MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

Lecture 23- SDOF- Periodic MEEM 3700 1

Input, Fourier Series

Response Under a General Periodic Force

mx&& + cx& + kx = F ( t )

Where for any value of t F ( t ) = F ( t + τ )

F(t) = General Periodic Force
1) Harmonic (sin, cos) 2) Transient
F(t) F(t))

t
t

3) Periodic 4) Random
F(t) F(t))

t
t

This force can be expressed in terms of its

Fourier Series Coefficients
Lecture 23- SDOF- Periodic MEEM 3700 2
Input, Fourier Series

1
Time to Frequency Domain Conversion:
Periodic Function: F ( t ) = F ( t + T )

Amplitude
x (t) = x (t + Τ) Time

Τ
2π
Trigonometric series representation: (where ω = )
a0 T
x (t ) = + a1 cos(ω t ) + a 2 cos(2ω t ) + a3 cos(3ω t ) + L
2
+ b1 sin(ω t ) + b2 sin(2ω t ) + b3 sin(3ω t ) + K
Conditions for application:
1.) Function is periodic F ( t ) = F ( t + T )
2.) Discontinuities are finite within any period
3.) Function has a finite number of maxima and minima during
during any period

∫ x ( t ) dt < ∞
4.) Function is absolutely integrable over any period T
0

Lecture 23- SDOF- Periodic MEEM 3700 3

Input, Fourier Series

Time to Frequency Domain Conversion: Fourier Series

Series coefficients are evaluated as:

T T
2 2
an =
Τ ∫ x (t ) cos( nω t ) dt
0
bn =
Τ ∫ x (t ) sin( nω t ) dt
0

Evaluation is simplified by the Orthogonality conditions of Sine & Cosine

T 0 for m ≠ n
∫ sin(mω t ) sin(nω t ) =
0
Τ
for m = n ≠ 0
2 T

∫ sin( mω t ) cos( nω t ) = 0
0
T 0 for m ≠ n
∫ cos( mω t ) cos( nω t ) = Τ
0 for m = n ≠ 0
2

Lecture 23- SDOF- Periodic MEEM 3700 4

Input, Fourier Series

2
Time to Frequency Domain Conversion: Fourier Series
X (t)

an bn

4 4 4 4
x (t ) = + s in ( ω t ) + s in (3 ω t ) + s in (5 ω t ) + s in ( 7 ω t ) + L
π 3π 5π 7π

2π
ω=
T
Lecture 23- SDOF- Periodic MEEM 3700 5
Input, Fourier Series

Time to Frequency Domain Conversion: Fourier Series

Example of 4 terms

Example of 8 terms

Lecture 23- SDOF- Periodic MEEM 3700 6

Input, Fourier Series

3
 Harmonic Forcing Function: Example
EOM: mx&& + cx& + kx = F ( t )
k c = F0 e jωt
Steady State Response: X ss = Xe jωt
m Becomes
x (t ) F ( t ) = F0 e jωt

( −mω 2
)
+ jω c + k Xe jωt = F0 e jωt
X 1
=
F0 (
k − mω 2 + jω c )
X 1 ⎛ ωc ⎞
= φ = tan −1 ⎜ 2 ⎟
⎝ k − mω ⎠
F0
( k − mω )
2
2
+ ω 2c2

Lecture 23- SDOF- Periodic MEEM 3700 7

Input, Fourier Series

Harmonic Forcing Function: Example

To obtain the non-
non-dimensionalized forms of the previous equatiosns use:

c ω k
ζ = r= ωn =
cc ωn m

⎛ F0 ⎞
⎜ k⎟
X ss = ⎝ ⎠ ⎛ 2ζ r ⎞
φ = tan −1 ⎜ 2 ⎟
(1 − r ) + ( 2ζ r ) ⎝ 1− r ⎠
2 2
2

Lecture 23- SDOF- Periodic MEEM 3700 8

Input, Fourier Series

4
Response Under a General Periodic Force
Expand the periodic force in a Fourier Series

a0 ∞ ∞
F (t ) = + ∑ an cos ( nωt ) + ∑ bn sin ( nωt )
2 n =1 n =1
T
2
F ( t ) cos ( nωt ) dt
T ∫0
where an = n = 0,1, 2, 3...

T
2
F ( t ) sin ( nωt ) dt
T ∫0
bn = n = 0,1, 2, 3...

Therefore, the equation of motion of the system can be expressed as:

a0 ∞ ∞
mx&& + cx& + kx = + ∑ an cos ( nωt ) + ∑ bn sin ( nωt )
2 n =1 n =1

* The total solution is the sum of these responses *

Lecture 23- SDOF- Periodic MEEM 3700 9
Input, Fourier Series

Response Under a General Periodic Force: Solutions

a a
mx&& + cx& + kx = 0 steady state solution: X ss = 0
2 2k
∞
mx&& + cx& + kx = ∑ an cos ( nωt )
n =1
⎛ an ⎞
∞ ⎜ k⎟
steady state solution:
X ss = ∑ ⎝ ⎠
(1 − n r ) + ( 2ζ nr )
2 2
n =1 2 2

∞
mx&& + cx& + kx = ∑ bn sin ( nωt )
n =1
⎛ bn ⎞
∞ ⎜ k⎟
steady state solution:
X ss = ∑ ⎝ ⎠
(1 − n r ) + ( 2ζ nr )
2 2
n =1 2 2

Lecture 23- SDOF- Periodic MEEM 3700 10

Input, Fourier Series

5
Response Under a General Periodic Force: Solutions
The complete solution is the summation from the
principle of superposition
⎛ an ⎞
∞ ⎜ k⎟
a
xss ( t ) = 0 + ∑ ⎝ ⎠ cos ( nω t − φn ) + ...
2k n =1
(1 − n r ) + ( 2ζ nr )
2 2
2 2

⎛ bn ⎞
∞ ⎜ k⎟
+∑ ⎝ ⎠ sin ( nω t − φn )
( ) + ( 2ζ nr )
2 2
n =1
1 − n2r 2

⎛ 2ζ nr ⎞
φn = tan −1 ⎜ 2 2 ⎟
⎝ 1− n r ⎠

Lecture 23- SDOF- Periodic MEEM 3700 11

Input, Fourier Series

Response Under a General Periodic Force:

Notes:
1.) If nω = ωn for any n, the amplitude of the corresponding
harmonic will be very large.

