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FREE AND FORCED VIBRATIONS WITH VISCOUS AND HYSTERETIC DAMPING:

A DIFFERENT PERSPECTIVE

Conference Paper · January 2006

DOI: 10.13140/2.1.3019.5207

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 5th International Conference on Mechanics and Materials in Design

REF: A0501.0505 (Invited Paper)

FREE AND FORCED VIBRATIONS WITH VISCOUS AND

HYSTERETIC DAMPING: A DIFFERENT PERSPECTIVE
A.M.R. Ribeiro, N.M.M. Maia1, and J. M. M. Silva
Instituto Superior Técnico
Departamento de Engenharia Mecânica
Av. Rovisco Pais, 1049-001, Lisboa, Portugal
Email: (1)nmaia@dem.ist.utl.pt

SYNOPSIS
In the present paper the authors address the problem of modelling damping using the common
viscous and hysteretic models. An alternative approach to such modelling where the complex
solutions of the dynamic equations and corresponding initial conditions are interpreted in a
special way, allows for a generalization of the obtained responses where it can be shown that
both the hysteretic and viscous damping models fit without any problems, which are known to
exist, for instance, when trying to reproduce the free response with hysteretic damping. The
theory is developed and simple examples help understanding and illustrating the new
concepts.

1. INTRODUCTION
The dynamic modelling of a structure, machine, suspension, etc., often has to incorporate
some kind of damping, in order to simulate adequately and accurately the real behaviour of
the item under study. The most widely used models for representing the damping are the
viscous and the hysteretic ones. In forced vibrations, the former implies a dissipation force
that is proportional to the velocity, leading to a dissipated energy per vibration cycle
dependent on the frequency; the latter is represented by a force that is proportional to the
displacement, though in phase with the velocity, as a dissipation term should be; this leads to
a dissipated energy per cycle independent of the frequency. Choosing one particular damping
model may depend on the mathematical formulation that is used to study a given problem; it
may also depend on the experience or preference of the user. In any case, it is well known that
both types of damping have their own limitations: on one hand the viscous damping is not so
convenient for modelling internal damping in metallic structures, unless if restricted to a
relatively narrow frequency range, due to the above mentioned frequency dependence of the
dissipated energy; on the other hand, it models quite accurately the free vibration situation. In
contrast, the hysteretic damping is quite precise for forced structural vibrations, but has not
been able to properly deal with the free vibration case.
In a recent paper (Ribeiro et al., 2005), the authors have looked at the problem of applying the
constant hysteretic damping model to the free vibration decay, to provide a solution to the
apparent unsolvable dynamic equation of motion and so avoiding the so-called non-causal
behaviour that happens when using the traditional procedure, proposing a somewhat
provocative concept of complex initial conditions. In this paper the authors try to demonstrate
that such a more general approach can also be applied to the viscously damped case.
Moreover, this approach is proven to be applicable not only to the free vibration case, but also
to the complete forced response, where both transient and permanent terms co-exist. The

Chapter V: Vibration Modeling & Testing in Design 1

Porto-Portugal, 24-26 July 2006

mathematical formulation is deduced and applied to very simple theoretical examples, just to
illustrate the kind of responses that are obtained.

2. THEORY
2.1 The viscous damping case
Let us consider the dynamic equilibrium equation for a single-degree-of-freedom system with
viscous damping and a harmonic applied force f(t):
mx&& + cx& + kx = f (t ) (1)
The solution of (1) is given by the superposition of the homogeneous solution, xh (t ) ,
corresponding to the free vibration decay and the particular solution, x p (t ) , corresponding to
the permanent or steady-state response.

The free response

The solution xh (t ) for the homogeneous equation
mx&&h + cx&h + kxh = 0 (2)

is xh (t ) = C e st , where C is a constant (complex, in general) and s is the Laplace variable. It is

well known from the basic vibration textbooks that the corresponding algebraic equation
ms 2 + cs + k = 0 has two complex conjugate solutions in the underdamped case, given by
s1,2 = −ξω n ± iω d (3)

where ω n is the undamped natural frequency, ξ is the viscous damping factor ( ξ = c / 2mω n )
and ω d is the damped natural frequency ( ω d = ω n (1 − ξ 2 ) ). The solution xh (t ) is then
given by:
xh (t ) = C1e s1t + C2 e s2t = C1e( −ξωn +iω d )t + C2 e( −ξω n −iω d )t (4)
which can alternatively be written as:
xh (t ) = e −ξω nt ( ( C1 + C2 ) cos ω d t + i ( C1 − C2 ) sin ω d t ) (5)

At this point textbooks state that as xh (t ) has to be a real quantity, i.e., C1 + C2 and
i ( C1 − C2 ) must be real quantities A1 and A2 , respectively:

A1 = C1 + C2
(6)
A2 = i ( C1 − C2 )

which implies, as a consequence, that C1 and C2 must be complex conjugates.

