CH 3

Ch.
3: Forced Vibration of 1-DOF System

3.0 Outline Harmonic Excitation Frequency Response Function Applications Periodic Excitation Non-periodic Excitation
3.0 Outline
Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation Force input function of the harmonic excitation is the harmonic function, i.e. functions of sines and cosines. This type of excitation is common to many system involving rotating and reciprocating motion. Moreover, many other forces can be represented as an infinite series of harmonic functions. By the principle of superposition, the response is the sum of the individual harmonic response. It is more convenient to use the frequency domain technique in solving the harmonic excitation problems. This is because the response to different excitation frequencies can be seen in one graph. 3.1 Harmonic Excitation

Let us focus on the particular solution of mx + cx + kx = F0 cos t normalize the equation of motion
2 x + 2n x + n x = f 0 cos t , f 0 = F0 / m
f ( t ) = f 0 Re eit
2 solve for z ( t ) from z + 2n z + n z = f 0 eit
and the solution is the real part of z ( t ) ; x ( t ) = Re z ( t ) Assume the solution to have the same form as the forcing function z ( t ) = Z ( i ) eit ( same frequency as the input w/ different mag. and phase )
2 2 + i 2n + n ) Z ( i ) eit = f 0 eit
2 f 0 / n f0 = Z ( i ) = 2 2 n + i 2n 1 ( / n )2 + i 2 / n
F0
2 k 1 ( / n ) + i 2 / n
3.1 Harmonic Excitation

z (t ) = F0 eit = H ( i ) F0 eit k 1 r 2 + i 2 r F0 it x ( t ) = Re e , r = / n 2 k 1 r + i 2 r 1 = H ( i ) ei is the frequency response If H ( i ) = k 1 r 2 + i 2 r x ( t ) = F0 H ( i ) cos (t + ) where H ( i ) = k 1
(1 r ) + ( 2 r )
2 2
= magnitude
2
= tan 1
2 r = phase 2 1 r The system modulates the harmonic input by the magnitude H ( i ) and phase H ( i )

total response = homogeneous soln. + particular soln. Recall the homogeneous solution of the underdamped system xh = Ce nt cos (d t ) or xh = e nt ( A1 sin d t + A2 cos d t ) x ( t ) = Ce nt cos (d t ) + F0 H ( i ) cos (t + ) or x ( t ) = e nt ( A1 sin d t + A2 cos d t ) + F0 H ( i ) cos (t + ) The initial conditions will be used to determine C , or A1 , A2 They will be different from those of free response because the transient term now is partly due to the excitation force and partly due to the initial conditions

Ex. 1 Compute and plot the response of a spring-mass system to a force of magnitude 23 N, driving frequency of twice the natural frequency and i.c. given by x0 = 0 m and v0 = 0.2 m/s. The mass of the system is 10 kg and the spring stiffness is 1000 N/m.

n = k / m = 1000 /10 = 10 rad/s = c / ( 2mn ) = 0
H ( i ) =
= 2 10 = 20 rad/s
1 1 = = 0.333 103 k 1 r 2 + i 2 r 1000 (1 22 )
x ( t ) = A1 sin nt + A2 cos nt 23 0.333 103 cos t x ( t ) = n A1 cos nt n A2 sin nt + 23 0.333 103 sin t i.c. x ( 0 ) = 0 = A2 23 0.333 103 , A2 = 7.667 103 x ( 0 ) = 0.2 = 10 A1 , A1 = 0.02 x ( t ) = 0.02sin10t + 7.667 103 ( cos10t cos 20t ) m

Ex. 2 Find the total response of a SDOF system with m = 10 kg, c = 20 Ns/m, k = 4000 N/m, x0 = 0.01 m, v0 = 0 m/s under an external force F(t) = 100cos10t.

