CE745 - Lecture 11 ExpDynamics

CE 745
Experimental Dynamics
CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 1

EXPERIMENTAL DYNAMICS
The purpose of experimental dynamics is to determine by
measurements the dynamic characteristics of a structure. This is
performed by measuring the response of the structure to a known
excitation.
unknown
known dynamic known
excitation characteristics response
Unknown dynamic characteristics
SDF : natural frequency fn (ωn)

damping ratio ζ
MDF : Eigenvalues (natural frequencies) f1 f2 f3 …

Eigenvectors (mode shapes) φ1 φ2 φ3 …
Modal damping ratios ζ1 ζ 2 ζ 3 …
Different types of excitations can be used
Free vibration : the structure is disturbed from

equilibrium and then vibrates without any
applied forces.
Harmonic force : a sinusoidal force is applied through a

special device.
Pulse force : a hammer is used to apply a short pulse

force.
Random force : random noise such as traffic or wind

loads are applied.
Note: For practical reasons, accelerations are easier to measure

than displacements

SDF SYSTEMS
u(t )
Objective : determine experimentally fn and ζ

c
m
k
Free vibration test
−ζωn t
u(t) = C e sin(ωDt + θ )
⇒ u(t) = D e−ζωn t sin(ωDt + α )

u
After derivation a similar expression D e −ζωnt
for the acceleration (as was derived
u
n
for displacement, as shown next) is
u +
obtained and consequently the n p
t
results derived previously for the t
n
t
n+p
displacements can be used.

2π
TD =
ωD

SDF SYSTEMS 2πζ p
un 1−ζ 2

u De −ζωnt
= e ζωn pT d = e
un + p
2πζ p ⎛ un ⎞
un = ln ⎜ ⎟⎟
1− ζ 2 ⎜ u

un + p ⎝ n+p ⎠
t ⎛ un
1 ⎞
tn t n+p
ζ < 0.1 ⇒ ζ = ln ⎜ ⎟⎟
nth
cycle
(n+p)th
cycle
2π p ⎜⎝ un + p ⎠
2π
TD =
ωD Low damping ratio
1 1
⇒ fn = ≈
Tn TD

Harmonic force test (SDOF)
The structure is excited by a harmonic force whose frequency is
slowly increased step by step in order to reach the steady state
response at each increment. The amplitudes of accelerations are
measured at each step.
We know that:
p(t) = po sin(ω t) u = u sin(ω t + φ ) = u0 sin(ω t + φ )
po k Remember:
u0 = u 1
⎡⎣1 − (ω ωn ) ⎤⎦ + [ 2ζ (ω ωn )]
2 2 2 Rd = 0 =
( ust )0 ⎡⎣1 − (ω / ω n ) 2 ⎤⎦ + [ 2ζ (ω / ω n ) ]
2 2
By derivation, it is obtained :
u0 sin(ω t + φ )
u = − u0 = ω u0
2

u
u max
The displacement points can be
u max found when acceleration and the
2 excitation frequency are know.
ω
f =
2π
f1 fr f2
f2 − f1
ζ < 0.1 → fn = fr ζ= REMEMBER?
f2 + f1
In reality, the maximal value is not known and a curve fitting is done.
If the damping is low, the same method can be used with u = u0
instead of u = u0 .
Ambient vibration test (SDOF)
(This is related to “Random Vibration” and the statistical
approaches in a “Random Process”)
The structure is excited by a small random force, which means that the
force is not known.
This method is often used for bridges where wind and traffic loads are
used as random forces.
u(t) = C e−ζωn t sin(ωD t + α ) + Particular solution

initial conditions
u0 u 0 random load
Δt

u
u0 t

Ambient vibration test (SDOF)
The response (acceleration) is the sum of the free vibration solution
and the particular solution which depends on the random load.
The idea of this approach is to remove the particular solution and the
0 by taking the average of many subrecords of same
initial condition u
length Δt and same u0. The result is a free vibration solution which can
be then used.
The trigger value u0and the length Δt must be carefully chosen .
Δt

u
u0 t

MDOF SYSTEMS u1
Objective : determine experimentally

u2
Natural Frequencies : f1 f2 f3 (ω1 ω2 ω3),
Mode Shapes : φ1 φ2 φ3
u3
Modal Damping Ratios : ζ1 ζ2 ζ3
Harmonic force test