An alternative to such an imposition is to let A1 and A2 be complex, resulting in a complex
xh (t ) . This, in turn, implies a different interpretation of the reality: one suggests here that the

2 Editors: J.F. Silva Gomes and Shaker A. Meguid

 5th International Conference on Mechanics and Materials in Design

physical responses are effectively complex quantities, although one can only observe and
measure their real parts. This leads to the following consequence: if

(
xh (t ) = e −ξω nt A1 cos ω d t + A2 sin ω d t ) (7)

is complex (because A1 and A2 are complex) then one cannot apply the usual initial
conditions at t = 0, xh ( 0 ) = xh 0 and x&h ( 0 ) = vh 0 , to determine A1 and A2 . The initial
conditions have to be complex too! But what does this mean? Again, it means that the
quantities are complex, but one can only observe and measure their real parts, i.e., the usual
initial conditions are xh 0 = Re ( xh ( 0 ) ) and vh 0 = Re ( x&h ( 0 ) ) . From (7), one has

(
x&h (t ) = −ξω n e −ξω nt A1 cos ω d t + A2 sin ω d t ) (8)
+ e −ξω nt ( − A1ω d sin ω d t + A2ω d cos ω d t )
Applying the complex initial conditions, one obtains
xh 0 + i Im ( xh ( 0 ) ) = A1 (9)

vh0 + i Im ( x&h ( 0 ) ) = −ξω n A1 + ω d A2 (10)

Substituting (9) in (10),

( )
vh0 + i Im ( x&h ( 0 ) ) = −ξω n xh 0 + i Im ( xh ( 0 ) ) + ω d A2 (11)

Thus,

( )
Re A1 = xh 0

Im ( A1 ) = Im ( xh ( 0 ) )
vh 0 + ξω n xh 0
Re ( A2 ) =
(12)
ωd
Im ( x&h ( 0 ) ) + ξω n Im ( xh ( 0 ) )
Im ( A2 ) =
ωd
From (12), one concludes that the real parts of A1 and A2 have only to do with the
measurable (real) parts of xh ( 0 ) and x&h ( 0 ) and so the observable (real) part of (7) is the
well-known result:
⎛ vh 0 + ξω d xh 0 ⎞
xh (t ) = e −ξω nt ⎜ xh 0 cos ω d t + sin ω d t ⎟ (13)
⎜ ωd ⎟
⎝ ⎠
And everything makes sense. The result is exactly the same if one takes the real part of (7)
and applies the usual initial conditions. In the case of viscous damping there is no apparent
advantage in taking this new kind of reasoning, although it is a more general one: instead of

Chapter V: Vibration Modeling & Testing in Design 3

Porto-Portugal, 24-26 July 2006

saying that (7) only makes sense if it is real, one says that it makes sense that (7) be complex,
although one can only “see” its real part. Apparently, this alternative concept may seem like a
very slight “nuance” that has no practical consequences, but as one will see, it makes all the
difference for the hysteretic damping case.

The complete response

If f(t) is a harmonic force, written as Feiωt , the particular solution x p (t ) is of the form

x p (t ) = X eiω t (14)

where X is the complex amplitude. So, the complete solution of (1) is:

( )
x(t ) = xh (t ) + x p (t ) = e−ξω nt A1 cos ω d t + A2 sin ω d t + X eiω t (15)

where now one has to re-evaluate the constants A1 and A2 , having into account the whole
response. From (15),

(
x&h (t ) = −ξω n e−ξωnt A1 cos ω d t + A2 sin ω d t ) (16)
+e −ξω nt
( − A1ω d sin ω d t + A2ω d cos ω d t ) + iω X e iω t

Applying the complex initial conditions, leads to:

x0 + i Im ( x ( 0 ) ) = A1 + X (17)

v0 + i Im ( x& ( 0 ) ) = −ξω n A1 + ω d A2 + iω X (18)

Substituting (17) in (18),

( )
v0 + i Im ( x& ( 0 ) ) = −ξω n x0 + i Im ( x ( 0 ) ) − X + ω d A2 + iω X (19)

from which one obtains:

( )
Re A1 = x0 − Re( X )

Im ( A1 ) = Im ( x ( 0 ) ) − Im( X )
v0 + ξω n ( x0 − Re( X ) ) + ω Im( X )
Re ( A2 ) = (20)
ωd

Im ( A2 ) =
( )
Im ( x& ( 0 ) ) + ξω n Im ( x ( 0 ) ) − Im( X ) − ω Re( X )
ωd

Again, the observable (real) part of (15) has only to do with the real parts of A1 and A2 ,
which – from (20) – do not require the measurable (real) parts of the initial conditions. And
everything fits well.

