Homework #4

Name: HyoSoo Kim

UFID:8989-3565
Date:02/06/2006

Problem 4.4
Derive the ramp response by …nding the particular and homogeneous
solutions of the ordinary di¤. equation.

The unit ramp fuction is

r(t) = tu(t) (1)

from t = 0
For a viscously damped single-degree-of-freedom system with unit
ramp function.

m•
x + cx_ + kx = r(t) (2)
rewritting(2)
t
• + 2&wn x_ + wn2 x = u(t)
x (3)
m
q
where, & = 2wcn m ; wn = m k

To …nd the soulttion of the 2nd order di¤erential equation

x(t) = xh (t) + xp (t) (4)

where, xh(t) :homogeneous solution
xp(t) :particular soultion

-For Homogeneous soultion

• + 2&wn x_ + wn2 x = 0
x (5)
t
let x(t) = e
The characteristic equation is
2
+ 2&wn + wn2 = 0

1; 2 = &wn iwd (6)

x1 (t) = e( &wn +iwd )t

=e &wn t iwd t
e =e &wn t
(cos wd t + i sin wd t) (7)

1
 x2 (t) = e( &wn iwd )t
=e &wn t
e iwd t
=e &wn t
(cos wd t i sin wd t) (8)

To make real dimension solution

1 &wn t
(x1 (t) + x2 (t)) = e cos wd t (9)
2
1
(x1 (t) x2 (t)) = e &wn t sin wd t (10)
2i
The Homogeneous solution with integral constant is
&wn t
xh (t) = e (C1 sin wd t + C2 cos wd t) (11)
To …nd particular soution
t
• + 2&wn x_ + wn2 x =
x u(t) (12)
m
from the method of undetermined coe¢ cient,

xp = K1 t + K0 (13)

x_ p = K1 (14)

x
•=0 (15)
inserting (13,14,1)into(12)
t
2&wn K1 + wn2 (K1 t + K0 ) = (16)
m
t
wn2 K1 t + (2&wn K1 + wn2 K0 ) = (17)
m
1
K1 = (18)
mwn2
2&wn K1 2&
K0 = 2
= (19)
wn mwn3
the particular solution is
t 2& 1 2&
) xp = = (t ) (20)
mwn2 mwn3 k wn
the solution is
t 2&
) x(t) = e &wn t
(C1 sin wd t + C2 cos wd t) + (21)
mwn2 mwn3

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 For the ramp function with initial conditon zeros

x(0) = 0; v(0) = 0

1
x0 (t) = ( &wn ) e &wn t
(C1 sin wd t+C2 cos wd t)+e &wn t
(C1 wd cos wd t C2 wd sin wd t)+
mwn2
(22)
2&
x(0) = C2 =0
mwn3
2&
) C2 =
mwn3
1
x0 (0) = ( &wn ) C2 + C1 wd + =0
mwn2

2& 2 1
) C1 =
wd mwn2
so the ramp response is

1 2& &wn t 2& 2 1 2&

x(t) = ft +e [ sin wd t + cos wd t]gu (t) (23)
k wn wd wn

Comparing eq.2.32

&wn t &wn x0 + v0
x (t) = e ( sin wd t + x0 cos wd t)
wd
2&
x0 = (24)
wn k
1
v0 = (25)
k

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Problem 4.6
Derive the response of a viscously damped single-degree-of-freedom system
shown in Fig. 4.32

Using the superposition principle to express ramp fucntion for the

triangular pulse
2F0 T
F (t) = [r(t) 2r(t ) + r(t T )] (26)
T 2
where, r(t) is the ramp function
The response in terms of time-shifted ramp response is
2F0 T
x(t) = [r(t) 2r(t ) + r(t T)] (27)
T 2
where, r(t) is the ramp response

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Problem 4.7
Derive the response of a viscously damped single-degree-of-freedom system
shown in Fig. 4.33

Using the superposition principle to express ramp fucntion for the

trapezoidal pulse
2F0 T 3T
F (t) = [r(t) r(t ) r(t ) + r(t 2T )] (28)
T 2 2
where, r(t) is the ramp function
The response in terms of time-shifted ramp response is
2F0 T 3T
x(t) = [r(t) r(t ) r(t ) + r(t 2T)] (29)
T 2 2
where, r(t) is the ramp response

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 Problem 4.9
Derive the response of a visously damped single-degree-of-freedom system
to the force
t
F (t) = F0 e u(t) (30)
by means of the convolution integral
plot the response
given conditions:
m = 12kg
c = 24N s=m
k = 4; 800N=m
F0 = 200N
=1

From the convolution integral, the respose is

Z t Z t
x (t) = F (t)g(t )d = F (t )g(t)d (31)
0 0
For underdamped single-degree-of-freedom, the impulse response is,
1 &wn t
g(t) = e sin wd tu(t) (32)
mwd
inserting (30,32) into (??)
Z t
F0 (t ) &wn
x (t) = e u(t )e sin wd u( )d (33)
mwd 0
Z t
F0 e t
= e( &wn )
sin wd d
mwd 0

t Z t
F0 e
= e( &wn )
[eiwd e iwd
]d
2imwd 0

t Z t Z t
F0 e
= [ e[( &wn )+iwd ]
d e[( &wn ) iwd ]
d
2imwd 0 0

F0 e t e[( &wn )+iwd ] t e[( &wn ) iwd ]

= [ j jt0 ]
2imwd ( &wn ) + iwd 0 ( &wn ) iwd

F0 e t e[( &wn )+iwd ]t 1 e[( &wn ) iwd ]t

1
= [ +
2imwd ( &wn ) + iwd ( &wn ) + iwd ( &wn ) iwd ( &wn ) iwd

F0 e t e[( &wn )+iwd ]t

1 e[( &wn ) iwd ]t
1
= [
2imwd ( &wn ) + iwd ( &wn ) iwd

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 F0 e t [( &wn ) iwd ][e[( &wn )+iwd ]t
1] [( &wn ) + iwd ][e[( &wn ) iwd ]t
1]
= [
2imwd ( &wn )2 + wd2