The structure is excited by a harmonic force whose frequency is slowly
increased step by step in order to reach the steady state response at each
increment. The amplitudes of accelerations are measured at each step.
Results from modal analysis discussions:
u1 (t) ⎫ ⎡φ11 φ12 φ13 ⎤ ⎧ A1 ⎫

⎧
⎪ ⎪ ⎢ ⎥ ⎪ ⎪
u2 (t)⎬ = ⎢φ21 φ22 φ23 ⎥ ⎨A2 ⎬ sin(ω t +θ )
⎨
⎪
u (t) ⎪ ⎢φ φ φ ⎥ ⎪A ⎪
⎩ 3 ⎭ ⎣ 31 32 33 ⎦ ⎩ 3 ⎭
MDOF
ω = ω1 ( f = f1 ) u1 (t) ⎫ ⎧φ11 ⎫
⎧
⎪ ⎪ ⎪ ⎪
A1 large → ⎨ 2 ⎬ = ⎨φ21 ⎬ A1 sin(ω t + θ )

u (t)
→ ⎪ ⎪ ⎪φ ⎪
A2 , A3 negligible u (t)
⎩ 3 ⎭ ⎩ 31 ⎭

ui

The structure vibrates u1

with a deflected u2
shape corresponding
u3
to eigenmode 1 and
the amplitudes of ⎧φ11⎫
vibrations are large: φ11 ⎪ ⎪
φ1 = ⎨φ21⎬
(resonance) φ21 ⎪φ ⎪
⎩ 31⎭
φ31
ω
f=
f1 f2 f3 2π
MDOF
The sign of φij is determined by the phase which is also measured.
⎧
u1 ⎫ ⎧ 1.00⎫
⎪ ⎪ ⎪ ⎪
Explication: the solution at the first
u
⎨ 2⎬ = C ⎨ −0.55 ⎬ sin(ω t + 30D
)
resonance is e.g.
⎪
u ⎪ ⎪ −1.25 ⎪
⎩ 3⎭ ⎩ ⎭
⎧
u1 ⎫ ⎧1.00 sin(ω t + 30D )
⎪ ⎪ ⎪
which can be rewritten as:
u
⎨ 2⎬ = C ⎨0.55 sin(ω t + 30D
+ 180D
)
⎪
u ⎪ ⎪1.25 sin(ω t + 30D +180D )
⎩ 3⎭ ⎩
The measured phase is either 30° or 210° , which gives the sign of φij .
ζ1, ζ2, ζ3 are determined by band width method for each resonance.

Remark : this method assumes that only one mode is acting at each
resonance. For that, the natural frequencies must be well separated:
ω = ωi → Ai large and other A j negligible

Ai
A2
A1 A3
f
f1 f2 f3
If for example second and third modes are close, in that case, the
influence of the 2nd eigenmode can not be neglected at the 3rd
resonance, and vice versa.
Free vibration test (MDOF, damping neglected)
We know from Modal Analysis :
u1 (t) ⎫ ⎧φ11 ⎫
⎧ ⎧φ12 ⎫ ⎧φ13 ⎫
⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪
⎨u2 (t)⎬ = ⎨φ21 ⎬ sin(ω1t + θ1 ) + ⎨φ22 ⎬ sin(ω2 t + θ2 ) + ⎨φ23 ⎬ sin(ω3t + θ3 )

⎪
u (t) ⎪ ⎪φ ⎪ ⎪φ ⎪ ⎪φ ⎪
⎩ 3 ⎭ ⎩ 31 ⎭ ⎩ 32 ⎭ ⎩ 33 ⎭
u1 (t) = φ11 sin(ω1t +θ1 ) + φ12 sin(ω2 t +θ2 ) + φ13 sin(ω3t +θ3 )


