ME 553 :

Advanced Vibrations

• Dr. Abdelaziz Bazoune

• Mechanical Engineering Department
• King Fahd University of Petroleum & Minerals

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 1

 LEC-04
Harmonic Analysis

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 2

 After you have finished this lecture you will be able to do the following:

Recognize a periodic motion

obtain a periodic motion by a Fourier Series representation
Calculate Fourier Series coefficients
Know the Gibbs Phenomenon
Distinguish between Even and Odd function
Use Euler’s Formula for complex numbers
Use complex notation for Fourier Series
Obtain complex representation of Fourier Series coefficients
Obtain harmonic response of systems having a single degree of
freedom

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 3

 Harmonic Analysis
Fourier Series
Time to Frequency Domain
Gibbs Phenomenon
Frequency Spectrum
Half Range Expansion
Time and frequency Domain Representation

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 4

 Time to Frequency Domain Conversion: Fourier Series

Periodic Function

Amplitude
F (t ) = F (t +τ ) Time

τ
Trigonometric series representation
a0
x (t ) = + a1 cos(ω t ) + a 2 cos(2ω t ) + a3 cos(3ω t ) + ⋯ 2π
2 ω=
τ
+ b1 sin(ω t ) + b2 sin(2ω t ) + b3 sin(3ω t ) + …
Conditions for application:
1. Function is periodic F (t ) = F (t + τ )
2. Discontinuities are finite within any period
3. Function has a finite number of maxima and minima during any period
T
4. Function is absolutely integrable over any period ∫ x ( t ) dt < ∞
0

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 5

 Harmonic Analysis
Fourier Series Expansion:

Any periodic function of time can be represented by a Fourier series as an

infinite sum of sine and cosine terms.

If x(t) is a periodic function with period τ , its Fourier Series representation is

given by
a0
x(t ) = + a1 cos ωt + a2 cos 2ωt + ...
2
+ b1 sin ωt + b2 sin 2ωt + ... (1)

a0 ∞
= + ∑ ( an cos nωt + bn sin nωt )
2 n=1
Where ω =2π/τ is the fundamental frequency and a0, a1, a2, …, b1, b2,…, are
constant coefficients.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 6

 Time to Frequency Domain Conversion: Fourier Series

Series coefficients are evaluated as:

τ τ τ
2 2 2
a0 =
τ ∫ x ( t ) dt a n = τ ∫ x (t ) cos( nω t ) dt bn =
τ ∫ x (t ) sin( nω t ) dt
0
0 0

Evaluation is simplified by the

Orthogonality conditions of Sine & Cosine

τ  0 for m ≠ n

∫0 sin( mω t ) sin( nω t ) = τ τ
 2 for m = n ≠ 0
∫ sin( mω t ) cos( nω t ) = 0
0

τ  0 for m ≠ n

∫0 cos( m ω t ) cos( nω t ) = τ
 2 for m = n ≠ 0

7
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 7
 http://www.falstad.com/fourier/

One Term

Two Terms

Three Terms

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 8

 Four Terms

Ten Terms

Twenty Terms

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 9

We are adding a series of sine
terms (with decreasing
amplitudes and decreasing
periods) together. The combined
signal, as we take more and more
terms, starts to look like our
original square wave:

If we graph many terms, we see

that our series is producing the
required function. We graph the
first 20 terms:

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 10

An anomalous behavior observed from a periodic function that is being represented
by Fourier series.

As n increases, the
approximation can be seen to
improve everywhere except in
the vicinity of the discontinuity,
P. The error in amplitude
remains at approximately 9%,
even when n → ∞ .

