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RANDOM Vibration
ANALYSIS
Prof. Partha Bhattacharya

Head of the Department
Civil Engineering
Jadavpur University
CONTENT
1. Introduction to vibration
2. Types of system
3. Types of loading
4. Analysis method
5. Deterministic loading – periodic & non-periodic
6. Non-deterministic (Random loading)
7. Conclusion
18-01-2024 Dept. of Civil Engineering 2

INTRODUCTION

Mechanics of Motion
F(t)
Applying Newton’s Second Law of motion

𝑚𝑥ሷ = 𝐹 𝑡 − 𝑘𝑥 − 𝑐 𝑥ሶ (A)
i.e., 𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 𝐹(𝑡)
Fundamental building block of dynamic equilibrium equation
For a MDOF system the governing equation will be a Matrix differential equation
𝑀 𝑋ሷ + 𝐶 𝑋ሶ + 𝐾 𝑋 = 𝐹 (B)

TYPES OF SYSTEM

Types of System
Parameters – Mass (M), Damping (C), Stiffness (K)
State – Displacement, Velocity, Acceleration
External Influence – Force
Linear system – The system parameters do not change during the process
Non-linear system – System parameters become function of state; Method of
superposition cannot be applied
One of the more complicated parameter governing the system dynamics is damping.
There are several forms of damping that has to be either modeled or experimentally
obtained.
1. Viscous damping – proportional to velocity (F  𝑥)ሶ
2. Coulomb damping or Dry friction damping – Depends upon sliding surfaces and the
normal force between them (F = N)
3. Structural damping or Hysteretic damping – Normally expressed as complex stiffness
(F = K(1 + ix))
TYPES OF LOADING

Loading Type
Deterministic
1. Periodic loading – Can be broken done into multiple harmonics. For linear system
method of superposition can be employed
2. Non-periodic loading – Shock, impact etc
Non-deterministic
1. Wind loading/Fluid loading
2. Earthquake loading
3. Wave loading
4. Jet noise
5. Turbulent Boundary Layer excitation
6. Aircraft touch down
etc.

ANALYSIS METHOD –
DETERMINISTIC LOADING

Solution Type
Primarily dealing with linear systems
1. Periodic loading and SDOF system
Loading is first broken down using Fourier series and solved for each harmonics
𝑚𝑥ሷ + 𝑐 𝑥ሶ + 𝑘𝑥 = 𝐹0 sin(𝜔𝑡) (F)
The response x (t) can be written as,
𝑥 𝑡 = 𝑥𝐻 𝑡 + 𝑥𝑃 (𝑡)
Where,
𝑥𝐻 𝑡 = 𝑒 −𝜉𝜔0 𝑡 𝐴𝑠𝑖𝑛 1 − 𝜉 2 𝜔0 𝑡 + 𝐵𝑐𝑜𝑠 1 − 𝜉 2 𝜔0 𝑡
To obtain a particular solution let,

𝑥𝑃 𝑡 = 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙)

Which when replaced in Eq. (F) one obtains
𝐹0
𝑥𝑃 𝑡 = sin(𝜔𝑡 − 𝜙)
𝑘− 𝑚𝜔 2 2 + 𝑐𝜔 2
𝑐𝜔
With 𝜙 = 𝑡𝑎𝑛−1
𝑘−𝑚𝜔2
𝐹0
Introducing 𝛿𝑆𝑇 = , one can write
𝑘
𝑋 1
=
𝛿𝑆𝑇 2 2 2
𝜔 𝜔
1− + 2𝜉
𝜔0 𝜔0
Non-dimensional DYNAMIC MAGNIFICATION FACTOR

Also the Non-dimensional PHASE ANGLE can be expressed as
𝜔
2𝜉
𝜔0
𝜙 = 𝑡𝑎𝑛−1
𝜔 2
1−
𝜔0

Harmonic excitation and response in complex plane

ANALYSIS METHOD – NON-
DETERMINISTIC LOADING

Random or Non-deterministic Loading
Random process
Sample function
Random Variable
Ensemble
Solution can be done using
1. Time domain analysis
2. Developing Response Spectrum
3. Spectral domain analysis

Statistical parameters defining a Random Process
Ensemble averages
1. Mean value
2. Auto-correlation Function
If the ensemble averages are independent of choice of time, t such a Random Process is
called a STATIONARY RANDOM PROCESS

Time averages or Temporal averages for a sample function
1) Temporal mean
2) Temporal autocorrelation
If it is found that the statistical averages of each one of the sample is constant such a
process is called an ergodic process
An Ergodic process must be necessarily Stationary but the opposite is not necessarily
true

Evaluation of some statistical parameters
𝑇
𝑥 𝑡 = 𝑥0 0 < 𝑡 <
2
𝑇
=0 <𝑡<𝑇
2
𝑇
1 2 𝑥0
Mean Value 𝑥ҧ = ‫𝑥 ׬‬ 𝑡 𝑑𝑡 =
𝑇 0 2
𝑥02
Mean square value 𝑥2 = 2

