Professional Documents
Culture Documents
Forced Vibration PDF
Forced Vibration PDF
k m A c A
2
1 2 0
This leads to a solution of:
A1
F0c
, A2
F0 k m 2
k m c k m c
2 2 2 2
2 2
1
Aside: The equation
x p (t ) A1 sin t A2 cost
can also be written as:
x p (t ) X cost
To convert between the 2 forms, i.e. to get the constants X
and , substitute t=0 and equate the displacements and
velocities in both equations. This yields:
A2 X cos , A1 X sin
Thus
A1
X A12 A22 , tan
A2
The solution can then be written in the form:
x p (t ) X cost
where
F0 c
X , tan 1 2
k m
k m c
2 2
2
2
2r
tan 1
1 r 2
3
See figure 3.11
The total response of the system is the sum of the
homogeneous solution plus the particular solution or:
x(t ) xh (t ) x p (t ) X 0e nt cos( d t o ) X cos(t )
Note that the homogeneous solution xh(t) dies out with time,
and the steady-state solution prevails as long as the forcing
function is present.
To solve this, you find xp(0) and vp(0) and then find X0 and 0
such that the true initial conditions match x(0) and v(0).
4
Complex Analysis
X
F0
X
so
k m c
2 2
2
and
c
tan 1
2
k m
which is the same solution we had for the cosine case before,
with a lot less work.
5
Base Motion
The equation of motion of the system is:
mx c( x y ) k x y 0
I. Relative Motion
Sometimes we are concerned with the relative motion of the
mass with respect to the base. (Example: accelerometer and
the velocity meter). In this case, we can define z=x-y. Our
equation of motion becomes:
mx c( x y ) k x y 0
If the periodic input is in the form
y Y sin t
the equation of motion becomes:
Y sin t
mz cz kz my m 2
P0
But
P0 m 2Y
Z0 Yr 2
k k
hence the solution is:
Z r2
Y
2
1 r 2 r
2 2
and
6
2 r
tan 1 2
1 r
7
Application: vibration measuring instruments
n
At “low” frequencies, Z is proportional to 2Y, i.e.
proportional to acceleration. In this range the accelerometer
works. It must have a high n such that n is small .
Case 2: r 1 Z Y
At “high” frequencies, the ratio between Z and Y is one, i.e. Z
is equal to the displacement. In this range the vibrometer
works. It must have a low n such that n is high.
8
I. Absolute Motion
If we are concerned with the absolute motion, we can write
the equation of motion as:
mx cx kx ky cy
Here it becomes more convenient to assume the base motion
having the form*:
y Yeit
We seek a solution in the form:
x Xeit
Substituting into the equation of motion yields:
m 2 ci k Xeit k ic Yeit
from which
X i k ic
e
Y
k m 2 ic
hence
1 2 r
2
X
Y
2 r
2 2
1 r2
and
2 r 3
tan 1
1 r 2 2 r 2
*
We can also assume a periodic base input of the form y = Y sin wt, see page 11.
9
Note: the motion transmitted is less than 1 for r 2 . Hence
for vibration isolation, we must have n 2 , i.e. n must be
small compared to .
10
The above solution can also be obtained if we assume a
periodic input of
y Y sin t
the equation of motion can be written as
mx cx kx kY sin t cY cos t
mx cx kx A sin t
where
c
A Y k 2 c , tan 1
2
(see page 2)
k
But the above equation is in the same format now as the
forced vibration one, with an amplitude of A instead of F0
and an additional phase . So we can find (see page 2)
Y k 2 c
2
c
1 tan 1 2
k m
We can write the ratio of the amplitudes as
k 2 c 1 2 r
2 2
X
k m c 1 r 2 r
2 2
Y 2 2
2 2
11
Force Transmitted
FT m 2Y
2 r
2 2
1 r2
from which we get:
FT 1 (2r ) 2
r 2
kY
1 r 2 2r 2
2
In this relationship, kY represents the force on the mass if it
remained stationary, while the base moved with only the
spring attached. This ratio is called the force transmissibility.
12
The force transmitted can also be calculated for the case of a
harmonic force (Chapter 9). In this case:
FT kx cx kx icx
so the force amplitude is:
kX cX
2 2
FT
Thus, the transmissibility or transmission ratio of the isolator
(Tr) can be calculated to be:
FT k 2 2c2 1 (2 r )2
Tr
k m 1 r 2 r
2 2
c
2
F0 2 2 2 2
This has the same amplitude as the base motion ratio found
earlier. If Tr is less than one, then the system behaves like a
vibration isolator, i.e. the ground receives less force than the
input force. (See figure 3.15)
13
Rotating Unbalance
where
me 2 mer 2
X0
k M
then
XM r2
me
2 r
2
1 r2
2
and
2r
tan 1
1 r 2
(See figure 3.17)
14
(See figure 3.16)
The force transmitted because of the rotating imbalance is
F kx cx
The transmissibility can be analyzed as before to give:
F F F
Tr
F0 me 2 mer 2 n 2
thus
F 1 (2r ) 2
r 2
me n 2
1 r 2 2r 2
2
15
Response under a general periodic force
a0
F t a1 cos t a2 cos 2t ... b1 sin t b2 sin 2t ...
