CEI SD 100 Structural Dynamics LR01new

Civil Engineering Informatics Program
CEI SD-100
Structural Dynamics
Prof. Dr. Nayer El-Esnawy

Head of Department and Professor of Structural Engineering
Structural Dynamics-1
Lecture Agenda
1. Basic Concepts and Terminology
2. Analysis of Free Vibrations
Prof. Nayer El-Esnawy – CEI SD-100 Structural Dynamics

What is Structural Dynamics?

It is the analysis of responses of the structure as function of time because the
applied load changes in time (t): magnitude, direction, and/or position.
Dynamic Load Main Response History

load as function of time Structure response as function of time
w(t)
u(t)
u(t)
w(t)
t
w(t)
t
Vb(t)
Vb(t)
t

Common Sources of Dynamic Load
1. Environmental: wind load, wave load, earthquake load
2. Machine induced (in industrial installations): rotating engines, turbines,
conveyer mechanisms, fans
3. Vehicular induced: road traffic, railway
4. Blast: explosive devices or accidental explosions
Applications
1. Vibrations 2. Offshore structures 3. Earthquakes


Applications
4. Tall buildings 5. Blast & Impact 6. Moving Loads
7. Wind Farms 8. Machine Loads

Vibrating
Machine
Supporting Beam
Dynamic Versus Static

1. Static Load: fixed magnitude, direction, and position
Dynamic Load: time-varying magnitude, direction, and/or position
2. Static Equilibrium: resultant force = 0
(algebraic equations)
Dynamic Equilibrium: resultant force = inertia effect
(differential equations of motion)
3. Static Response: single value

Dynamic Response: multiple values function of time (response history)

What is Meant By Inertia Effect?

It is the resistance of structure to change its state, whether at rest or in motion
with constant velocity, when an external load is applied.
Inertia
Extern
a
Load l
External Load
A more massive structure will experience larger inertia effect
What is Meant By Inertia Effect?

Newton’s 1st Law
Every object remains at rest or in uniform motion
in a straight line unless compelled to change its
state by the action of an external force
The first law is also referred to by "law of inertia"

How to Determine Inertia Effect?

Newton’s 2nd Law
A force to be equal to the differential change in momentum per unit time as
described by the calculus of mathematics
The momentum is defined to be mass of an object (m) times its velocity (v)
d ( momentum ) d ( m × v ) d (v)
Inertia Effect = = = m× = m×a
dt dt dt
In
Inertia effect can be visualized Ef erti
fe a
as a non-physical resisting force ct
that acts opposite to direction
of acceleration.
What are Main Response Histories?

0 .2
Displacement (m)
0 .1
1. Displacement u(t) 0 t
Determined from solving governing
- 0 .1
- 0 .2
dG
differential equations of motion 0 3
0 .3
Velocity (m/s)
0 .2
0 .1
0
t
2. Velocity v(t) = du / dt = u(t)
- 0 .1
- 0 .2
- 0 .3
- 0 .4 PGV
0 5
0 .2
Acceleration/ g
3. Acceleration a(t) = d2u / dt2 = u(t) 0

t
- 0.2
aG
0 4
4. Internal forces in structural members

1. Determined from u(t), v(t), and a(t) using stiffness coefficients of member
2. Determined using equivalent static force
What is Free Vibration of Structures?

It is a dynamic response where the structure oscillates on its own (no load) in a
harmonic manner about an equilibrium position and repeats its oscillation after
an interval of time known as period of vibration (T).
What Causes Free Vibration?

Initial disturbance at time t=0 (excitation before start of free vibration phase)
that changes the state of the structure from its equilibrium:
1. Initial displacement uo (excites strain energy)
2. Initial velocity vo (excites kinetic energy)
This initial disturbance can be caused by a preceding dynamic load phase
P(t) W W P(t)
u1(t) u2(t)
Phase 1 Phase 2
Dynamic Load Free Vibration Free
Phase (1) Phase (2) Vibration
t
tp Initial
Disturbance
What is Free Vibration of Structures?
vo
u T envelope of vibration
uo um
t
u(t) u(t) envelope of vibration
a b c d e

What is Period of Vibration (T)?

