Professional Documents
Culture Documents
Fundamentals of Structural Vibration (Slides) PDF
Fundamentals of Structural Vibration (Slides) PDF
Structural Vibration
Speaker:
Prof. FUNG Tat Ching
Topics in Fundamentals of
Structural Vibration (1.5 hrs)
z SDoF Systems z MDoF Systems
z Dynamic
y Equilibrium
q z Mode Shapes
p
z Natural Freq/Period z Modal decomposition
z Damping ratio z Modal responses
z Phase lag
z Disp Resp Factor
z Response Spectrum
2
Course Outline for CV6103
Lecture Course Content Chapters in
(21 hours) Textbook
1 Single-Degree-of-Freedom
Si l D fF d Systems
S t
Equations of motion 1.2 – 1.6
Free vibration 2.1 – 2.2
2 Single-Degree-of-Freedom Systems 3.1 – 3.4
Response to harmonic and periodic excitations 3.12 – 3.13
3 g g
Single-Degree-of-Freedom Systems
y
Response to arbitrary, step and pulse excitations 4.1 – 4.11
4 Multi-Degree-of-Freedom Systems
Equations of motion 9.1 – 9.2
Natural vibration frequencies and modes 10.1 – 10.7
5 Multi-Degree-of-Freedom Systems
Free vibration response 10 8 – 10.15
10.8 10 15
6 Multi-Degree-of-Freedom Systems
Forced vibration response 12.1 – 12.7
7 S t
Systems with
ith Generalized
G li d Degrees
D off Freedom
F d
Generalized coordinates and their applications 14.3, 17.1 3
● References
● Clough, R. W., and Penzien, J.,
Dynamics of Structures,
McGraw-Hill, 1993.
● Meirovitch,, L. Fundamentals of
Vibrations, McGraw-Hill, 2001.
4
Why Is There A Need To Do
Dynamic Analysis?
● Static analysis
● External Load = Internal Force
z Magnitude of loading & stiffness
● Dynamic analysis
● External Load ≠ Internal Force
z Magnitude off loading & stiffness
ff
z Frequency characteristics of loading, and the dynamic
properties of structures (mass
(mass, stiffness
stiffness, damping)
¾ Pendulum
¾ Rod is assumed to be massless
¾ Only allowed to rotate about hinge
¾ Can be modelled as a SDOF system
6
Equation of Motion
Damping force Restoring force
mu&& + fD + fS = p
External force
Single-degree-of-freedom
(SDoF) Systems u(t)
c
Typical
m
representation: p(t))
p(
(mass)
Mass-spring-damper
system k
Assumptions:
¾ External force p(t)
¾ Linear elastic restoring force
¾ Restoring force ku
¾ Linear
Li viscous
i d
damping
i du
¾ Damping force c
2
dt
du
mu&& + cu& + ku
k = p(t ) ¾ Inertia
I ti force
f m
dt 2 8
Undamped Free Vibration
● Equation of Motion: mu&& + cu& + ku = p(t )
● with c = 0, p(t) = 0
2 k
mu + ku = 0
&& or u&& + ωn u = 0 ωn =
m
● Initial conditions: u = u(0), u& = u& (0)
● Exact Solution:
u& (0)
u(t ) = u(0) cos ωnt + sin ωnt
ωn
or u(t ) = umax cos(ωnt − θ )
See Page 46 in Chopra
2
⎛ u& (0) ⎞ u& (0)
= (u(0)) + ⎜⎜
2
umax ⎟⎟ θ = tan−1 9
⎝ ωn ⎠ ωnu(0)
umax
umax umax
10
Periods of Vibration of
Common Structures
Common Structures Period