n = k / m = 20 rad/s = c / ( 2mn ) = 0.05
r = / n = 0.5 H ( i ) = 1 1 = = 332.6 E 6 0.0666 2 2 k 1 r + i 2 r 4000 (1 0.5 + i 2 0.05 0.5 )
x p ( t ) = F0 H ( i ) cos (t + ) = 33.26 E 3cos (10t 0.0666 ) xh ( t ) = e nt ( A1 sin d t + A2 cos d t ) , d = n 1 2 = 19.975 rad/s x ( t ) = e nt ( A1 sin d t + A2 cos d t ) + F0 H ( i ) cos (t + ) x ( t ) = n e nt ( A1 sin d t + A2 cos d t ) + e nt (d A1 cos d t d A2 sin d t ) F0 H ( i ) sin (t + )
response finally becomes , and in phase
response finally becomes , and out of phase
F0nt/(2k)
In case of = 0 and = n , the guess solution of the form x ( t ) = X ( i ) eit = A cos t + B sin t is invalid. This is because it has the same form as the homogeneous solution. F t The correct particular solution is x p ( t ) = 0 n sin nt. 2k

Beat when the driving frequency is close to natural freq.
The total solution can be arranged in the form x (t ) = = v0 sin nt + x0 cos nt + f0 ( cos t cos nt ) 2 n 2
x 2f n + t sin t sin n t + tan 1 0 n + 2 0 2 sin n v0 n n 2 2 If the system is at rest in the beginning, x (t ) = 2 f0 n + t sin t sin n 2 2 n 2 2
2 2 2 x0 n + v0
inside 2 2f t the slowly oscillated envelope 2 0 2 sin n n 2 The beat frequency is n
The response oscillates with frequency
n +

Beat when the driving frequency is close to natural freq.

3.2 Frequency Response Function
The core of the particular solution to the harmonic function is H ( i ) = 1 ; frequency response function 2 k (1 r + i 2 r )
It specifies how the system responds to harmonic excitation. As a standard, we normalize the frequency response function G ( i ) = 1 and then study how it varies as the 2 1 r + i 2 r excitation frequency and system parameters ,n vary. It is indeed more convenient since we already normalized the frequency; r = / n . So we can now study its variation to and r. For the fixed damping ratio, we plot G ( i ) with r varies.
G ( i ) has both magnitude and phase magnitude and phase plot. Then we repeatedly evaluate G ( i ) by varying .

H ( i ) = 1
(1 r
2 2
+ ( 2 r )
Frequency response plot (Bode diagram)
= tan 1
2 r 1 r2

Resonance is defined to be the vibration response at =n, regardless whether the damping ratio is zero. At this point, the phase shift of the response is /2. The resonant frequency will give the peak amplitude for the response only when =0. For0 < < 1/ 2 ,the peak amplitude will be at = n 1 2 2 , slightly before n. For 1/ 2 , there is no peak but the max. value of the output is equal to the input for the dc signal (of course, for this normalized transfer function).

Ex. 3 Consider the pivoted mechanism with k=4x103 N/m, l1=0.05 m, l2=0.07 m, l=0.10 m, and m=40 kg. The mass of the beam is 40kg which is pivoted at point O and assumed to be rigid. Calculate c so that the damping ratio of the system is 0.2. Also determine the amplitude of vibration of the steady-state response if a 10 N force is applied to the mass at a frequency of 10 rad/s.

l l1 M O = I O Fl mgl Mg c l2 l2 k ( l1 ) l1 2
( )
2 2 ( l + l1 ) + M l l1 2 = ml + M 12 2 0.110 cos10t = 0.5 + 0.0049c + 59.05
n = 15.37, = 0.2 = = 10, r = 0.6506

H ( i ) =
0.0049c , c = 627.3 Ns/m 2 0.5 n
1 = 0.02677 24.268 59.05 ( 0.5767 + i 0.26 )
ss = 0.02677 cos (10t 0.424 )

Ex. 4 A foot pedal for a musical instrument is modeled as in the figure. With k=2000 kg/s2, c=25 kg/s, m=25 kg, and F(t)=50cos2t N, compute the steady-state response assuming the system starts from rest. Use the small angle approximation.