Free vibration test (MDOF, damping neglected)

u1
t
It is impossible to identify the dynamic parameters φ11 φ12 φ13 ω1 ω2 ω3
θ1 θ2 θ3 directly from the record of the acceleration of the first story.
The solution is to transform the record from the time domain to the
frequency domain with a Fourier transformation:
∞ ∞
u 1 (t) = ∑ [ a n cos(ω n t) + b n sin(ω n t) ] = ∑ c n sin(ω n t + α n )

n =1 n =1
A numerical Fast Fourier transformation (FFT) gives the following two
graphs, which are the representation of the signal in the frequency
domain. ∞
cn u1 (t) = ∑cn sin(ωn t + αn ) αn

n =1
D
40 ωn 30
fn =
30 2π 10
D
fn
20 1.58 6.41
D
- 30
fn
1.58 4.43 6.41
The required dynamic parameters can be easily determined from

these two graphs:
u1( t ) = 30sin(2π×1.58t + 30D ) + 40 sin(2π× 4.43t − 30D ) + 20 sin(2π× 6.41t + 10D )

f1 = 1.58 Hz φ11 = 30 θ1 = 30D
f2 = 4.43 Hz φ12 = 40 θ2 = −30D
f3 = 6.41 Hz φ13 = 20 θ3 = 10D
The eigenmodes can be entirely determined by doing the same
operation for the 2nd and 3rd story.
u1 (t) ⎫ ⎧φ11 ⎫
⎧ ⎧φ12 ⎫ ⎧φ13 ⎫
⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪

u (t) =
⎨ 2 ⎬ ⎨ 21 ⎬φ sin(ω1t + θ1 ) + φ
⎨ 22 ⎬ sin(ω2 t + θ 2 ) + ⎨φ23 ⎬ sin(ω3t +θ3 )
⎪ ⎪ ⎪ ⎪ ⎪φ ⎪ ⎪φ ⎪
⎩u3 (t) ⎭ ⎩φ31 ⎭ ⎩ 32 ⎭ ⎩ 33 ⎭

u1 u2 u3
φ11 φ 23 φ 32
φ12 φ 21 φ 33
φ13 φ 22 φ 31
f f f
f1 f2 f3 f1 f2 f3 f1 f2 f3
The sign of each φij is determined by the phase which is also

given by a FFT.

Free vibration test (MDOF, with damping)
The same method is applied. The signal becomes periodic by
artificially adding the same model (see discussion on Fourier Series

u1
and how we can artificially make a non-periodic function, periodic)

u1
FFT
t f
f1 f2 f3
ζ1, ζ2, ζ3 are determined by band width method or by cutting the signal in
the frequency domain and performing an inverse FFT to obtain free
vibration of a SDF system corresponding to the eigenmode.
Pulse force excitation (MDOF)

A hammer is used to apply p(t ) u (t )
1
a short pulse force.
t t
p(t) and the response are non periodic. They become periodic by
artificially adding the same model. The artificial response is then the
steady state response of the structure loaded by the artificial periodic
load. The artificial load can be considered as the sum of harmonic terms.
Each of these harmonic terms gives an harmonic response.
∞ ⎧
u1 (t) ⎫ ∞
⎧ D1n ⎫
⎪ ⎪ ⎪ ⎪
part (t) = ∑ pn sin(ωn t + αn ) ⇔
u
⎨ 2 ⎬(t) = ∑ ⎨D2n ⎬ sin(ωn t + θ1 )
n =1 ⎪
u (t) ⎪ n =1 ⎪
D ⎪
⎩ 3 ⎭art ⎩ 3n ⎭
p(t)
To
u1(t)
⎧ D1n ⎫ ⎧φ11 ⎫
⎪ ⎪ ⎪ ⎪
ωn = ω1 → resonance ⎨D2n ⎬ = ⎨φ21 ⎬
⎪D ⎪ ⎪φ ⎪
⎩ 3n ⎭ ⎩ 31 ⎭
The dynamic parameters can then be obtained by performing a