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 11

 Harmonic Analysis
To determine the coefficients an, and bn, we multiply Eq. (1) by cos(nωt) and
sin(nωt), respectively, and integrate over one period ω =2π/τ, we obtain

ω 2π / ω 2
τ
a0 =
π 0 ∫ x ( t ) dt = ∫ x ( t ) dt
τ0
(2)

ω 2π / ω 2
τ
an =
π 0 ∫ x ( t ) cos ( nωt ) dt = ∫ x ( t ) cos ( nωt ) dt
τ0
(3)

ω 2π / ω 2
τ
bn =
π 0 ∫ x ( t ) sin ( nωt ) dt = ∫ x ( t ) sin ( nωt ) dt
τ0
(4)

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 12

 The Fourier series can also be represented in terms of complex numbers.

eiωt = cos ωt + i sin ωt (5)

e −iωt = cos ωt − i sin ωt (6)
Also,
eiωt + e −iωt eiωt − e −iωt
cos ωt = and sin ωt = (7),(8)
2 2i
Thus Eq. (1) can be written as

a0 ∞   einωt + e−inωt   einωt − e −inωt 

x(t ) = + ∑ an   + bn  
2 n=1   2   2i 
 a0 ib0  ∞  inωt  an bn  −inωt  an bn   (9)
 ∑
i ( 0 )ω t
=e  − + e  − i  + e  + i 
 2 2  n=1   2 2   2 2 

where b0=0

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 13

By defining the complex Fourier coefficients Cn and C-n as

an − ibn an + ibn
Cn = and C− n = (10)
2 2
Eq. (9) can be expressed as
∞
x(t ) = ∑ n
C
n =−∞
e inωt
(11)

The Fourier coefficients Cn can be determined using Eqs. (1) to (3), as

τ
a − ibn 1
Cn = n = ∫ x ( t ) cos ( nωt ) − i cos ( nωt )  dt
2 τ0 (12)
τ
1
∫
− inωt
= x ( t ) e dt
τ 0

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 14

 Harmonic functions an cos(nωt) or bn sin(nωt)
in Eq. (1) are called the harmonics of order n
of the periodic function x(t).

The Harmonic of order n has a period of τ /n.

Harmonics plotted as vertical lines on a

diagram of amplitude (an and bn or dn and Φn)
versus frequency (nω), are called the
frequency spectrum or spectral diagram.

ω = Fundamental Frequency nω = Harmonics are multiples of the

fundamental frequency (or a first harmonic)

Frequency Spectrum of a typical periodic function of time

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 15
 Initial conditions are lost in frequency
domain. Often considered unnecessary in
many practical applications.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 16

 Time-domain and Frequency domain representation of
a signal

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 17

Even function & its Fourier series expansion

x (−t ) = x (t )
a0 ∞
x (t ) = + ∑ an cos nωt
2 n=1

Odd function & its Fourier series expansion

x(−t ) = − x (t )
∞
x(t ) = ∑ bn sin nωt
n =1

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 18

 In some practical conditions the function x(t) is
defined only in the interval 0 to τ as shown in
Fig. (a).

In such a case, there is no condition of

periodicity of the function.

to 0function is extended to include

−τ the
However,
the interval −τ to 0 as shown in the figure.
The Fourier series expansions of x1(t) and x2(t)
are known as half-range expansions.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 19

 Numerical Computation of Coefficients

If x(t) is not in a simple form,

experimental determination of
the amplitude of vibration and
numerical integration procedure
like the trapezoidal or Simpson’s
rule is used to determine the 2 N

a = ∑x
0 i
(1.97)
coefficients an and bn. N i =1

2 2nπt
N

a = ∑ x cos
n i
i
(1.98)
N τ
i =1

2 2nπt
N

b = ∑ x sin
n i
i
(1.99)
N τ
i =1

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 20

Determine the Fourier series expansion of the motion of the valve in the cam-follower system
shown in the Figure.

If y(t) denotes the vertical motion of the

pushrod, the motion of the valve, x(t), can
be determined from the relation:

y (t ) x(t )
tan θ = =
l1 l2
l2
x(t ) = y (t ) (E.1)
l1

where
t 2π
y (t ) = Y ; 0 ≤ t ≤τ (E.1) With a period of τ=
τ ω
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 21
 Yl
By defining A =
2
, x(t) can be expressed as
l1

t
x(t ) = A ; 0 ≤ t ≤τ (E.3)
τ
Equation (E.3) is shown in the Figure. To compute the Fourier coefficients an and bn, we use
Eqs. (1) to (3):
2π / ω
ω 2π / ω ω 2π /ω  t  ω At 
2

π ∫0 π ∫0
a0 = x (t )dt = A  dt =   =A (E.4)
 τ  π τ  2 0

ω 2π / ω ω 2π / ω t
an = ∫ x(t ) cos nωt ⋅ dt = ∫ A cos nωt ⋅ dt
π 0 π 0 τ
2π / ω
Aω 2π /ω A  cos nωt ωt sin nωt 
=
πτ ∫0
t cos nωt ⋅ dt = 2 
2π  n 2
+
n 
0
(E.5)

= 0, n = 1, 2, ..