M O = I O F 0.15 k ( 0.05 ) 0.05 c 0.05 0.1 = m 0.152 5 100 = 50 cos 2 t , positive CW 3.75 + + 6 3 Find the parameters n = 2.98, = 0.0373, = 2 , r = 2.108 H ( i ) = 1 = 0.0087 177.4 k (1 r 2 + i 2 r )
since 0, the transient response will die out
ss = F0 H ( i ) cos (t + ) = 0.435cos ( 2 t 3.096 )

3.3 Applications
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3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications

2 measured acc. n z 10 = = = y actual acc. 9.81
(1 r 2 ) + ( 2 r )
2
(1 r ) + ( 2 r )
2 2
= 0.962
From the problem statement, = 628 rad/s, d = n 1 2 = 628 rad/s r = =1 2 d 1
n =
d
1 2
= 758 rad/s =
k c , = 0.56 = m 2mn
k = 5745.6 N/m, c = 8.49 Ns/m
3.3 Applications

3.4 Periodic Excitation A periodic function is any function that repeats itself in time, called period T.
f (t ) = f (t + T )
It is more general than the harmonic function. Here, we will find the response to the input that is a periodic function. The idea is to decompose that periodic input into the sum of many harmonics. The response, by the superposition principle of linear system, is then the sum of the responses of individual harmonic. The response of a harmonic function was studied in section 3.1
3.4 Periodic Excitation

Fourier found the way to decompose the periodic function into sum of harmonic functions (sine & cosine) whose frequencies are multiples of the fundamental frequency. The fundamental frequency is the frequency of the periodic function.

Fourier series
Fourier series in real form: a0 2 f ( t ) = + ( an cos n0t + bn sin n0t ), 0 = 2 n =1 T Fourier coefficients: 2 an = f ( t ) cos n0t dt , n = 0,1, 2, T 0 2 bn = f ( t ) sin n0t dt , n = 1, 2,3, T 0 Fourier series in complex form: 2 T n = Fourier cofficients (complex): f (t ) =
T T
Cnein0t , 0 =
1 Cn = f ( t ) e in0t dt , n = , 2, 1, 0,1, 2, T 0

Some properties of Fourier series
1) If f ( t ) is an even function, bn = 0. 2 ) If f ( t ) is an odd function, an = 0. 3) a0 is the average value of f ( t ) over one period. 2 4 ) If f ( t ) is real, Ck = C k f ( t ) = C0 + 2 Re Cn ein0t n =1

Frequency spectrum tells how much each harmonic contributes to the periodic function f ( t ) .
2 2 In real form, the harmonic at n0 has the amplitude an + bn
In complex form, the harmonic at n0 has the amplitude 2 Re ( Cn )
Plot of the amplitude of each harmonic vs. its frequency is the (discrete) frequency spectrum.

Superposition principle of linear system

Response to harmonic excitation

mx + cx + kx = F ( t ) = Cn ein0t From section 3.1, xss = Cn H ( in0 ) ein0t where H ( in0 ) = 1 n 2 k 1 0 + i 2 n n0 n
mx + cx + kx = F ( t ) = C0 + 2 Re Cn ein0t n =1 C0 by superposition, xss = + 2 Re Cn H ( in0 ) ein0t k n =1
excitation frequency spectrum
response frequency spectrum
system frequency response

Ex. Calculate the response of a damped system to the periodic excitation f(t) depicted in the figure by means of the exponential form of the Fourier series. The system damping ratio is 0.1 and the driving frequency is of the system natural freq.

Expand f ( t ) as sum of harmonic series f (t ) =
n =
Ce
in n
0t
T T /2 T 1 1 2 in0t in0t Cn = f ( t ) e dt = Ae dt + Ae in0t dt , 0 = T 0 T0 T T /2 0, n = even iA n Cn = 1 ( 1) = i 2 A n n , n = odd
i 2 A in0t 2 A i n0t 2 4 A 1 f ( t ) = n =odd e = n =odd e = sin n0t n n n =1,3, n Gn ( i ) = Gn ( i ) = Gn =
n0 n 1 , = 0.1, r = = = n n 4 1 r 2 + i 2 r
1 1 ( n / 4 ) + i 0.05n
2
1
2
1 ( 0.25n )2 + ( 0.05n )2 4A 1 xss ( t ) = G sin ( n0t + Gn ) n =1,3, n n
Gn = tan 1
0.05n 1 ( 0.25n )
2

Ex. The cam and follower impart a displacement y(t) in the form of a periodic sawtooth function to the lower end of the system. Derive an expression for the response x(t) by means of Fourier analysis.