It is the time interval required to complete one cycle of oscillation about an
equilibrium position. T is measured in seconds (s).
T T
Equilibrium
Position
u ωT = 2π
What is Period of Vibration (T)?

It is the time interval required to complete one cycle of oscillation about an
equilibrium position. T is measured in seconds (s).
Equilibrium
Position
u ωT = 2π
What is Frequency of Vibration (f)?
It is the number of cycles completed in one second, measured in Hertz (Hz)
Frequency = f = 1 /T (Hz)
Circular Frequency = ω = 2 π f = 2 π /T (rad/s)

What is Harmonic Vibration? W

It is oscillations about an equilibrium position defined by a sine
and/or cosine functions and repeats itself every period T.
u(t) = um cos(ω t) = um cos(2 π t / T) k
um = Amplitude of vibration (maximum magnitude)
Equilibrium
Position
Equilibrium
Position
um um
k
um um
um k
Equilibrium
um Position
What is Harmonic Vibration? u

Displacement Relative to T
Equilibrium Position
um
u(t) = um cos(2 π t / T)
t
T = Period of vibration um
um = Amplitude of vibration
T
Same Periods Different Periods

Different Amplitudes Same Amplitudes

What is Harmonic Vibration? u

Equilibrium Position
um
u(t) = um cos(2 π t / T)
t
T = Period of vibration um
um = Amplitude of vibration
T
Velocity v(t) = du / dt = u = − (2 π / T) um sin(2 π t / T)
Acceleration a(t) = d2u / dt2 = u = − (2 π / T)2 um cos(2 π t / T)
a(t) = − (2 π / T)2 u(t)
Max Acceleration = am = (2 π / T)2 um
What is General Harmonic Response? u 2 π b1

Equilibrium Position um
a1
t
u(t) = a 1 cos ⎛⎜ 2π ⎞⎟ + b1 sin ⎛⎜ 2π ⎞⎟
t t um t*
⎝ T⎠ ⎝ T⎠
T
Amplitude of vibration = u m = ( a 1 ) 2 + ( b1 ) 2
⎛ − b1 ⎞
Phase angle = θ = tan −1 ⎜⎜ ⎟⎟
⎝ a1 ⎠
u(t) = u m cos ⎛⎜ 2π + θ ⎞⎟
t
⎝ T ⎠
−θT
cos ⎛⎜ 2π + θ ⎞⎟ 1.0 = cos ⎛⎜ 2π + θ ⎞⎟
t* t* t* =
Time lag : u m = u m
⎝ T ⎠ ⎝ T ⎠ 2π
Why Free Vibrations Die Out?

Conservation of Energy: Energy can neither be created nor destroyed, it can
only be transformed from one form to another
Initial energy inside structure is dissipated in time by thermal effect of repeated
or cyclic straining of material and internal friction when members are deformed
This energy dissipation causes damping of vibration amplitude until eventually
vibrations stop.
u vo Undamped
Free Vibrations
Damped
uo Free Vibrations

Other Dissipation Mechanisms of Vibration Energy
1. RC members: opening and closing of micro-cracks
2. RC members: friction between rebars and surrounding concrete
3. Steel members: friction at connections
4. Contact between structural members and non-structural elements (e.g., wall)
Vibrations Control


Other Dissipation Mechanisms of Vibration Energy
Bearing for Bridges Dissipator for Bridges
How to Model Damping in Linearly-Elastic Structures

Equivalent Viscous Damping
Damping (or energy dissipation) is a complex phenomenon. For linearly-elastic
structures, damping can be modelled by equivalent viscous damping
Damping Force (N) = Viscous Damping Coefficient (N.s/m) × Velocity (m/s)
Fd
Fd (t) = c × v(t) = c × u& (t) c
c is determined from vibration experiments on structure, not u&
from structural dimensions, so energy dissipated by viscous
damping in one cycle of harmonic vibration is equivalent to
energy dissipated by all damping mechanisms in structure
2
T⎛ ⎛ 2π t ⎞ ⎞
⎜⎜ 2 π × u m cos⎜
T
E d = ∫ Fd (t) du = ∫0 (c u& ) u& dt = c ∫0 ⎟ ⎟⎟ dt
⎝ T ⎝ T ⎠⎠
2π2c 2
Ed = ×um
T