(1)

[( &wn ) iwd ][e[( &wn )+iwd ]t

1]

= [( &wn ) iwd ]e[( &wn )+iwd ]t

[( &wn ) iwd ]

=( &wn )e[( &wn )+iwd ]t

iwd e[( &wn )+iwd ]t
( &wn ) + iwd

(2)

[( &wn ) + iwd ][e[( &wn ) iwd ]t

1]

= [( &wn ) + iwd ]e[( &wn ) iwd ]t

( &wn ) iwd

=( &wn )e[( &wn ) iwd ]t

+ iwd e[( &wn ) iwd ]t
( &wn ) iwd

(1) (2)

=( &wn )[e[( &wn )+iwd ]t

e[( &wn ) iwd ]t
iwd [e[( &wn )+iwd ]t
+e[( &wn ) iwd ]t
]+2iwd

=( &wn )[e t e &wn t iwd

e e te &wn t
e iwd
iwd [e t e &wn t iwd
e +e t e &wn t
e iwd
]+2iwd

=( &wn )e t e &wn t
[eiwd t e iwd t
] iwd e t e &wn t
[eiwd t + e iwd t
] + 2iwd

F0 e t ( &wn )e t e &wn t
[eiwd t e iwd t
] iwd e t e &wn t
[eiwd t + e iwd t
] + 2iwd
x (t) = [
2imwd ( &wn )2 + wd2
(34)

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 &wn t
F0 ( + &wn )e eiwd t e iwd t
&wn t e
iwd t
+ e iwd t t
= [ e +e ]
m[( &wn )2 + wd2 ] wd 2i 2
(35)
The response is

F0 t &wn t (&wn )
x(t) = [e e (cos wd t + sin wd t)]u(t)
m[( &wn )2 + wd2 ] wd
(36)

0.08

0.07

0.06

0.05

0.04

0.03

0.02

0.01

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

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 Problem 4.12
Derive the response of an undamped single-degree of freedom
system to the force of the triangular pulse

The ramp function

2F0 T
F (t) =
[r(t) 2r(t ) r(t T )] (37)
T 2
The impulse response for undamped system
1
g(t) = sin wn t (38)
mwn

T
for t < 2
Z t
1 2F0
x (t) = ( ) sin wn (t )d (39)
mwn 0 T
2F0 1
= (t sin wn t) (40)
mwn2 T wn

T
for 2 <t<T

Z T =2 Z t
1 2F0
x (t) = [ ( ) sin wn (t )d + 2F0 (1 sin wn (t )d ]
mwn 0 T T =2 T
(41)
2F0 t 1 T
= f1 + [2 sin wn (t ) sin wn t]g (42)
mwn2 T T wn T 2

for t > T

Z T =2 Z t
1 2F0
x(t) = [ ( ) sin wn (t )d + 2F0 (1 sin wn (t )d ]
mwn 0 T T =2 T
(43)
2F0 T
= [2 sin wn (t ) sin wn t sin wn (t )] (44)
mwn3 T 2

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Problem 4.16
Derive the response of a viscously damped single-degree-of
freedom system to the force
F (t) = F0 e t u(t)
by means of Laplace Transformation method
t
m•
x + cx_ + kx = F0 e (45)
using Laplace transformation
1
x(ms2 + cs + k) = F0 (46)
s+
F0 As + B C
x= = + (47)
ms2 + cs + k ms2 + cs + k s +

F0 = (s + )(As + B) + C(ms2 + cs + k) (48)

F0 = (A + Cm)s2 + ( A + B + cC)s + B + Ck (49)

2 32 3 2 3
1 0 m A 0
4 1 C 5 4B 5 = 4 0 5 (50)
0 k C F0
F0 m F0 F0
A= 2
= c k
= 2
(51)
m c +k 2
m + m
2&wn + wn2
F0 (m c) F0 ( 2&wn )
B= = 2 (52)
m 2 c +k 2&wn + wn2
F0 1 F0
C= 2
= 2
(53)
m c +k m 2&wn + wn2
1
m (As + B) C
x= + (54)
(s + &wn )2 + wd2 s+
c 2 k
where & = 2mwn ; wn = m

1 F0 F0 ( 2&wn ) 1 F0
(m )( 2 2 s
2&wn +wn + 2 2&wn +wn2 ) (m ) 2 2
2&wn +wn
x= + (55)
(s + &wn )2 + wd2 s+
1 F0 s+F0 F0 2&wn ) 1 F0
(m )( 2 2&w +w 2
n
(m ) 2 2
2&wn +wn
n
= + (56)
(s + &wn )2 + wd2 s+
2
2&wn + wn2 = ( &wn )2 + wd2 (57)

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 1 F0 (s + 2&wn ) F0
x= 2 2 [ 2 2 + ] (58)
m[( &wn ) + wd ] (s + &wn ) + wd s+

wd
F0 (s + &wn ) (&wn )w d
1
= 2 2 [ 2 2 + 2 2 + ]
m[( &wn ) + wd ] (s + &wn ) + wd (s + &wn ) + wd s+

F0 &wn t (&wn ) &wn t t

= [e cos wd t e sin(wd t) + e ] (59)
m[( &wn )2 + wd2 ] wd

so, the solution is

F0 (&wn )
) x(t) = fe t
e &wn t
[cos wd t + sin(wd t)]gu(t)
m[( &wn )2 + wd2 ] wd
(60)

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