Module: 13

Lecture: 4
With viscous damping (under damped)
ri (t ) 2i ni ri (t ) n2i ri (t ) 0

i 1, 2,.........n

extra term entered for viscous damping

Damped Single Degree of Freedom System

mx cx kx 0

x(0) x0 , x (0) v0

x 2n x n2 x 0

0 1

Solution of this equn.

x(t ) Ae nt sin(d t 1 )

damped freq.

d n 1 2 ; n

k
c
;
m
2mn
1

x0 n x0 2 x0 d 2 2
A

d2

x0d
1 tan 1
x 0 n x0
Now, n1 natural frequency
Solution
ri (t ) Ai e

ini t

sin(1i t i )

i 1, 2,................n
Ai and i are determined from initial condition

d ,i n 1 i2
i

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ri 0 ini ri 0 2 (ri 0ni ) 2 2

Ai

12i

ri 01i
i tan 1
ri 0 ini ri 0
Damped 2 DOF System

27 3
K

3 3

9 0

0 1

1 0.05, 2 0.10} Modal Damping

Initial Condition
1
0
; x (0)
0
0

x(0)

J i 0.05 and =0.1

1
M 3
0
1 1
d
2 1
1/ 2

n1 2

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1
1
1

3 1
K

1 3

diag (2,4)

n 2 2

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1 1
1
S M d 3 3
2 1
1

1
1 3 1
T
1
S d M 2

2 3 1

S . S

1
2

I S M S I
T

3 / 2

3 / 2

r (0) S x0
1

r (0) S x0 S
1

0 0

0 0

r10 3 / 2
r10 0

and
r20 3 / 2
r20 0
11 1.4124
12 1.9900
A1 2.1240

A2 2.1320

1 1.52 rad

2 1.47 rad

1 1
0.0706 t
sin(1.4124t 1.52)
1
2.124 e

x(t ) S r (t ) 3 3

0.2 t
2
2.1320
e
sin(1.9900
t

1.4)

1 1
0.5006 e 0.0706t sin(1.4124t 1.52) 0.525 e 0.2t sin(1.9900t 1.4t )

0.0706 t
sin(1.4124t 1.52) 1.5076 e 0.2t sin(1.9900t 1.4t )
1.5019e

x(t )

Response time curve

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Forced Response Modal Approach

M x C x K x B F (t )
1
0
B
0

...

......0
1 0 ......0
0 1 ......0

... ... .......1 nn

0

Assume

x(t ) M q(t )
1/2
I q(t ) C q (t ) K q(t ) M B F (t )
1/ 2

C M

C M
1/2
1/2
K M K M
Let q (t ) d r (t )
1/ 2

1/ 2

Substituting above relation and premultiply by d we can write

T

r(t ) diag 2 i ni r(t ) r (t ) d M B F (t )

1/ 2

or, we can write

ri (t ) 2 i ni ri (t ) ni2 ri (t ) fi (t )
Assuming zero initial condition

1 nt
x(t )
e
F ( ) en sin d (t )d

md
0
where n

K
m

d n 1 2

C
2mn

For non-zero initial conditions

x(t ) Ae nt sin(d t )

e nt F ( )e n sin d (t )

md

Similarly
We can get modal solution

ri (t ) Ai e

ini t

d n 1 i
i

sin( di t )

e
i

ini t

ini

F ( )e
i

sin di (t ) d

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Ex

F2 (t ) 3cos 2t
m1 9 kg k1 24 N / m
m2 1 kg k2 3 N / m

C1 2.4 N S / m ; C2 0.3 N S / m
The equilibrium equation in matrix form

9 0
2.7 0.3
27 3
0 0 0

x
x
x

0 1
0.3 0.3
3 3
0 1 F (t )

2
1
1
3 0
1/ 3 0

M 2 M 2

0 1
0 1
0.3 0.1
3 1
C
K

0.1 0.3
1 3

1 2, 2 4 n 2 and n 2
1

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1 1

1 1
1 1 0.3 0.1 1 1
d T C d (0.7071) 2

1 1 0.1 0.3 1 1
1 1 0.2 0.4
(0.7071) 2

1 1 0.2 0.4
0.4 0
(0.7071) 2

0 0.8
0.2 0

0 0.4

d 0.7071

f (t ) [d ] [M ]
T

1
2

[ B ] F (t )

2n 0.2

0.2357 0.7071 0
0.2

0.0707
F (t ) 1
2n1

0.2357
0.7071

2
2 0.4 2 0.10
F2 (t )
2
0.7071

F
(
t
)
2

r1 0.2r1 2r1 0.7071(3) cos 2t 2.1713cos 2t

r2 0.4r2 4r2 2.1713cos 2t
r1 (t ) ?? x1 (t )
r2 (t ) ?? x2 (t )

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