Dynamic Hysteresis Due to Viscous Damping Fd
Relationship between damping force Fd(t) and displacement c
response u(t) u&
⎛ 2π ⎛ 2π t ⎞⎞
Fd (t) = c × u& (t) = c × ⎜⎜ × u m cos ⎜ ⎟ ⎟⎟
⎝ T ⎝ T ⎠⎠
Fd (t) = c × ( ω × u m cos ( ω t ) )
2
⎛ Fd (t) ⎞
⎜⎜ ⎟⎟ = cos 2 ( ω t ) = 1 − sin 2 ( ω t ) = 1 − ( u(t) u m ) 2
⎝ cωum ⎠ Loading
Fd
2 2 cωu m Ed
⎛ Fd (t) ⎞ ⎛ u(t) ⎞
⎜⎜ ⎟⎟ + ⎜⎜ ⎟⎟ = 1.0
⎝ cωum ⎠ u
⎝ m ⎠ um
u
Damping hysteresis is an elliptic loop, not a singled-

value relation Unloading

Critical Viscous Damping Coefficient (ccr) Fd
It is smallest value of viscous damping coefficient that c
prevents occurrence of vibrations due to initial disturbance u&
Damping Ratio = ζ =
c
c cr
c Underdamped
ζ= < 1 .0 (structure oscillates
c cr to reach equilibrium)
Critically Damped
c
ζ= = 1 .0 (structure does not
c cr oscillate to reach
equilibrium)
Overdamped
c
ζ= > 1 .0 (no oscillations and
c cr slower response to
reach equilibrium)

Critical Viscous Damping Coefficient (ccr) Fd
Damping Ratio = ζ =
c c
c cr u&
ζ (%)
Most civil engineering structures are underdamped, so they

will vibrate due to initial disturbance, c < ccr (ζ < 1.0)
How Does Damping Affect Vibration Period of Structures?

Damped Period is longer than undamped
Damped Period = T = T period: Td > T
d
of Vibration So, damped SDF model vibrates freely as
1− ζ 2 a slower rate (less cycles per second)
than undamped SDF model
ζ = Damping Ratio
- Pipes: ζ = 0.5%
- Steel Structures: ζ = 2.0%
- Reinforced Concrete Structures: ζ = 5.0%
- Prestressed Concrete Structures: ζ = 2.0%
Damping in most
Most practical structures are lightly- damped, structures < 20%
ζ << 1.0 : Td = 1.02 T ≈ T
So, structures are designed based on
undamped period of vibration ( T )

How to Model Stiffness Force in Linearly-Elastic Structures

Stiffness force is modelled by equivalent stiffness coefficient in the direction of
accelerating mass
Stiffness Force (N) = Equivalent Stiffness (N/m) × Displacement (m)
Fs
Fs (t) = k × u(t)
Loading k
This is a singled-value relation, so no energy dissipation u
Unloading
The maximum strain energy
um um k u 2m
E sm = ∫0 Fs (t) du = ∫0 (k u) du =
2
After one cycle of harmonic vibration, Es = 0
T T⎛ ⎛ 2π t ⎞ ⎞ ⎛ 2π ⎛ 2π t ⎞ ⎞
E s = ∫ Fs (t) du = ∫0 (k u) u& dt = k ∫0 ⎜⎜ u m sin ⎜ ⎟ ⎟⎟ × ⎜⎜ × u m cos ⎜ ⎟ ⎟⎟ dt
⎝ ⎝ T ⎠⎠ ⎝ T ⎝ T ⎠⎠
Es = 0
Energy Dissipation in Linearly-Elastic Structures

Relation between the total resisting force (Fd(t) + Fs(t) ) and the displacement
response u(t) is an elliptic loop, not a singled-value relation.
So, dynamic hysteresis exists due to Fd + Fs
damping only (no hysteresis due to Fs = k u
stiffness). kum
cωu m
Loading
u
um
Unloading