Auto correlation function
𝑇
1 𝑇 1 2−𝜏 2
𝑅 𝜏 = න 𝑥 𝑡 𝑥 𝑡 + 𝜏 𝑑𝑡 = න 𝑥0 𝑑𝑡
𝑇 0 𝑇 0
1 𝜏 𝑇
= 𝑥02 2
− 𝑇 𝑓𝑜𝑟 0 < 𝜏 < 2
𝑅 𝜏
𝑇
1 2 1 𝜏 𝑇
= න 𝑥02 𝑑𝑡 = 𝑥02 − + 𝑓𝑜𝑟 < 𝜏 < 𝑇
𝑇 𝑇−𝜏 2 𝑇 2

Probability distribution function
It is a continuous function having the following properties -

Probability density function
Slope of the Probability distribution function
Plot of the function

Description of Random data in terms of Probability Density Functions
Let x(t) be a sample time history

p(x) be the probability density function
g(x) be a real continuous function of x(t)
∞
Expected value of g(x) -> 𝐸 𝑔(𝑥) = 𝑔(𝑥) = ‫׬‬−∞ 𝑔 𝑥 𝑝 𝑥 𝑑𝑥
∞
Special cases – Expected value of x or mean value of x -> 𝐸 𝑥 = 𝑥ҧ = ‫׬‬−∞ 𝑥𝑝 𝑥 𝑑𝑥
∞
- Mean square value of x -> 𝐸 𝑥 2 = 𝑥 2 = ‫׬‬−∞ 𝑥 2 𝑝 𝑥 𝑑𝑥
- Variance -> 𝜎𝑥2 = 𝑥 2 − 𝑥ҧ 2

Response to arbitrary excitation – Spectral domain
Power Spectral Density
Let a representative time function from an ergodic random process be defined as
The autocorrelation function is expressed as,
We take the Fourier transform of the Autocorrelation function
Inverse Fourier transform of the PSD

Why is it called Power Spectral Density?
Let
Assuming f(t) describe the voltage, then mean square value of f(t) gives the energy
dissipated across a 1-ohm resistor
Integral of over  ranging over - to + gives the total mean power of f(t)
Hence the name Power Density Spectrum or Power Spectral Density (PSD)
Now, the power dissipated in a 1-ohm resistor by the frequency component of voltage
f(t) lying in an infinitesimal band between  and +d is proportional to

Narrowband and Broadband Random Processes
- Shape of the PSD often defines Narrow or Broadband processes

- Gives a qualitative description
Sharply peaked spectrum around a frequency – narrowband

Spectrum distributed over a wide range - broadband

P(X < a) = P (sin(Y) < a) = P(Y < arcsin(a)) where -1<=a<=1
𝑑𝑃(𝑥) 1
𝑝 𝑥 = =
𝑑𝑥 𝜋 1 − 𝑎2

Autocorrelation function for sine wave

Response of Linear Systems to Stationary Random Excitation
We have already seen that for any arbitrary excitation f(t), the response can be
written as,
where, 𝑔 𝑡 is the impulse response
Applying proper arguments one can write
Now we take the Fourier Transform of both the LHS and the RHS

Which can be expressed as,
Where,
is the Fourier Transform of the excitation, and
is the Fourier Transform of the impulse response.
This is true for any arbitrary excitation. Our interest is when the excitation is random and
stationary.

If the 1st and 2nd order statistics for any Stationary Random Excitation is available, we
would like to obtain the 1st and 2nd order statistics of the Response process as well, which
is also random
1. Mean or Expected value of the response random process
Assuming Ensemble averaging and integration are interchangeable,
However, it can be shown that for a stationary random process E[f(t-)] = E[f(t)] that yields

2. Autocorrelation of Random Response Process
As the response random process is stationary,

The autocorrelation of the response random process is independent of t signifies that for a
linear system if the excitation is a stationary random process, the response is also a
stationary random process
More often than not, the excitation random process is expressed in terms of Power
Spectral Density rather than in terms of autocorrelation. It is in such cases expedient to
obtain the PSD of the response as well. The PSD of the response can be expressed as,

But

Using the relation
It can be easily arrived at that,
Gust response, Turbulent Boundary Layer Excitation, Wave dynamics, Jet noise,
Automobile response etc. are obtained using this methodology

RESPONSE OF SDOF SYSTEM TO RANDOM EXCITATION
Base excited system
𝑚𝑥ሷ + 𝑐 𝑥ሶ − 𝑦ሶ + 𝑘 𝑥 − 𝑦 = 0
𝑥ሷ + 2𝜁𝜔𝑛 𝑥ሶ − 𝑦ሶ + 𝜔𝑛2 𝑥 − 𝑦 = 0
Road roughness is described by the random variable y(s) with s = vt
Let f(t) be random ergodic process. Hence x(t) will also be random and ergodic
Without any loss of generality one can assume E[f(t)] = 0 that leads to E[x(t)] = 0