4 Editors: J.F. Silva Gomes and Shaker A. Meguid

 5th International Conference on Mechanics and Materials in Design

2.2 The hysteretic damping case

Let us now consider the hysteretic damping case. The equilibrium equation in forced vibration
is given by:
mx&& + k (1 + iη ) x = f (t ) (21)
where η is the hysteretic damping factor.

The free response

Various authors have addressed this subject in the past (Soroka, 1949), (Miklestad, 1952),
(Bishop, 1955), (Reid, 1956), (Lancaster, 1960), (Caughey, 1962), (Crandall, 1970), although
they have not reached – as far as the authors are aware of – a plausible conclusion. Crandall
(1970) has stated that this model violates the principle of causality, which means that if a
system is at rest before some action takes place on it, than the response given by the model
has to be zero for any time before that action. This has also been confirmed later by other
authors (Gaul et al., 1985), who also concluded the same non-causal behaviour in a more
sophisticated way, applying the inverse Fast Fourier Transform to the frequency response
function to obtain the impulse response function, through a special application of the theory
of residues. They verified the existence of a non-zero response of the system at the instant of
the application of a Dirac impulse, even though such a response (which they named a
“precursor”) was very small. As a consequence of the mentioned non-causal behaviour, the
constant hysteretic damping model has only been used for describing the dynamic response in
steady-state vibration.
Here, one looks for the “direct solution” of the homogeneous equation mx&&h + k (1 + iη ) xh = 0 ,
which is again xh (t ) = Ce st , leading to the algebraic equation

ms 2 + k (1 + iη ) = 0 (22)
The solutions of (22) are:
s = ± i ω n 1 + i η = ± ω n (a − ib) (23)
with (see Ribeiro et al. (2005), e.g.)

−1 + 1 + η 2 1+ 1+η2
a= , b= (24)
2 2
These expressions are not new (see, for instance (Soroka, 1949), (Reid, 1956), (Lancaster,
1960)). However, only partial and intermediate results could be established at that time.
The homogeneous solution is, therefore,

xh (t ) = C1eaωnt e−ibωnt + C2 e− aωnt eibωnt (25)

Here, one has necessarily to impose that C1 = 0 ; otherwise, as a is a positive quantity, there
would be a growing response along the time, meaning that the system would be gaining
energy on its own, contrarily to the natural and physical free decay one is looking for.
Therefore (calling C to C2 ),

Chapter V: Vibration Modeling & Testing in Design 5

Porto-Portugal, 24-26 July 2006

xh (t ) = Ce− aωnt eibωnt (26)

where C is a complex constant ( = Re(C ) + i Im(C ) ).
As for the viscously damped case, one does not impose here that xh (t ) has to be real,
contrarily to Miklestad (1952). Moreover, it is not correct to do so, as noted by Caughey
(1962), as the real part of (26) would not verify the homogeneous equation contrarily to what
happens in the viscously damped case, where the real part of (5) still verifies equation (2).
This means that, for the hysteretic damping model the free response (26) must be considered
effectively complex, although – and once more – one knows that only the real part is
observable. To admit complex solutions to real physical problems was not well accepted by
some authors (Caughey (1962)).
Therefore, to evaluate C one must consider complex initial conditions. So, for t = 0 ,
xh (0) = xh 0 + i Im ( xh (0) )
(27)
x&h (0) = vh 0 + i Im ( x&h (0) )

where xh 0 and vh0 are the measured (real) parts of the complex initial displacement and
velocity, respectively. From (26),

(
x&h (t ) = C − aωn e − aωnt eibωnt + ibωn e − aωnt eibωnt ) (28)

Applying eqs. (27) to (26) and (28), it follows that:

Re ( C ) = xh 0 (29-a)

Im ( C ) = Im ( xh ( 0 ) ) (29-b)

vh0 = − xh 0 aωn − bωn Im(C ) (29-c)

Im ( x&h ( 0 ) ) = − aωn Im(C ) + xh0 bωn (29-d)