Structural Dynamics-1
Lecture Agenda
Governing Equations of Free Vibrations

W = lumped weight (N) Wu W W
o u(t) u(t)
m = lumped mass (kg) = W/g vo
g = gravity = 9.81 m/s 2
u(t) u(t)
k = stiffness coefficient (N/m) u(t) F(t) u(t)
c = viscous damping coefficient
k,c k,c
(N.s/m)
a(t) = total acceleration of lumped
Initial Free
mass (m/s2) Disturbance Response
F(t) = internal resisting force (N)
t = time (s)
Apply Dynamic Equilibrium
− F(t) = m × a(t)
m × a(t) + F(t) = 0
m × a(t) + Fd (t) + Fs (t) = 0 Fd(t)=damping force due to energy dissipation
Fs(t)=stiffness force due to deformations
Governing Equations of Free Vibrations

For linearly-elastic structure Wu W W
o u(t) u(t)
Fd (t) = c × v(t) vo
u(t) u(t)
Fs (t) = k × u(t) u(t) F(t) u(t)
m × a(t) + c × v(t) + k × u(t) = 0 k,c k,c
m × &u&(t) + c × u& (t) + k × u(t) = 0 Free
Initial
Disturbance Response
For undamped case
m × &u&(t) + k × u(t) = 0 &u&(t) = − ( k m ) × u(t)

Free vibrations of undamped structures
are harmonic
Free Vibration Response Wu

o
W W
u(t) u(t)
m &u&(t) + k u(t) = 0 vo
u(t) u(t)
Classical solution is harmonic u(t) F(t) u(t)
u(t) = a 1 cos ⎛⎜ 2π ⎞⎟ + b1 sin ⎛⎜ 2π ⎞⎟
t t
k k
⎝ T⎠ ⎝ T⎠
Satisfy initial conditions at t=0 to Initial Free
calculate two constants a1 and b1 Disturbance Response
1. u(t = 0) = u 0 u 0 = a1 a1 = u 0
2π v0 T
2. u& (t = 0) = v 0 v0 = × b1 b1 =
T 2π
Amplitude of Vibration
v T
u(t) = u 0 cos ⎛⎜ 2π ⎞⎟ + 0 sin ⎛⎜ 2π ⎞⎟
t t 2
⎛v T⎞
⎝ T ⎠ 2π ⎝ T⎠ um = (u 0 ) 2
+ ⎜⎜ 0 ⎟⎟
⎝ 2π ⎠
Free Vibration Response Wu

o
W W
u(t) u(t)
v T vo
u(t) = u 0 cos ⎛⎜ 2π ⎞⎟ + 0 sin ⎛⎜ 2π ⎞⎟
t t u(t) u(t)
⎝ T ⎠ 2π ⎝ T⎠ u(t) F(t) u(t)
2 k k
⎛v T⎞
um = ( u 0 )2 + ⎜⎜ 0 ⎟⎟
⎝ 2π ⎠ Initial Free
Disturbance Response
u vo T envelope of vibration
uo um
t
envelope of vibration
How to Calculate “Undamped” Period of Vibration?

Eigenvalue Problem of Vibration Wu
o
W W
u(t) u(t)
m &u&(t) + k u(t) = 0 vo
u(t) u(t)
u(t) F(t) u(t)
u(t) = a 1 cos ⎛⎜ 2π ⎞⎟ + b1 sin ⎛⎜ 2π ⎞⎟
t t
k k
⎝ T⎠ ⎝ T⎠
2
⎛ 2π ⎞ Initial Free
&u&(t) = − ⎜ ⎟ × u(t) Disturbance Response
⎝ T ⎠
Substitute back into equation of motion A x = λ x
⎛ ⎛ 2π ⎞2 ⎞ ⎛k⎞ ⎛ 2π ⎞
2
⎜
m× − ⎜ ⎟ × u(t) ⎟ + k u(t) = 0 ⎜⎜ ⎟⎟ u(t) = ⎜⎜ ⎟⎟ u(t)
⎜ ⎝ T ⎠ ⎟ ⎝m⎠ ⎝ T ⎠
⎝ ⎠
Characteristic value of vibration
2 2π
⎛ 2π ⎞ T=
λ=⎜ ⎟
⎝ T ⎠ λ
How to Calculate “Undamped” Period of Vibration?

