys (x)f (x, t)dx

0

Do not forget:
Yr(x) are mass
normalized
mode shapes

Initial Conditions
y(x, 0) = y0 (x) y(x,
0) = v0 (x)
y(x, 0) =

Yr (x)r (0) = y0 (x)(0)

r=1
Z L
Z L

X
(x)Ys (x)
Yr (x)r (0)dx =
(x)Ys (x)y0 (x)dx
0

r=1

Do not forget:
Yr(x) are mass
normalized
mode shapes

s (0) =

(x)Ys (x)y0 (x)dx

s (0) =

(x)Ys (x)v0 (x)dx

Steady-State Harmonic Response

f(x, t) = f(x) cos t
Z
Ns (t) = N s cos t where N s =

Ys (x)f(x)dx

Ns
s (t) = 2
cos t
2
s

X
y(x, t) = y(x) cos t =
Yr (x)r (t)
r=1

Z L

X
Nr
Yr (x)
y(x) =
Yr (x) 2
=
Yr (x)f (x)dx
2
2
2

0
r
r
r=1
r=1

Point Force
Force at a point a
F=F cos(t)

Ns =

Ys (x)F (a)dx = F Ys (a)

Displacement at a point b
y(b) = F

X
Yr (b)Yr (a)
r=1

Reciprocal Theorem

r2 2

Example
= 1 Kg/m T = 1 N L = 1 m F = 1 N

rx
Yr (x) = 2 sin
L

a = 0.5; b = 0.5
1

y(b)

0.5

-0.5

-1
0

10

20

30

a = 0.5; b = 0.33333

y(b)

0.5

-0.5

-1
0

10

20

30

a = 0.1; b = 0.1
1

y(b)

0.5

-0.5

-1
0

10

20

30

Similar Problem: Axial Vibrations

f(x, t)
m(x), EA(x)
f(x, t)dx
P (x, t)
P (x, t) +
m(x)dx
P (x, t) = A = EA =

u(x, t)

P (x,t)
x dx

u(x,t)
EA x

2 u(x, t)
P (x, t)
dx + f(x, t)dx P (x, t) = m(x)dx
P (x, t) +
x
t2

P (x, t)
2 u(x, t)
+ f(x, t) = m(x)
x
t2

u(x, t)
2 u(x, t)
EA(x)
+ f (x, t) = m(x)
x
x
t2

u(x, t)
u(0, t) = 0
P (L, t) = EA(x)
=0

x
x=L

Free Vibration

u(x, t)
2 u(x, t)
EA(x)
= m(x)
x
x
t2

u(x, t)
u(0, t) = 0
P (L, t) = EA(x)
x

x=L

u(x, t) = U(x)F (t)

d
dU(x)
d2 F (t)
EA(x)
F (t) =m(x)U(x)
dx
dx
dt2

dU (x)
U(0) = 0
=0

dx x=L

1
d
dU (x)
1 d2 F (t)
2
=

EA(x)
=
m(x)U (x) dx
dx
F (t) dt2
d2 F (t)
2
+

F (t) = 0
2
dt
F (t) = A sin t + B cos t = C cos(t + )

d
dU(x)
EA(x)
= 2 m(x)U(x)
dx
dx

dU(x)
U(0) = 0
=0

dx x=L

d
dU(x)
EA(x)
= 2 m(x)U(x)
dx
dx

dU(x)
U(0) = 0
=0

dx x=L

For constant mass distribution and crosssectional stiffness

d2 U(x) 2 m
+
U(x) = 0
2
dx
EA
d2 U(x)
2
+

U(x) =0
2
dx

dU(x)
=0
U(0) = 0

dx x=L

m
2
=
EA

Fixed-Free
Solution : U(x) = A sin x + B cos x
BCs :

U (0) = B = 0

dU (x)
= A cos L = 0

dx x=L

1
r L = r
, r = 1, 2,
2

r
1
EA
r = r
, r = 1, 2,

2
2
mL

1
r 2 x
, r = 1, 2,
Ur (x) = Ar sin
L

Fixed-Fixed
Solution : U(x) = A sin x + B cos x
BCs :

U (0) = B = 0

r L = r,
r
r = r

U (L) = A sin L = 0

r = 1, 2,
EA
,
2
mL

r = 1, 2,

rx
Ur (x) = Ar sin
,
L

r = 1, 2,

Similar Problem: Torsional Vibrations

(x, t)
I(x), GJ(x)
(x, t)dx
T (x, t)
T (x, t) +
I(x)dx
T (x, t) = GJ(x) (x,t)
x

(x, t)

T (x,t)
x dx

T (x)
2 (x, t)
T (x) +
dx + (x, t)dx T (x) = I(x)dx
x
t2

T (x)
2 (x, t)
+ (x, t) = I(x)
x
t2

(x)
2 (x, t)
GJ(x)
+ (x, t) = I(x)
x
x
t2

(x, t)
(0, t) = 0
T (L, t) = GJ(x)
=0

x
x=L