Clearly, Im(C) cannot be calculated from (29-b), as one does not know Im ( xh ( 0 ) ) ; however,
one can do it using (29-c), and so one obtains:
Re ( C ) = xh 0
vh 0 + xh 0 aωn (30)
Im(C ) = −
bωn
In fact, though not measurable, imaginary parts of the initial displacements and velocity can
be determined from (29-b) and (29-d). Therefore, the free response with hysteretic damping is
given by
⎛ vh + xh0 aωn ⎞ − aω t ibω t
xh (t ) = ⎜ xh 0 − i 0 ⎟e n e n (31)
⎜ bω ⎟
⎝ n ⎠
from which one can only observe and measure the real part:

6 Editors: J.F. Silva Gomes and Shaker A. Meguid

 5th International Conference on Mechanics and Materials in Design

⎛ vh 0 + xh 0 aωn ⎞
Re ( xh (t ) ) = e− aωnt ⎜ xh 0 cos bωn t + sin bωn t ⎟ (32)
⎜ bωn ⎟
⎝ ⎠
The similarity with equation (13) for the viscously damped case is obvious.
Although it is not correct to impose that the response (26) must be real (as explained before),
if the usual real initial conditions xh 0 and vh0 are applied to the real part of (26), the result
would be exactly the same as in (32). However, without taking the steps as explained, one
could not safely conclude that the result (32) was the correct one, as it was coming from a
wrong – or at least dubious – starting point, since it is (31) and not (32) that is the solution of
the homogeneous equation.

The complete response

For the complete response to a harmonic force f (t ) = Feiωt , the sequence is entirely similar to
the viscously damped case. The particular solution x p (t ) is X eiω t , where X is the complex
amplitude.
The complete solution of (21) is
x(t ) = xh (t ) + x p (t ) = Ce − a ωn t eibωn t + X eiω t (33)

Applying the complex initial conditions to (33) and to the corresponding velocity x& (t ) , one
obtains:
Re ( C ) = x0 − Re( X )
v0 + a ωn ( x0 − Re( X ) ) + ω Im( X ) (34)
Im(C ) = −
b ωn
And once again, the observable complete solution is the real part of (33).

2.3 Other results

Damped natural frequency
For the viscously damped case it is a well-known result that the damped natural frequency is
given by:

ωd = ωn 1 − ξ 2 (35)
where it is clear that the damped natural frequency is smaller than the undamped one. Now,
for the hysteretically damped case (and from equation (32)), the damped natural frequency is
given by

1+ 1+η2
ωd = bωn = ωn (36)
2
from which one concludes that the damped natural frequency is higher than the undamped
one, a result that is apparently against our physical intuition or simply because out mind is so

Chapter V: Vibration Modeling & Testing in Design 7

Porto-Portugal, 24-26 July 2006

biased by the viscously damped case. Myklestad (1952) states that such a result makes no
sense as it is against physical evidence. However, it is certainly very difficult to have such a
clear evidence, as b is nearly equal to 1. For instance, even a big damping factor such as 50%
leads to b 1.03 , i.e., an increase of only 3% in the undamped natural frequency. In the large
majority of situations the hysteretic damping factor is quite small and the damped natural
frequency is virtually equal to the undamped one.

Logarithmic decrement
From eq. (26), it is possible to evaluate the hysteretic damping factor from a free vibration
test. By definition the logarithmic decrement is the natural logarithm of the decay rate (ratio
between two consecutive amplitudes):
Re ( xh ( ti )) e − aωn ti a
δ = ln = ln = a ωnTd = 2π (37)
Re ( xh ( ti + 1 )) e − aωn ( ti + Td )
b

where Td is the damped natural period. From (24), it is easy to show that
η
δ = 2π (38)
1 + 1 +η2
Thus,
4πδ
η= (39)
4π 2 − δ 2
In most applications the damping ratio is very small and the logarithmic decrement can be
approximately given by δ πη , and so, η δ π .
Results (36) and (38) were already known to Soroka (1949), as he had already obtained
expression (26), although he did not go beyond that point on. Note that it is not necessary to
know the amplitude to deduce the formula for the logarithmic decrement.