2
a0
a j cos jt b j sin jt
2 j 1
2 T
aj F t cos jt dt , j 0,1, 2,
T 0
2 T
b j F t sin jt dt , j 1, 2,3,
T 0
a0
mx cx kx F t a j cos jt b j sin jt
2 j 1
Using the principle of superposition, the steady-sate solution
of this equation is the sum of the steady-state solutions of:
a
mx cx kx 0
2
mx cx kx a j cos jt
mx cx kx b j sin jt
The particular solution of the 1st equation is:
a
xp t 0
2k
16
The particular solutions of the 2nd and 3rd equations are:
aj
xp t k cos jt j
1 j r 2 jr
2 2
2 2
bj
xp t k sin jt j
1 j r 2 jr
2 2
2 2
2 jr
j tan 1 2 2
1 j r
r
n
Then add up all the sums to get the complete steady-state
solution as:
aj bj
ao
xp t k cos jt j k sin jt j
2k j 1
1 j r 2 jr 1 j r 2 jr
2 2 2 2
2 2 j 1 2 2
17
Solution: here we have:
T 20 , 2 T 2 20 10
and the forcing function is given by:
F (t ) 1 0 t 10
F (t ) 1 10 t 20
The Fourier series of the forcing function is given by:
a0
F t a1 cos t a2 cos 2t ... b1 sin t b2 sin 2t ...
2
To get the constants, we have:
2 10
dt 0.1 10 20 10 0
2 T
20
a0
T 0
F t dt
20 0
dt 10
2 T
F t cos jt dt
T 0
aj
2 10 20
20 0
cos j t dt cos j t dt
10 10
10
10
10
10
20
0.1 sin j t sin j t 0
j 10 0 j 10 10
i.e. all cosine terms vanish
2 T
F t sin jt dt
T 0
bj
2 10 20
20 0
sin j t dt sin j t dt
10 10
10
10
10
10
20
0.1 cos j t cos j t
j 10 0 j 10 10
10 10
0.1 cos j 1 cos 2 j cos j
j j
18
If j is odd,
10 10 4
b j 0.1 2 2
j j j
If j is even,
10 10
b j 0.1 0 0 0
j j
i.e. all even terms vanish.
In this way, the force can be represented by a Fourier series
as:
F (t ) b1 sin 1t b3 sin 3t b5 sin 5t b j sin jt , j 1,3,5, 7,
j 1
4 4 3 4 5
4
sin t sin t sin t sin j t , j 1,3,5, 7,
10 3 10 5 10 j 1 j 10
or graphically as:
19
% ***********************************************************
% Periodic response of a dynamic system to a square input waveform
% ***********************************************************
clear; close all;
m=1; c=0.7; k=1; % Parameters
figure(1)
plot(t,x([3 5 7 21],:),t,sign(sin(w*t)),'linewidth',2);grid
legend('1 term','2 terms','3 terms','19 terms')
xlabel('Time [s]','fontsize',18);ylabel('x(t)','fontsize',18)
title('Response to Periodic Input','fontsize',18);
figure(2)
plot(1:2:19,X(1:2:19),'o','markersize',10,'linewidth',4);grid
ylabel('Magnitude of term in summation','fontsize',18)
xlabel('Summation term','fontsize',18)
20
The system response is shown below:
21
Response to an impulse
From ENGR 214, the principle of impulse and momentum
states that impulse equals change in momentum:
𝐼𝑚𝑝𝑢𝑙𝑠𝑒 = 𝐹∆𝑡 = 𝑚(𝑣2 − 𝑣1 )
or:
𝑡+∆𝑡
𝐹= 𝐹𝑑𝑡 = 𝑚𝑥2 − 𝑚𝑥1
𝑡
A unit impulse is defined as:
𝑡+∆𝑡
𝑓 = lim 𝐹𝑑𝑡 = 1
∆𝑡→0 𝑡
𝑥0
𝑥 𝑡 = 𝑥0 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝑠𝑖𝑛𝜔𝑛 𝑡
𝜔𝑛
If the mass starts from rest, we can get the velocity just after
impulse as:
𝑓 1
𝑥0 = =
𝑚 𝑚
and the response becomes:
1
𝑥 𝑡 = 𝑠𝑖𝑛𝜔𝑛 𝑡
𝑚𝜔𝑛
for a non-unit impulse, the response is:
𝐹
𝑥 𝑡 = 𝑠𝑖𝑛𝜔𝑛 𝑡
𝑚𝜔𝑛
22
For an underdamped system, recall that the free response was
gven by: (see page 142)
𝑥0 + 𝜁𝜔𝑛 𝑥0
𝑥 𝑡 = 𝑒 −𝜁𝜔 𝑛 𝑡 𝑥0 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝑠𝑖𝑛𝜔𝑑 𝑡
𝜔𝑑
For a unit impulse, the response for zero initial conditions is:
𝑒 −𝜁𝜔 𝑛 𝑡
𝑥 𝑡 = 𝑠𝑖𝑛𝜔𝑑 𝑡 = 𝑔(𝑡)
𝑚𝜔𝑑
where 𝑔(𝑡) is known as the impulse response function. For a
non-unit impulse, the response is:
𝐹𝑒 −𝜁𝜔 𝑛 𝑡
𝑥 𝑡 = 𝑠𝑖𝑛𝜔𝑑 𝑡 = 𝐹𝑔(𝑡)
𝑚𝜔𝑑
If the impulse occurs at a delayed time 𝑡 = 𝜏, then
𝐹𝑒 −𝜁𝜔 𝑛 𝑡−𝜏
𝑥 𝑡 = 𝑠𝑖𝑛𝜔𝑑 𝑡 − 𝜏 = 𝐹𝑔(𝑡 − 𝜏)
𝑚𝜔𝑑
If two impulses occur at two different times, then their
responses will superimpose.