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 22

 ω 2π / ω ω 2π / ω t
bn = ∫ x(t )sin nωt ⋅ dt = ∫ A sin nωt ⋅ dt
π 0 π 0 τ
2π / ω
(E.6)
Aω 2π /ω A  sin nωt ωt cos nωt  A
=
πτ ∫0
t sin nω t ⋅ dt = 2 
2π  n 2
+
n 
0
=
nπ
, n = 1, 2, ..

Therefore the Fourier series expansion of x(t) is

A A A
x(t ) = − sin ωt − sin 2ωt − ...
2 π 2π (E.7)
A π  1 1 
=  − sin ωt + sin 2ωt + sin 3ωt + ...
π 2  2 3 

The first three terms of the series are shown plotted in the figure. It can be seen that the
approximation reaches the sawtooth shape even with a small number of terms.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 23

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 24
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 25
 http://www.fourier-series.com/fourierseries2/fourier_series_tutorial.html
http://www.falstad.com/mathphysics.html
http://www.fourier-series.com/rf-concepts/flash_programs/decibel/decibels.html

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 26

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 27
 % Fourier Series Evaluation & Plotting Example
% Square Wave Function
% Sum & Plot FS Partial Sums Until Error Level Is Reached
% *******************************************************
clc;clear all;clf;
x=linspace(0,1.5,1000);
f=0;
for n=1:2:200
% First Plot Square Wave Function
X=[0,0,0.5,0.5,1.0,1.0,1.5,1.5];
Y=[0,1,1,-1,-1,1,1,0];
line(X,Y,'color','r','linewidth',2)
grid on;hold on;
f=f+(4/(n*pi))*sin(2*pi*n*x);
error=mean((abs(f)-1).^2);
plot(x,f,'k','linewidth',2)
title(['Square Wave FS Partial Sum: ',...
'n = ',num2str(n),' Error = ',num2str(error)])
pause
if error<0.01
break
end
clf
end

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 28

 clear all
j=input('Enter the value of "N": ');
if ischar(i)==1%Exception handling for char input
fprintf('Please enter an integer value')
break;
end
hold on
for m=1:j
cla
axis([-4 4 -1 1])
axis equal
line([-4 4], [0 0],'Color', 'k')
line([0 0], [-4 4],'Color', 'k')
a=line([0 pi], [1 1],'Color', 'b','LineWidth',2);
line([0 -pi], [-1 -1],'Color', 'b','LineWidth',2)
for i=-3:-1
text(i,-0.25,int2str(i))
text(0.2,i,int2str(i))
end
for i=1:3
text(i+0.05,-0.25,int2str(i))
text(-0.2,i,int2str(i))
end
for i=-3:-1
text(-0.05,i,'--')
text(i,0,'|','FontSize',6)
end
for i=1:3
text(-0.05,i,'--')
text(i,0,'|','FontSize',6)
end
x=-pi:0.05:pi;
f2=0;
xx=-pi:0.05:pi;
for n=1:m
f1=4*(sin((2*n-1)*x)/(2*n-1))/pi;
f2=f2+f1;
end
yy=spline(x,f2,xx);
p=plot(x,f2,xx,yy,'r','LineWidth',2);
title(['At N=',int2str(m)])
ylabel('f(x)')
set(gca,'XTick',-pi:pi/2:pi)
set(gca,'XTickLabel',{'-pi','-pi/2','0','pi/2','pi'})
if m<j
xlabel({'-pi<x<pi';'Press any key for the next output'})
end
if m==j
xlabel({'-pi<x<pi';'Final o/p'})
end

pause(1/10);
end
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 29
http://www.jhu.edu/~signals/fourier2/index.html

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 04, Slide 30