FBD and assume y > x Fx = max mx = k2 ( y x ) k1 x cx mx + cx + ( k1 + k2 ) x = k2 y, n = k1 + k2 c , = m 2mn
Write y ( t ) in the Fourier series expansion y (t ) =

n = T
Ce
in n
0t
, 0 =
2 A , y (t ) = B + t, 0 t T T T
T T
1 1 1 A Cn = y ( t ) e in0t dt = Be in0t dt + te in0t dt T 0 T 0 T 0T e ax Integration formula: e dx = + c and a

ax T
e ax xe dx = a 2 ( ax 1) + c
ax T
2 in 2 t in t 2 Be T A e T iA , n0 Cn = t 1 = + 2 in 2 2 n T in 2 T T 2 in T 0 T 0 A C0 = B + 2

A iA y ( t ) = B + + 2 Re ( cos n0t + i sin n0t ) 2 n =1 2 n A A 1 y ( t ) = B + sin n0t 2 n =1 n Frequency response H n ( i ) = H n ( i ) = 1 n 2 n0 0 ( k1 + k2 ) 1 + i 2 n n 1
2 2 2
1 ( k1 + k2 ) 1 r 2 + i 2 r
n n ( k1 + k2 ) 1 0 + 2 0 n n k2 A k2 A 1 xss ( t ) = H n sin ( n0t + H n ) B+ k1 + k2 2 n =1 n
Hn =
n 2 0 n H n = tan 1 2 n0 1 n

3.5 Non-periodic Excitation Harmonic and steady-state excitation and response are conveniently described in the frequency domain. For deterministic non-periodic excitation and response, time domain technique is more suitable. We cannot find the repeated pattern that lasts forever (both in the past & future) for the non-periodic excitation. System response to the unit impulse, called the impulse response, will be first studied. Then, this fundamental response will be used to synthesize the response of the LTI system to arbitrary excitation. 3.5 Non-periodic Excitation
3.5 Non-periodic Excitation

Impulse The unit impulse, or Dirac delta function, is defined as
( t a ) = 0 for t a

( t a ) dt = 1
This means that the unit impulse is zero everywhere except in the neighborhood of t=a. Since the area under the graph -t is 1, the value of ( t a ) is very large in the vicinity of t=a. The impulse of magnitudeF , which may represent a large force acting over a short period, can be written as
F ( t ) = F ( t a )

The unit impulse has a useful property called the sampling property. Multiplying a continuous function f ( t ) by ( t a ) , and integrating w.r.t. time:

f ( t ) ( t a ) dt = f ( a ) ( t a ) dt = f ( a )
which is just the value of f(t) at t=a. This is a way in evaluating integrals involving with impulse.

Impulse response The impulse response, h(t), is the response to the unit impulse, (t), applied at t=0 with zero initial conditions. The impulse response is very important since it contains all the system characteristics and can be used to find the response to arbitrary excitation of LTI system via the convolution integral theorem. The impulse response of a 1 DOF MBK system must satisfy
mh ( t ) + ch ( t ) + kh ( t ) = ( t )
h ( 0 ) = 0, h ( 0 ) = 0
subject to i.c.