rad
Solution: here we have 𝜔𝑛 = 2 , ζ = 0.125, 𝜔𝑑 =
s
rad
1.984 s
so the solutions become:
2𝑒 −0.25𝑡
𝑥1 𝑡 = sin 1.984𝑡 𝑡 > 0
1.984
2𝑒 −0.25 𝑡−𝜏
𝑥2 𝑡 = sin 1.984 𝑡 − 𝜏 𝑡>5
1.984
And the total response is:
23
𝑥 𝑡
2𝑒 −0.25𝑡
sin 1.984𝑡 0 < 𝑡 < 5
= 1.984
2𝑒 −0.25𝑡 2𝑒 −0.25 𝑡−𝜏
sin 1.984𝑡 + sin 1.984 𝑡 − 𝜏 5 < 𝑡 < 20
1.984 1.984
𝑥 𝑡 = 𝐹 𝜏 ∆𝜏𝑔(𝑡 − 𝜏)
The total response at time t is the sum of all responses:
24
𝑥 𝑡 = 𝐹 𝜏 𝑔 𝑡 − 𝜏 ∆𝜏
Hence
𝑡
𝑥 𝑡 = 𝐹 𝜏 𝑔 𝑡 − 𝜏 𝑑𝜏
0
For an underdamped system:
𝑡
1
𝑥 𝑡 = 𝐹 𝜏 𝑒 −𝜁𝜔 𝑛 𝑡−𝜏
𝑠𝑖𝑛𝜔𝑑 𝑡 − 𝜏 𝑑𝜏
𝑚𝜔𝑑 0
Here we have
F t F0
so the response is obtained from
t
1
x t n t
sin d t d
md 0
F0 e
25
syms z wn t tau wd
M=int(exp(-z*wn*(t-tau))*sin(wd*(t-tau)),tau,0,t)
M=
-(-wd+exp(-z*wn*t)*wd*cos(wd*t)+exp(-
z*wn*t)*z*wn*sin(wd*t))/(z^2*wn^2+wd^2)
pretty(M)
-wd + exp(-z wn t) wd cos(wd t) + exp(-z wn t) z wn sin(wd t)
- ---------------------------------------------------------------------------
2 2 2
z wn + wd
F 1
0 1 e n t
cos d t
k 1 2
where
tan 1
1 2
26
F0
The response is shown below. Notice how it converges to k .
27
Example: Pulse with finite width (see Example 4.8, page 320)
-F0
28
If there is no damping (c=0) some interesting things can
happen
x cos(t ) cos( nt )
x(t ) x0 cos( nt ) 0 sin nt st
n
2
1
n
As the forced frequency approaches the natural frequency
(n)
d
cos(t ) cos( nt )
cos(t ) cos( nt )
lim lim d
d
n 2 n 2
1 1
n
n
d
t sin t t
lim sin t
n 2
2 2
n
so
x t
x(t ) x0 cos( nt ) 0 sin nt st sin t
n 2
See Fig 3.6
If the frequencies are close (n) then a phenomena called
beating occurs. Assuming zero initial conditions
cos(t ) cos( nt )
x(t ) st 2
1
n
F0 n n
m n 2
2
2 sin
2
t sin
2
t
Using the following notation
n 2 n 2 n 2 2 4
29
then
st
x(t ) sin t sin t
2
This will be a sin wave with a slowly varying sinusoidal
magnitude.
30
31