FFT.
pn ∞
part (t) = ∑ pn sin(ωn t + αn )
n =1
The load obtained by the hammer

must contain all the frequencies
ωn
fn = that have to be studied.
2π

ui ( Din )
⎧
u1 (t) ⎫ ∞
⎧ D1n ⎫
⎪ ⎪ ⎪ ⎪
u1
⎨u2 (t)⎬ = ∑ ⎨D2n ⎬ sin(ωn t +θ1 )

u2 ⎪
u (t) ⎪ n =1 ⎪
D ⎪
⎩ 3 ⎭art ⎩ 3n ⎭
u3
⎧φ11 ⎫ The FFT of the response is similar

φ11 ⎪ ⎪ to the graph obtained with an
φ1 = ⎨φ21⎬
φ21 ⎪φ ⎪ harmonic force test (see previous
⎩ 31⎭
φ31 slides about harmonic excitation )
ωn
fn =
f1 f2 f3 2π
SIGNAL ANALYSIS – FFT (Fast Fourier Transform)
A signal can be represented in two different ways: in the time domain or in the
frequency domain. Each domain has its own interest. One of the methods for
transformation between the two domains is Fast Fourier Transform. So
transformation can be performed numerically by a FFT or an inverse FFT.
∞
FFT y(t) = ∑[ a n cos(2πfn t) + bn sin(2πfn t)]

⎧a n (fn ) ⎧ cn (fn ) n =1
y(t) Y(f) ⎨ or ⎨ ∞
⎩bn (fn ) ⎩αn (fn ) = ∑cn sin(2πfn t + αn )

inv. FFT n =1
The signal in the frequency domain is represented by two graphs (an bn) or (cn αn).
y cn αn
N/2 points
N points FFT N/2 points
inv. FFT fn
t fn
0 T fmax 0 fmax
0 Δf Δf
y cn αn
N/2 points
N points FFT N/2 points
inv. FFT
t fn fn
0 T 0 fmax 0
Δf fmax
Δf
y(t) is defined numerically by N cn and αn are defined by N / 2 points.

points during a time T.
The FFT requires N = 2m 1 N rate

m = 1,2,3…
Δf = fmax = Δf =
T 2 2
In practice, ( Δf , fmax ) are chosen
N and (T, rate) are then determined
rate = such that N = 2m.
T

SIGNAL ANALYSIS – Wavelet Transform

Wavelet analysis represents a windowing

technique with variable-sized regions.
Wavelet analysis allows the use of long
time intervals, where we want more
precise low-frequency information, and
shorter regions where we want high-
frequency information.

Wavelet analysis is an excellent tool when

change in the dynamic properties occurred
in time is to be detected.
FFT fails to determine the time where a
change in frequency content of a signal
happens. STFT (Short Time Fourier
Transform) has not enough resolution for
various cases.
Discrete Wavelet Analysis (analogous to
FFT) can detect changes with a good
accuracy.
Homework:
• Please see the class website for the
homework.

END

Decay of Motion
Ratio of the two successive peaks of damped vibration
Ratio of displacement at time t to its value a full vibration period Td of
damped vibration is independent of t. From the following equation:
⎛ v + ζωn u0 ⎞
u (t ) = e −ζωnt ⎜ 0 sin ωd t + u0 cos ωd t ⎟ u1
⎝ ωd ⎠ 1
2πζ
−ζω n t
u (t ) e 1−ζ 2
u2
= −ζωn ( t +Td ) = eζωnTd = e 0.5
u3
u (t + Td ) e
Displacement
u4 u5
For tow successive peaks: 2πζ 0
ui 1−ζ 2
= eζωnTd = e -0.5
ui +1
-1
Logarithmic decrement: 0 1 2 3 4 5
Time (sec)
ui 2πζ
δ = ln = If ζ is small then 1 − ζ 2 ≈ 1 So: δ ≈ 2πζ
ui +1 1−ζ 2
Decay of Motion u1
1
u1 u1 u 2 u j
= ... = e j δ Therefore: u2
u j +1 u 2 u 3 u j +1 0.5
u3
Displacement
u4 u5
1 u1
δ = ln ≈ 2πζ 0
j u j +1
-0.5
These expressions can be used to
evaluate some dynamic properties -1
0 1 2 3 4 5
of a system. For example: Time (sec)
ui 1
ζ = ln Or:
2π j ui + j
ui1 1
un
ζ = ln (If j ⇔ p, then ζ = ln )
2π j ui + j 2π p
u n+p
Harmonic Vibration with Viscous Damping
Half-Power Bandwidth
For the two frequencies
where the amplitude is 1/ 2
of the resonant amplitude,
for small values of the
damping ratio ζ:
ωb − ωa
= 2ζ
ωn
ωb − ωa
ζ=
2ωn
fb − f a
ζ=
2 fn
Harmonic
Vibration with
Viscous
Damping
Half-Power
Bandwidth