Eigenvalue Problem of Vibration Wu
o
W W
u(t) u(t)
⎛ k ⎞ u(t) = λ u(t) vo
u(t) u(t)
⎜ ⎟
⎝m⎠ u(t) F(t) u(t)
u(t) = 0 k k
⎛ k − λ ⎞ u(t) = 0 (trivial solution as it
⎜ ⎟ means no vibration) Initial Free
⎝m ⎠ Disturbance Response
k k
−λ =0 λ=
m m
(characteristic equation
of vibration)
Vibration period T is a property of
m structure that combines effects of
T = 2π two other structural properties:
k 1. mass (weight)
2. stiffness
Damped Free Vibrations: Characteristic Equation

m &u&(t) + c u& (t) + k u(t) = 0 Wu
o
W
u(t)
W
u(t)
−λ t vo
Classical solution u(t) = G e u(t) u(t)
−λ t
u& (t) = − λ G e = − λ u(t) u(t) F(t) u(t)
&u&(t) = λ2 G e − λ t = λ2 u(t) k,c k,c

m
Substitute back into equation of motion T = 2π
Initial Free k
(m λ 2
)
− c λ + k u(t) = 0 Disturbance Response
Characteristic equation of vibration
m λ2 −c λ + k = 0
= real (> 0) Solution Decays; Over-damped
2
c ⎛ c ⎞ ⎛ k ⎞ = 0 Solution Decays; Critically-Damped
λ= ± ⎜⎜ ⎟⎟ − ⎜⎜ ⎟⎟
2m ⎝ 2 m ⎠ ⎝ m⎠ = imaginary (< 0 ) Solution Oscillates
Under-damped
Damped Free Vibrations: Critical Damping Coefficient and

Damping Ratio Wu W W
o u(t) u(t)
2 vo
c ⎛ c ⎞ ⎛ k ⎞ u(t) u(t)
λ= ± ⎜⎜ ⎟⎟ − ⎜⎜ ⎟⎟
2m ⎝ 2 m ⎠ ⎝ m ⎠ u(t) F(t) u(t)
Critical Damping Coefficient (ccr) k,c k,c
2
⎛ c cr ⎞ ⎛ k ⎞ m
⎜⎜ ⎟⎟ − ⎜⎜ ⎟⎟ = 0 T = 2π
Initial Free k
⎝ 2 m ⎠ ⎝ m ⎠ Disturbance Response
2π T
c cr = 2 km = 2m × = 2k ×
T 2π
Damping Ratio
c c c T c 2 π ζ is a non-dimensional measure
ζ= = = × = × of damping in structure, which
c cr 2 km 2 m 2 π 2 k T depends on mass and stiffness
of the structure as well
Damped Free Vibrations: Critical Damping Coefficient and