20-story moment resisting frame 1.9 sec
10-story moment resisting frame 1.1 sec
1-story moment resisting frame 0.15 sec
ζ :damping ratio
ccr : critical damping coefficient
Three scenarios
¾ ζ < 1, i.e. c < ccr ⇒ under-damped (oscillating)
¾ ζ = 1, i.e. c = ccr ⇒ critically damped
¾ ζ > 1, i.e. c > ccr ⇒ over-damped 13
Glued p
plywood
y shear wall 0.100
Nailed plywood shear wall 0.150
Tn
TD =
ρ = umax 1− ζ 2 15
Decay of Motion
One way to measure damping is from rate of
decay from free vibration
TD
TD
u(t ) = e −ζωnt umax cos(ωDt − θ )
((exactly)
y)
Since peaks are separated by TD ,
ui e −ζωnt ⎛ 2πζζ ⎞
= −ζω (t +T ) = exp(ζωnT D ) = exp⎜ ⎟
ui +1 e n D ⎜ 1− ζ 2 ⎟
⎝ ⎠ 16
Type of Excitations
Steady-state
● Harmonic / Periodic Excitations Responses
● Commonly encountered in engineering
z Unbalanced rotating machinery
z Wave loading
● Basic components in more general periodic
excitations
z Fourier series representation
● More General Excitations Transient
T i t
Responses
● Step/Ramp Forces
● Pulses Excitations
17
Equation of Motion
mu&& + cu& + ku = p(t ) Resonance
● Linear
● ⇒u(t) can be replaced
by u(t) + any free
vibration responses
p
ω / ωn > 2
● For example, Rapidly
Slowly loaded
● c=00, u(t) = u0sinωt loaded
ω
= 0.2
ωn
Response u (0) = 0
ω p
u& (0) = n 0
k
p0 1
u p (t ) = sin ωt
1 (ω / ωn )
2
k 1−
19
20
Harmonic Vibration of Viscous
Damping
Equation of Motion
Sinusoidal force k
ωn =
mu&& + cu& + ku = p0 sin ωt m
Excitation frequency
Amplitude of force
Particular Solution
S
u p (t ) = C sin ωt + D cos ωt Derivation: See
Page 73 in Chopra
p0 1 − (ω / ωn )2
C=
k [1 − (ω / ωn )2 ]2 + [2ζω
ζ / ωn ]2
p0 − 2ζω / ωn
D=
k [1 − (ω / ωn )2 ]2 + [2ζω / ωn ]2 21
Steady-State Solution
The particular solution can also be written as:
u p (t ) = u0 sin(ωt − φ )
−D
where u0 = C 2 + D 2 φ = tan−1
C
Using previously derived results for C and D,
p0 1
umax = u0 =
k
[1 − (ω / ω ) ] + [2ζ (ω / ω )]
n
2 2
n
2
−1 2ζ (ω / ωn )
φ = tan
1 − (ω / ωn )
2
22
ζ = 0.2
General Solution
Complementary solution is the free damped
vibration response:
ωD = ωn 1 − ζ 2
uc (t ) = e −ζωnt (A cos ωDt + B sin ωDt )
Recall: A, B derived by
Complete solution: satisfying initial conditions
u(t ) = uc (t ) + u p (t )
= e −ζωnt (A cos ωDt + B sin ωDt ) + C sin ωt + D cos ωt
Example 2
ω = ωn (resonant response), ζ = 0.05
u st
With d
damping,
i h u max =
response approach
2ζ 26
But can still be larger for another value of ω!
Example 3
27
Significance of Steady-state
Solutions
● In certain problems, e.g. wave loads on an
offshore structure, the load is assumed to be
in place for a sufficiently long time, so that the
transient response has completely decayed
decayed.
● The interest is in the steady-state solution.