Get rid of the impulse function by integrating over the duration ( 0, ) of the impulse
( mh + ch + kh ) dt = ( t ) dt = 1
0 0
Take limit as 0 and apply the i.c. to evaluate the integral on the left hand side: lim mh ( t ) dt = lim mh ( t ) = mh ( 0+ ) 0, assuming h ( t ) is not continuous
0
0
lim ch ( t ) dt = lim ch ( t ) 0 = ch ( 0+ ) = 0, assuming h ( t ) is continuous

0
0
lim kh ( t ) dt = lim gh ( 0 ) t 0 = 0, assuming h ( t ) is continuous

0
mh ( 0+ ) = 1

Therefore, the effect of a unit impulse at t=0 is to produce equivalent initial velocity (impulse-momentum)
h ( 0+ ) = 1/ m
Now, we are ready to find the impulse response. The equivalent system is a homogeneous system with i.c. h ( 0 ) = 0, h ( 0 ) = 1/ m If the system is underdamped, the impulse response is
1 nt e sin d t , t 0 h ( t ) = md 0, t < 0
Note that the above i.c. is not the actual i.c. 3.5 Non-periodic Excitation
Impulse response of underdamped system

Linear Time Invariant (LTI) system has the characteristic that the shape of the response will not be influenced by the time the input is applied to the system. That is
f (t ) f (t a )
LTI system LTI system
x (t )
x (t a )
Hence if the impulse is applied at t=to, the response is

1 n ( t t0 ) e sin d ( t t0 ) , t t0 h ( t ) = md 0, t < t0

Total response of underdamped MBK with i.c. x(a)=x0 and v(a)=v0 subject to the impulse force F ( t a )
x ( t ) = xh + x p =e =e
n ( t a )
F n (t a ) sin d ( t a ) ( A1 sin d ( t a ) + A2 cos d ( t a ) ) + m e d F A1 + md sin d ( t a ) + A2 cos d ( t a ) , t a sin d ( t a ) + A2 cos d ( t a )
n ( t a )
x ( t ) = n e +e
n ( t a )
F A1 + md
n ( t a )
F d A1 + cos d ( t a ) d A2 sin d ( t a ) md

Total response of underdamped MBK with i.c. x(a)=x0 and v(a)=v0 subject to the impulse force F ( t a )
Apply i.c. x ( a ) = x0 and x ( a ) = v0 to solve for A1 and A2 : x0 = A2 F v0 = n A2 + d A1 + md 1 F A2 = x0 and A1 = x + v d n 0 0 m n ( t a ) 1 x (t ) = e (n x0 + v0 ) sin d ( t a ) + x0 cos d ( t a ) , t a d

Arbitrary Excitation Ideally, arbitrary excitation can be expressed as linear combinations of simpler excitations. The simpler excitations are simple enough that the response is readily available. This concept is exactly used by Fourier. Now, the idea is to regard the arbitrary excitation as a superposition of impulses of varying magnitude and applied at different times. It is used when the excitation can be easily described in time domain.

Consider the excitation F(t). We can imagine that it is constructed from infinite impulses at different times.

Convolution integral theorm
Focus on the time interval < t < + , at which the impulse of magnitude F ( ) is acting. This shifted impulse can be written as F ( ) ( t ) . The response of the LTI system to this particular impulse is x ( t , ) = F ( ) h ( t ) Since by sampling property F ( t ) = F ( ) ( t ), and the system is linear, the response to F ( t ) is x ( t ) = F ( ) h ( t )

In the limit as 0, x ( t ) = F ( ) h ( t ) d .
0

Convolution integral theorm The response of the arbitrary excitation is the superposition of shifted impulse responses.
Interpretation for the whole range of time; t

To obtain h ( t ) from h ( ) , we need to carry out two operation; shifting and folding. This is another interpretation for the specific time t. The figures show the steps in evaluating the convolution. If we define a new variable = t , then = t and d = d . With the change of the integration limits, x ( t ) = F ( t ) h ( )( d ) = F ( t ) h ( ) d That is the convolution is symmetric in F ( t ) and h ( t ) . To decide which formula to use depends on the nature of F ( t ) and h ( t ) . It is obvious that if the excitation F ( t ) or the impulse response h ( t ) is too complicated, we may be unable to evaluate the closed form solution of the convolution integral. The excitation may not at all be written as functions of time. In these cases, the integration must be carried out numerically.
t 0 0 t
Interpretation for the specific time; t