Damping Ratio
Same structure has one damping coefficient

but can have different damping ratios
Under-Damped Free Vibration Response

m &u&(t) + c u& (t) + k u(t) = 0 Wu
o
W
u(t)
W
u(t)
vo
2 u(t) u(t)
c ⎛ c ⎞ ⎛ k ⎞
λ= ± ⎜⎜ ⎟⎟ − ⎜⎜ ⎟⎟ u(t) F(t) u(t)
2m ⎝ 2 m ⎠ ⎝m⎠ k,c k,c
m
2 2 T = 2π
2π ⎞ ⎛ 2π ζ ⎞ −⎛ 2π ⎞ k
λ = ⎛⎜ ζ⎟± ⎜ ⎟ ⎜ ⎟ Initial Free
Response
⎝ T ⎠ ⎝ T ⎠ ⎝ T ⎠ Disturbance
i= −1
2π ⎞ 2π 2π ⎞ ⎛ 2π ⎞ ±i α
λ = ⎛⎜ ζ ⎟ ± i ⎛⎜ 1 − ζ 2 ⎞⎟ = ⎛⎜ ζ ⎟ ± i ⎜⎜ ⎟
⎟
e = cos( α ) ± i sin( α )
⎝ T ⎠ ⎝ T ⎠ ⎝ T ⎠ ⎝ Td ⎠
⎛ ⎞ ⎛ 2πζ t ⎞ ⎛ 2πt ⎞
− ( ⎛⎜ 2 π ζ ⎞⎟ ± i ⎜⎜ 2 π ⎟⎟ ) t −⎜ ⎟ ± i ⎜⎜ ⎟⎟
−λ t ⎝ T ⎠ ⎝ Td ⎠ ⎝ T ⎠ ⎝ Td
u(t) = G e =Ge =Ge e ⎠
Damped Period = T = T Damping Oscillatory

d Function Function
of Vibration
1− ζ 2

m &u&(t) + c u& (t) + k u(t) = 0 Wu
vo
o
W
u(t)
W
u(t)
⎛ 2πt ⎞ u(t) u(t)

⎛ 2πζ t ⎞
−⎜ ⎟ ± i ⎜⎜ ⎟⎟ u(t) F(t) u(t)
⎝ T ⎠ ⎝ Td
u(t) = G e e ⎠
k,c k,c
m
Initial Free T = 2π
Classical Solution Disturbance Response k
⎡ ⎛ ⎞ ⎛ ⎞⎤ i= −1
u(t) = e
− 2π ζ t T
⎢ 1a cos ⎜ 2π t ⎟ + b1 sin ⎜ 2 π t ⎟⎥
⎜ T ⎟ ⎜ T ⎟ T
⎢⎣ ⎝ d ⎠ ⎝ d ⎠ ⎥⎦ Td =
1− ζ 2
Satisfy initial conditions at t=0 to
calculate two constants a1 and b1
1. u(t = 0) = u 0 a1 = u 0
v T u0 ζ Amplitude of Vibration
2. u& (t = 0) = v 0 b1 = 0 d + − 2π ζ t T
2π 1− ζ 2 um = e (a1 )2 + ( b1 )2

m &u&(t) + c u& (t) + k u(t) = 0 Wu
vo
o
W
u(t)
W
u(t)
4π ζ u(t) u(t)
m &u&(t) + m u& (t) + k u(t) = 0 u(t) F(t) u(t)
T k,c k,c
2
⎛
&u&(t) + ⎜ 2 π ⎞ ⎛ 2 π ⎞ m
⎟ 2 ζ u& (t) + ⎜ ⎟ u(t) = 0 Initial Free T = 2π
⎝ T ⎠ ⎝ T ⎠ Disturbance Response k
u − 2π ζ t T T
vo um = e (a1 )2 + ( b1 )2 Td =
1− ζ 2
Damped
uo Free Vibrations
− 2π ζ t T
um = −e (a1 )2 + ( b1 )2

Attenuation or Decay of Vibration Amplitude
⎛ u(t k ) ⎞ ⎛ u ⎞
ln ⎜⎜ ⎟⎟ = ln ⎜⎜ k ⎟⎟
⎝ u(t k + T d ) ⎠ ⎝ u k +1 ⎠
⎛ − 2π ζ tk T ⎞
ln ⎜
e ⎟ = ln ⎛ e 2 π ζ T d T ⎞ = 2 π ζ T d = 2π ζ
⎜ − 2 π ζ ( t k + Td ) T ⎟ ⎜ ⎟
⎝ ⎠ T 1− ζ 2
⎝e ⎠
u vo um = e
− 2π ζ t T
(a1 )2 + ( b1 )2
uk Damped
uk+1 Free Vibrations
uo
t
− 2π ζ t T
um = −e (a1 )2 + ( b1 )2