2.) As n becomes larger, the amplitude becomes smaller. Thus

the first few terms are generally sufficient to obtain the
the
response with resonable accuracy.

Lecture 23- SDOF- Periodic MEEM 3700 12

Input, Fourier Series

6
 Fourier Series Example F (t )

c F (t ) Fo

o
• Jo T t
x (t )
k
Given:
J o = 10 kg ⋅ m 2 l = 1m
N ⋅ sec N
c = 40 k = 4000
m m
l Initial Conditions:
Find x(t) x ( 0) = 0 Fo = 10π
x& ( 0 ) = 0 T = 1 sec

Lecture 23- SDOF- Periodic MEEM 3700 13

Input, Fourier Series

Fourier Series Example: FBD & EOM

l F (t ) ∑ M 0 = J 0θ&&
c θ&
2
kl 2 cl 2
•
− θ − θ& + F ( t ) l = J 0θ&&
4 4
x (t )
θ cl 2
kl 2 x
l J 0θ&& + θ& + θ = F ( t ) l θ=
k θ 4 4 l
2

x = lθ for small angles J0 cl kl

x + x& + x = F ( t ) l
&&
l 4 4
J0 c k
x + x& + x = F ( t )
&&
l2 4 4

Lecture 23- SDOF- Periodic MEEM 3700 14

Input, Fourier Series

7
 Fourier Series Example: Determining Fourier Coeff. Coeff.
a
F ( t ) = 0 + ∑ an cos (ωt ) + ∑ bn sin (ωt )
2 n n

2 T ⎛ F0 ⎞ 2F
a0 = ∫0 ⎜
T ⎝T ⎠
t ⎟ dt = 02 t 2 |T0 = F0
2T

2π 2 T ⎛ F0 ⎛ 2π n ⎞ ⎞ 2F T ⎛ ⎛ 2π n ⎞ ⎞
T ∫0 ⎝ T ∫
ω= an = ⎜ t cos ⎜ t ⎟ ⎟ dt = 20 ⎜ t cos ⎜ t ⎟ ⎟ dt
T ⎝ T ⎠⎠ T 0
⎝ ⎝ T ⎠⎠
T
⎡ ⎛ 2π nt ⎞ ⎤
2π nt sin ⎜ ⎟
F0 ⎢ ⎛ 2π nt ⎞ ⎝ T ⎠⎥
an = 2 2 ⎢cos ⎜ ⎟+ ⎥
2π n ⎢ ⎝ T ⎠ T ⎥
⎢⎣ ⎥⎦
0

an = 0 for n = 1, 2,3, 4...

Lecture 23- SDOF- Periodic MEEM 3700 15

Input, Fourier Series

Fourier Series Example: Determining Fourier Coeff.

Coeff.

2 T ⎛ F0 ⎞ ⎛ 2π nt ⎞
bn = ∫ ⎜
T 0⎝T ⎠ ⎟t sin ⎜
⎝ T ⎠
⎟ dt

2 F0t ⎛ 2π nt ⎞
bn = sin ⎜ ⎟
⎝ T ⎠
2
T
F F F0
b1 = − 0 , b2 = − 0 , b3 = − , ...
π 2π 3π

F0 F0 F F F
∴ F (t ) = − sin (ωt ) − 0 sin ( 2ωt ) − 0 sin ( 3ωt ) − ... − 0 sin ( nωt )
2 π 2π 3π nπ

Lecture 23- SDOF- Periodic MEEM 3700 16

Input, Fourier Series

8
Xk
F

Fourier Series Example: Solving with Numbers

x + 10 x& + 1000 x = 5π − 10sin ( 2π t ) − 5sin ( 4π t ) − 3.33sin ( 6π t ) + ...

10 &&

1000 10
ωn = = 10 rad
sec
ζ = = 0.05 ωd ≈ ωn
10 2 10000

∴ x ( t ) = e −0.5t ( A cos (10t ) + B sin (10t ) ) + X 0 + X 1 sin ( 2π t ) + X 2 sin ( 4π t ) + X 3 sin ( 6π t ) + ...

Lecture 23- SDOF- Periodic MEEM 3700 17

Input, Fourier Series

Fourier Series Example: Solving with Numbers

ζ φ
Xk
n r F F X
0 0 0.05 1.00 5π 0.0157 0

1 π/5 0.05 1.64 -10.00 -0.016 0

2 4π/10 0.05 1.68 -5.00 -0.0084 π

3 6π/10 0.05 0.39 -3.33 -0.0013 π

∴ x( t ) = e−0.5t ( Acos(10t ) + Bsin(10t ) ) + 0.0157 −0.016sin( 2πt ) −0.0084sin( 4πt −π ) −0.0013sin( 6πt −π ) +...

Apply initial conditions to solve for A and B

Lecture 23- SDOF- Periodic MEEM 3700 18

Input, Fourier Series