3 EXAMPLES
Two very simple examples are presented just to illustrate how easily one can deal with the
hysteretic damping and obtain similar results as one does with the viscous damping.
3.1 The impulse response function
Let us calculate the response of a single degree-of-freedom system with constant hysteretic
damping to a Dirac impulse. Following the proposal in this paper, one simply has to apply
expressions (31) and (32) where the physical (measurable) quantities are the usual ones for a
Dirac impulse, i.e., for t = 0 ,
xh0 = 0
1 (40)
vh0 =
m
So, from (31), the impulse response function is given by:
⎛ 1 ⎞ − aωnt ibωnt
h( t ) = ⎜ −i ⎟e e (41)
⎝ mω n b ⎠
and the measurable part is the real part of (41):

8 Editors: J.F. Silva Gomes and Shaker A. Meguid

 5th International Conference on Mechanics and Materials in Design

1
Re ( h( t )) = e − aωn t sin bω nt (42)
mbω n

The response to an arbitrary input is given by the convolution integral

x( t ) = ∫ 0 f ( τ )h( t − τ )dτ
t
(43)

Therefore, and considering a real force, the response with hysteretic damping will be given
by:
1
Re ( x( t )) = − a ωn ( t −τ )
sin ( bωn ( t − τ )) dτ
t

mbωn
∫ 0 f ( τ )e (44)

3.2 The complete response with zero initial conditions

When a single-degree-of freedom system is initially at rest before being subjected to a
harmonic force, the response is given by equation (33) with x0 = 0 and v0 = 0 in (34):

⎛ ⎛ a ω Re( X ) − ω Im( X ) ⎞ ⎞ ibωn t

x(t ) = e− a ωn t ⎜ − Re( X ) + i ⎜ n ⎟ ⎟⎟ e + X eiω t (44)
⎜ b ωn
⎝ ⎝ ⎠⎠
The real part of (44) gives the observable response:
⎛ ⎛ a ⎞ ⎞
Re ( x(t ) ) = Re( X ) ⎜ −e− a ωn t ⎜ cos ( bω n t ) − sin ( bω n t ) ⎟ + cos (ω t ) ⎟
⎝ ⎝ b ⎠ ⎠
(45)
⎛ ω ⎞
+ Im( X ) ⎜ e− a ωn t sin ( bω n t ) − sin (ω t ) ⎟
⎝ bω n ⎠
Figure 1 illustrates an example of the complete response with zero initial conditions.

0,1
transient
permanent
0,08
complete

0,06

0,04
Real response

0,02

0
0 10 20 30 40 50 60 70 80 90 100

-0,02

-0,04

-0,06

-0,08
time

Figure 1 Complete response with hysteretic damping and zero initial conditions.

Chapter V: Vibration Modeling & Testing in Design 9

 Porto-Portugal, 24-26 July 2006

4. CONCLUSIONS
By relaxing the usual restriction that the physical solution of a free or forced vibration has to
be a real quantity, simply by stating that it can be complex although one only observe and
measure its real part, the authors have achieved a higher generalized concept that enables a
proper and consistent inclusion of the response for the hysteretic damping case, namely in
what the free vibration situation is concerned. Therefore, with this alternative perspective the
authors propose a solution to the problem of modelling the free vibration of a system with
hysteretic damping. Both the viscous and hysteretic damping models are studied and
compared. Some previously achieved results have been confirmed and some very simple
theoretical examples illustrate the developed theory.

5. REFERENCES
Bishop, R. E. D., “The Treatment of Damping Forces in Vibration Theory”, Journal of the
Aeronautical Society, Vol. 59, nº 539, 1955, pp 738-742.
Caughey, T. K., “Vibration of Dynamic Systems with Linear Hysteretic Damping”, Proc. of
the 4th U. S. National Congress on Applied Mechanics, ASME, New York, 1962, pp. 87-97.
Crandall S. H., “The role of damping in vibration theory”, JSV, Vol. 11, 1970, pp. 3-18.
Gaul L., Bohlen, S., Kempfle, S., “Transient and forced oscillations of systems with constant
hysteretic damping”, Mech. Research Comm., Vol. 12, nº 4, 1985, pp. 187-201.
Lancaster P., “Free Vibration and Hysteretic Damping”, Journal of the Royal Aeronautical
Society, Vol. 64, 1960, p. 229.
Miklestad, N. O., „The Concept of Complex Damping”, Journal of Applied Mechanics, Vol.
19, 1952, pp. 284-286.
Reid T. J., “Free Vibration and Hysteretic Damping”, Journal of the Royal Aeronautical
Society, Vol. 60, 1956, p. 283.
Ribeiro, A.M.R., Maia, N.M.M., Silva, J.M.M., Freitas, M., Reis, L., “Free Vibration
Response Using the Constant Hysteretic Damping Model”, Proc. of the XIth Int. Conf. on
Vibration Engineering, Timisoara, Roménia,, 2005, pp. 65-70.
Soroka W. W., “Notes on the relations between Viscous and Structural Damping
Coefficients”, Journal of the Aeronautical Sciences, Vol. 16, 1949, pp. 409-410, 448.

10 Editors: J.F. Silva Gomes and Shaker A. Meguid

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