u(t) = C e −ζωn t sin(ω D t + θ )
u(t) = −ζω n C e −ζωn t sin(ω D t + θ ) + ω D C e−ζωn t cos(ω D t + θ )
u(t) = (ζω n ) C e −ζωn t sin(ω D t + θ ) − ω Dζω n C e −ζωn t cos(ω D t + θ )

2

cos(ω D t + θ ) − (ω D ) C e −ζωn t sin(ω D t + θ )
−ζω n t 2
−ω Dζω n C e
u(t) = (ζω n ) − (ω D ) ⎤ C e −ζωn t sin(ω D t + θ ) − 2ω Dζω n C e −ζωn t cos(ω D t + θ )

⎡ 2 2

⎣ ⎦
⎧ 2 2 2 ⎫ −ζω t
u(t) = ⎨C (ζω n ) − (ω D ) + ( 2ω Dζω n ) ⎬ e n sin(ω D t + θ + γ )
⎡ ⎤
2

⎩ ⎣ ⎦ ⎭
Or:
−2ω Dζω n
u(t) = De −ζωn t sin(ω D t + α ) Where α = θ + γ and tan -1γ =

⎡(ζω n )2 − (ω D )2 ⎤
⎣ ⎦

CE745 - Lecture 11 ExpDynamics

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CE 745

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 1

Unknown dynamic characteristics

SDF : natural frequency fn (ωn)

MDF : Eigenvalues (natural frequencies) f1 f2 f3 …

Free vibration : the structure is disturbed from

Harmonic force : a sinusoidal force is applied through a

Pulse force : a hammer is used to apply a short pulse

Random force : random noise such as traffic or wind

Note: For practical reasons, accelerations are easier to measure

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 3

Objective : determine experimentally fn and ζ

displacements can be used.

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 4

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 5

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 6

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 8

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 9

Objective : determine experimentally

Harmonic force test

Results from modal analysis discussions:

u1 (t) ⎫ ⎡φ11 φ12 φ13 ⎤ ⎧ A1 ⎫

The sign of φij is determined by the phase which is also measured.

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 12

ω = ωi → Ai large and other A j negligible

We know from Modal Analysis :

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 14

The required dynamic parameters can be easily determined from

The sign of each φij is determined by the phase which is also

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 17

The dynamic parameters can then be obtained by performing a

The load obtained by the hammer

⎧φ11 ⎫ The FFT of the response is similar

FFT y(t) = ∑[ a n cos(2πfn t) + bn sin(2πfn t)]

⎩bn (fn ) ⎩αn (fn ) = ∑cn sin(2πfn t + αn )

y(t) is defined numerically by N cn and αn are defined by N / 2 points.

The FFT requires N = 2m 1 N rate

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 23

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 24

Wavelet analysis represents a windowing

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 25

Wavelet analysis is an excellent tool when

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 28

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 29

CE 745, Structural Dynamics, Set 11, Dr. Asad Esmaeily 33

u(t) = (ζω n ) C e −ζωn t sin(ω D t + θ ) − ω Dζω n C e −ζωn t cos(ω D t + θ )

u(t) = (ζω n ) − (ω D ) ⎤ C e −ζωn t sin(ω D t + θ ) − 2ω Dζω n C e −ζωn t cos(ω D t + θ )

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