28
Maximum Response and
Phase Angle
St d state
Steady t t solution
l ti is i (ωt − φ )
i u p (t ) = u0 sin
p0 1
u0 =
k
[1 − (ω / ω ) ] + [2ζ (ω / ω )]
n
2 2
n
2
−1 2ζ (ω / ωn )
φ = tan Called Deformation Response
1 − (ω / ωn )
2
Factor ((DRF)) Rd in Chopra
p
textbook (Page 76)
φ is the phase lag
Time lag = φ/ω
29
u0 ≅ ⎜ ⎟ = 02
¾ k ⎝ω ⎠ mω
¾ Displacement anti-phase with force
P
Periodic Excitation
p
T0 T0 T0 ω0 = 2π / T0
p(t + jT0 ) = p(t ) j : integer in (-∞, ∞ )
Simple Examples
Step Force p
p0
p(t ) = p0 t ≥0
0 t
p
Ramp or
li
linearly
l p0
increasing t
p(t ) = p0 t ≥0
force tr
0 tr t
p
Step force
with finite p0
⎧ p (t / t r ) t ≤ tr
rise time p(t ) = ⎨ 0
⎩ p0 t ≥ tr
0 tr t 34
Dynamic Response to
Step Forces
p0 ⎡ ⎛
−ζωnt ⎜ ζ ⎞⎤
u(t ) = ⎢1 − e cos ωDt + sin ωDt ⎟⎥
k ⎢ ⎜ 1 − ζ 2 ⎟⎥
⎣ ⎝ ⎠⎦
35
p0
(ust )0 =
k
ζ =0
tr
= 2.5
Tn
36
Dynamic Response to Step
Force With Finite Rise
p
Time
p0
⎧ p (t / t r ) t ≤ tr
p(t ) = ⎨ 0
⎩ p0 t ≥ tr
0 tr t
p0 ⎛ t sin ωnt ⎞
1. Ramp phase: u(t ) = ⎜⎜ − ⎟⎟ t ≤ t r
k t
⎝ r ω t
n r ⎠
⎧
2. Constant phase: u(t ) =
p0
⎨1 −
1
[sin ωnt − sin ωn (t − tr )]⎬⎫ t > tr
k ⎩ ωnt r ⎭
37
38
Maximum Deformation
sin(πt r / Tn )
Rd = 1 +
πt r / Tn
Response Spectrum 39
40
Response Spectrum
Multi-Degree-of-Freedom
Systems
p4(t)
u4(t)
c4 k4
p3((t))
u3(t)
c3 k3
p2(t)
u2(t)
c2 k2
p1(t)
u1(t)
c1 k1
42
General Approach for Complex
Structures
● Elastic resisting forces
● Same as static analysis (i
(i.e.
e ku
ku=p)
p)
● fS = ku
● D
Damping
i fforces: usually
ll rather
th simple
i l
● fD = cu&
● Inertia forces: usually simple
● fI = mu
&&
● Equations of motion
&&(t ) + cu& (t ) + ku
mu k (t ) = p(t )
43
Arbitrary u(0)
• NOT Simple Harmonic Motion (SHM)
• Frequency of motion cannot be defined
• u1 and u2 are not proportional (⇒deflected shapes varies with time)
Modal coordinators
44
When u(0) = φ1
• can be SHM with appropriate initial conditions
• u1 proportional to u2
• φ1 is a natural mode
45
When u(0) = φ2
• can be SHM with appropriate initial conditions
• u1 proportional to u2
• φ2 is a natural mode
46
Natural Frequency
The natural period of vibration Tn = the time
required
q for one cycle
y of the harmonic motion in
one of these natural modes.
1 2π
fn = Tn =
Tn ωn
fn = natural cyclic frequency of vibration
ωn = natural circular frequency of vibration
47
Uncoupled Equations
● EoM:
&&(t ) + cu& (t ) + ku(t ) = p(t ) with u(0) and u& (0)
mu
● Transformed into N SDoF Systems,
y , each
Mnq&&n (t ) + Cnq& n (t ) + K nqn (t ) = Pn (t ) classical damping
51
Modal Contribution
It is useful to define the contribution of the nth
mode to u(t) as
un (t ) = φnqn (t )
53
k2 k2
m1
p1(t) m1u&&1((tt ) fS1(t) u1(t)
k1 k1
V(t) V(t)
54
fn (t ) = kun (t ) = kφnqn (t ) = ωn2mφnqn (t )
M1
P1(t) q1(t)
r1(t) = r1st q1(t)
r1st K1, ζ1
MN
PN(t) qN(t)
rN(t) = rNst qN(t)
rNst KN, ζN
55
Recap
z SDOF Systems z MDOF Systems
z Dynamic
y Equilibrium
q z Mode Shapes
p
z Natural Freq/Period z Modal decomposition
z Damping ratio z Modal responses
z Phase lag
z DAF/DRF
z Response Spectrum
56