Ex. Determine the response of the underdamped MBK to the unit step input.
1 0
u(t)

x ( t ) = F ( ) h ( t ) d F ( ) = u ( ) and h ( t ) is the system impulse response shifted by t and mirrored about the vertical axis. If t < 0, F ( ) h ( t ) = 0 because of no overlap If t > 0, F ( ) h ( t ) = h ( t ) x ( t ) = 0, t < 0 x ( t ) = h ( t ) d , t > 0
0 t 0 t
Let t = . Hence d = d x (t ) = h ( ) d =
0 t
1 n sin d d e md 0
eid e id e ax ax Substitute sin d = and use e dx = +c 2i a 1 x ( t ) = 1 e nt cos d t + n sin d t , t > 0 k d

Ex. Find the undamped response for the sinusoidal pulse force shown using zero i.c.

x ( t ) = F ( ) h ( t ) d
0 t
2 F ( ) = F0 sin = F0 sin 2T0 T0 1 h ( ) = sin n mn and mirrored about the vertical axis.
h ( t ) is the system impulse response shifted by t If t < 0, F ( ) h ( t ) = 0 because of no overlap x ( t ) = 0, t < 0

1 If 0 < t < T0 , F ( ) h ( t ) = F0 sin sin n ( t ) T0 mn t t F0 sin sin n ( t ) d x ( t ) = F ( ) h ( t ) d = mn T0 0 0 using the relation sin sin = x (t ) = 1 cos ( ) cos ( + ) and some arrangements 2
F0 ( sin t r sin nt ) , 0 < t < T0 where = , r = , k = mn2 n T0 k (1 r 2 )

t T0
If t > T0 , x ( t ) = F ( ) h ( t ) d = F ( ) h ( t ) d =
0 0
t T0
F ( t ) h ( ) d
x (t ) =
F0 [sin t r sin nt ] sin ( t T0 ) r sin n ( t T0 ) , t > T0 2 k (1 r )
superposition of the out-of-phase shifted sine trains

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Ch.

3: Forced Vibration of 1-DOF System

Ch. 3: Forced Vibration of 1-DOF System

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

response finally becomes , and in phase

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

response finally becomes , and out of phase

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

inside 2 2f t the slowly oscillated envelope 2 0 2 sin n n 2 The beat frequency is n

The response oscillates with frequency

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.1 Harmonic Excitation

Ch. 3: Forced Vibration of 1-DOF System

3.2 Frequency Response Function

Ch. 3: Forced Vibration of 1-DOF System

Frequency response plot (Bode diagram)

3.2 Frequency Response Function

Ch. 3: Forced Vibration of 1-DOF System

3.2 Frequency Response Function

Ch. 3: Forced Vibration of 1-DOF System

3.2 Frequency Response Function

Ch. 3: Forced Vibration of 1-DOF System

2 2 ( l + l1 ) + M l l1 2 = ml + M 12 2 0.110 cos10t = 0.5 + 0.0049c + 59.05

n = 15.37, = 0.2 = = 10, r = 0.6506

0.0049c , c = 627.3 Ns/m 2 0.5 n

1 = 0.02677 24.268 59.05 ( 0.5767 + i 0.26 )

ss = 0.02677 cos (10t 0.424 )

3.2 Frequency Response Function

Ch. 3: Forced Vibration of 1-DOF System

3.2 Frequency Response Function

Ch. 3: Forced Vibration of 1-DOF System

since 0, the transient response will die out

ss = F0 H ( i ) cos (t + ) = 0.435cos ( 2 t 3.096 )

3.2 Frequency Response Function

Ch. 3: Forced Vibration of 1-DOF System

Ch. 3: Forced Vibration of 1-DOF System

Ch. 3: Forced Vibration of 1-DOF System

Ch. 3: Forced Vibration of 1-DOF System

Ch. 3: Forced Vibration of 1-DOF System

Ch. 3: Forced Vibration of 1-DOF System