CE509 – Dynamics of Structures

Chapter 3
Harmonic Excitations

Abdullah DİLSİZ, Ph.D.

Civil Engineering
Ankara Yıldırım Beyazıt University

CE509 - FALL 2023-24 1

Objectives
 Explain the significance of harmonic excitation.
 Qualitatively describe the solutions to the equation of motion for both undamped and damped
SDOF systems subjected to harmonic excitation. Differentiate between the transient and
steady-state solutions.
 Compute the peak deformation and force of a SDOF subjected to harmonic excitation.
 Define the following terms and describe their significance: Deformation response factor Rd and
phase-angle; frequency-response curve; resonance
 Determine natural frequency and damping ratio from forced vibration tests
 Evaluate the force or deformation transmitted relative to the ground acceleration or
displacement in a vibration isolation system.
 Demonstrate that energy is balanced (conserved) during steady-state vibration.
 Represent a nonlinear system as an “equivalent linear system” by deriving the equivalent
stiffness and equivalent damping ratio.

Reading: 3.1-3.6 and 3.8-3.9

2
 .

Harmonic Excitation: Undamped

differential equation governing the
forced harmonic vibration:

initial conditions:

particular solution:

complimentary solution:

complete solution:

(free vibration)

(forced vibration)
See Derivations 2.1 and 3.1…

3
 .

Harmonic Excitation: Undamped

(free vibration)

: particular solution
(forced vibration)

for
𝑢 0 = 𝑢ሶ 0 = 0

4
 Harmonic Excitation: Undamped
steady state dynamic response:

static deformation:

max static deformation:

deformation response factor phase angle

(the ratio of dynamic
deformation to the static
deformation)

Figure 3.1.3 Deformation response factor and phase angle for an

if 𝜔 = 𝜔𝑛 solution is not valid & 𝜔𝑛 is resonant frequency
undamped system excited by harmonic force.

5
 .

Harmonic Excitation: Undamped

For case of: ω = ωn and Initial Conditions: u(0) = 0, 𝑢(0)
ሶ =0

See also Derivation 3.2…

6
 .
Harmonic Excitation: Damped
Steady-State and Transient Responses
differential equation governing the harmonic
force (incl. viscous damping) :

initial conditions:

particular solution:

complimentary solution:

complete solution:

See Derivations 2.2 and 3.3… (free vibration) (forced vibration)

7
 .
Harmonic Excitation: Damped
Steady-State and Transient Responses

(free vibration) : particular

: complimentary solution (forced vibration) solution

𝜔𝐷 = 𝜔𝑛 1 − ζ2

8
 Harmonic Excitation: Damped .

Response for ω = ωn

for 𝜔 = 𝜔𝑛

ζ < 0.20 ⇒ 𝑇𝐷 ≈ 𝑇𝑛 & 𝜔𝐷 ≈ 𝜔𝑛

9
Harmonic Excitation: Damped
.

Response for ω = ωn

𝜔 = 𝜔𝑛

ζ = 0.01, 0.05, 0.10

10
 Harmonic Excitation: Damped
Maximum Deformation and Phase Lag
particular
solution :

𝑢0 = 𝐶 2 + 𝐷2
φ = tan−1 −𝐷ൗ𝐶
Figure 3.2.5 Steady-state response of
damped systems (ζ = 0.2) to sinusoidal force
for three values of the frequency ratio:
(a) ω / ωn = 0.5,
(b) ω / ωn = 1,
(c) ω / ωn = 2.

11
 Harmonic Excitation: Damped
Maximum Deformation and Phase Lag

𝜔ൗ ≪ 1 ⇒ 𝑇 ≫ 𝑇
𝜔𝑛 𝑛

the amplitude of dynamic response is 𝜔ൗ ≫ 1 ⇒ 𝑇 ≪ 𝑇

𝜔𝑛 𝑛
essentially the same as the static
deformation and is controlled by the the response is controlled by the mass
stiffness of the system. of the system..

𝜔ൗ ≈ 1 ⇒ 𝑇 ≈ 𝑇
𝜔𝑛 𝑛

the response is controlled by the

damping of the system.

Figure 3.2.6 Deformation response factor and phase angle for

a damped system excited by harmonic force.

12
 Harmonic Excitation: Damped
Dynamic Response Factors

steady-state
displacement
response:

velocity
response:

acceleration
response:

Figure 3.2.7 Deformation, velocity, and acceleration response factors for

a damped system excited by harmonic force.

13
Harmonic Excitation: Damped
Dynamic Response Factors

Figure 3.2.8 Four-way logarithmic plot

of deformation, velocity, and acceleration
response factors for a damped system See Appendix 3…
excited by harmonic force.

14
Harmonic Excitation: Damped
Resonant Frequencies and Resonant Responses
A resonant frequency is defined as the forcing frequency at which the largest response amplitude occurs.

15
Harmonic Excitation: Damped
Half-Power Bandwidth

According to this result, evaluation of damping from

forced vibration tests without knowing the applied
force is possible.

Figure 3.2.9 Definition of half-power bandwidth. See Derivation 3.4…

16
Harmonic Excitation: Damped
Steady-State Response to Cosine Force

17
Response to Vibration Generator

Figure 3.3.2 Vibration generator: (a) initial

position; (b) position and forces at time t.

Figure 3.3.1 Counter-rotating eccentric-weight vibration generator.

18
 Natural Frequency & Damping from Tests
Frequency-Response Curve

The theory of forced harmonic vibration presented,

provides a basis to determine the natural frequency
and damping of a structure from its measured
response to a vibration generator (resonance testing).
The measured damping provides data for an
important structural property that cannot be computed
from the design of the structure.

Because of the difficulty in obtaining the static structural

response using a vibration generator, the natural frequency Figure 3.4.1 Evaluating damping from frequency-response curve.
and damping ratio of a structure are usually determined by
obtaining the frequency-response curve experimentally.

19
Example 3.2

Recall from Example 2.5 (Free Vibration):

20
 Force Transmission and Vibration Isolation
Transmissibility
Remembering the dynamic response factors…

the force transmitted to the base:

(max force)

transmissibility of the system: the ratio of the max transmitted force to the amplitude p0

𝑝0 𝑐
𝑢𝑠𝑡 0 = ζ= Figure 3.5.1 Transmissibility for harmonic excitation. Force transmissibility and
𝑘 2𝑚𝜔𝑛 ground motion transmissibility are identical.

21
 Response to Ground Motion and Vibration Isolation
Transmissibility
Force Ground Motion
Transmissibility Transmissibility

Figure 3.5.1 Transmissibility for harmonic excitation. Force transmissibility and ground motion transmissibility are identical.

22
Example 3.4

23
Example 3.4

24
Example 3.4

25
Example 3.5

26
 Energy Dissipation
Energy Dissipated :

Energy Input :

Potential Energy :

Kinetic Energy :
𝐸𝐼 = 𝐸𝐷

27
Energy Dissipation

Figure 3.8.2 Hysteresis loops for (a) viscous damper; (b) spring and viscous damper in parallel.

28
Equivalent Viscous Damping
𝑘𝑢𝑜2
𝐸𝑆𝑜 =
2

𝜔 ≈ 𝜔𝑛
Figure 3.8.3 Definition of energy loss ED in a cycle of Figure 3.9.1 Energy dissipated ED in a cycle of
harmonic vibration and maximum strain energy ESo. harmonic vibration determined from experiment.

29