Logarithmic Decrement δ
For civil structures (ζ ≤0.2) 1 − ζ 2 ≅ 1 .0
⎛ u ⎞ 2π ζ
δ = ln ⎜⎜ k ⎟⎟ = ⎛ uk ⎞
⎝ u k +1 ⎠ 1− ζ 2 δ = ln ⎜⎜ ⎟⎟ ≅ 2 π ζ
⎝ u k +1 ⎠
Amplitudes “N” Cycles Apart

⎛u ⎞ ⎛u u u ⎞ u2
ln ⎜⎜ 0 ⎟⎟ = ln ⎜⎜ 0 × 1 × 2 ⎟⎟ u3
⎝ u3 ⎠ ⎝ u1 u 2 u 3 ⎠
⎛u ⎞ ⎛ u ⎞ ⎛u ⎞
= ln ⎜⎜ 0 ⎟⎟ + ln ⎜⎜ 1 ⎟⎟ + ln ⎜⎜ 2 ⎟⎟ = 3 δ
⎝ u1 ⎠ ⎝ u2 ⎠ ⎝ u3 ⎠
1 ⎛⎜ u k ⎞
⎟⎟ =
2π ζ
δ= ln
N ⎜⎝ u k + N ⎠ 1− ζ 2
How to Determine Damping Ratio for Structures?

Most civil structures are lightly damped (ζ ≤0.2)
1 ⎛⎜ u k ⎞
⎟⎟ = 2 π ζ
δ= ln
N ⎜⎝ u k + N ⎠
By conducting a free vibration test on structure, we can measured data in
ln(u)
1 ⎛ uk ⎞
ζ= ln ⎜⎜ ⎟⎟
2 π N ⎝ u k+N ⎠ Least Squares Fit
We can also determine least

squares fit of measured data
⎛ uk ⎞
ln ⎜⎜ ⎟⎟ = 1 N
⎝ u k+N ⎠ 2π ζ
N
ln ( u k + N ) = ln ( u k ) − 1 N
2π ζ
How to Determine Damping Ratio for Structures?

In practice, it is easier to measure the free accelerations of the structure than
free displacements. This is achieved using accelerometer devices.
1 ⎛ &u& k ⎞
For lightly damped structures (ζ ≤0.2): ζ = ln ⎜⎜ ⎟⎟
2 π N ⎝ &u& k + N ⎠
ln ⎛⎜ ⎞ = 0 .0396 = 3 .96 %
1 0 .915
ζ= ⎟
2 π 10 ⎝ 0 .076 ⎠

Example 1
A free vibration test is conducted on an empty elevated water tank. A cable
attached to tank applies a horizontal force of 74.4 kN and pulls the tank
horizontally by 5 cm. The cable is suddenly cut and the resulting lateral
vibrations are recorded. At the end of 4 complete cycles, the time is 2.0 s and
the vibration amplitude is 2.5 cm.
a. Damping ratio
b. Damped period of vibration
u0=5
c. Damping coefficient u1
u2
u3
u4=2.5
5
W
74.4
k,c
0 2

Solution
5
a. Damping ratio
N=4 W
uo = 5 cm 74.4
u4 = 2.5 cm
1 ⎛ u0 ⎞ 1 ⎛ 5 ⎞
ζ= ln ⎜ ⎟= ln ⎜⎜ ⎟ = 0 .028 = 2 . 8 % k,c
2 π N ⎜⎝ u 4 ⎟ 2 π × 4 ⎝ 2.5 ⎟⎠
⎠
u0=5
b. Damped period of vibration u1
u2
4 cycles in 2.0 seconds u3
u4=2.5
2
Td = = 0 .5 s
4
0 2

Solution
5
c. Damping coefficient
74.4 W
k= = 1488 kN/m 74.4
0.05
T T
Td = 0.5 =
1− ζ 2 1 − ( 0 .028 ) 2 k,c
T = 0 .499 s = 0.5 s
u0=5
m m u1
T = 2π 0.5 = 2 π u2
u3
u4=2.5
3
k 1488×10
m = 9422 .9 kg
c cr = 2 km = 2 (1488 × 10 3 ) × 9422 .9
= 236822 .6 N.s/m
0 2
c = ζ × c cr = 0.028 × 236822 .6 = 6512 .6 N.s/m

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