Considering ideal white noise 𝑆𝑓 𝜔 = 𝑆0 will give the autocorrelation function as,
And
One can write the response auto correlation function as,

Contd….
We know that 𝑅𝑥 −𝜏 = 𝑅𝑥 (𝜏) as autocorrelation function is symmetric. Hence for  < 0

Response autocorrelation function represents a
narrow band process

Response Power Spectral Density
It is very easy to obtain

WIND ANALYSIS

Wind Loading
The Gust Factor Approach to Evaluate the Along-Wind Response of Structures to Wind
Excitation

Since the wind speed varies with time, it can be decomposed into a mean component
and a fluctuating component
On substitution
Ignoring the second order term which is small

We are interested to find out the response of the structure due to the time varying part of
the excitation which can be expressed as,
Instantaneous fluctuations u’(t) above are part of a whole spectrum of fluctuations in

velocity at different frequencies
The constant term is
So the frequency domain expression becomes

One can write the mean force as
On rearranging
Finally expressing the force in terms only from force and wind speed can be written as,
This equation is quite satisfactory for gusts which completely envelope the structure, i.e.
for the small point-like object considered in this analysis so far. However, now consider
the situation where the object grows in size to become large, larger than some of the
gusts. In such a situation, the equation as shown above would obviously overestimate
the force for small gusts which are not completely correlated over the entire surface of
the large object. It can be argued that this “lack of correlation” is related to the size of a
gust with respect to the size of the structure. This thinking leads to the concept of the
“aerodynamic admittance”.

The Aerodynamic Admittance
A gust wavelength can be defined by
If A represents the area of the object, then a characteristic dimension for the structure
is
How much gust force is transferred to a structure should be dependent on the ratio
The effectiveness of a structure in capturing the wind is determined by its aerodynamic

admittance which is a function of

The Spectrum of force actually transmitted on to a large structure can thus be
expressed as
Once the wind spectrum is defined one has to obtain the structural response for the
same. It depends upon the wind excitation frequencies in relation to the natural
frequency of the structure. Hence the dynamic behavior of the structure needs to be
considered. The dynamic magnification factor is earlier defined as,
𝐹0
𝑥(𝑓) = 𝐻(𝑓)
𝑘

Displacement spectrum can finally be written as,
or,
The variance of the ﬂuctuating component of displacement can be found by integrating

the displacement spectrum for a zero mean process

Now introducing the mean or static displacement
a dimensionless value is obtained

Considering the integration to be made up of two parts, a background part AB, which
ignores any dynamic behaviour of the structure, and a resonant part AR, which assumes
a narrow band response at the natural frequency

For 𝐴𝐵 H(f) is taken as unity over the whole spectrum and it is then expressed as,
Whereas, for 𝐴𝑅 a narrowband excitation is considered at each of the structural

natural frequencies
with,
The final expression

is given by

Estimating peak response
Taking the root of the variance equation
The peak response can be expressed as, 𝑥ො = 𝑥ҧ + 𝑔𝜎𝑥 . The value of ‘g’ can be estimated as,
1ൗ
2
𝑔 ≅ 2𝑙𝑛 3600𝑓0
Which finally gives the expression for the peak response
A slightly modified value is prescribed in the BIS code as per Vickery (1972)

Conclusions –
1. An introduction to the basic structural dynamics with a focus into Civil Engineering
structures is presented
2. Analysis technique to be adopted for both deterministic and non-deterministic load is
discussed
3. Power spectral density technique is discussed with a special focus in wind
engineering application
4. The users are encouraged to explore the use of numerical techniques and FE
modeling technique for large structures.
References:
1. Fundamentals of Vibration, L. Meirovitch, McGraw-Hill (2001)

2. Dynamics of Structures, Clough and Penzien, Computers and Structures Inc. (2003)

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RANDOM Vibration

Prof. Partha Bhattacharya

18-01-2024 Dept. of Civil Engineering 2

18-01-2024 Dept. of Civil Engineering 3

Applying Newton’s Second Law of motion

18-01-2024 Dept. of Civil Engineering 4

18-01-2024 Dept. of Civil Engineering 5

18-01-2024 Dept. of Civil Engineering 7

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𝑥𝐻 𝑡 = 𝑒 −𝜉𝜔0 𝑡 𝐴𝑠𝑖𝑛 1 − 𝜉 2 𝜔0 𝑡 + 𝐵𝑐𝑜𝑠 1 − 𝜉 2 𝜔0 𝑡

To obtain a particular solution let,

18-01-2024 Dept. of Civil Engineering 10

Non-dimensional DYNAMIC MAGNIFICATION FACTOR

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18-01-2024 Dept. of Civil Engineering 16

18-01-2024 Dept. of Civil Engineering 17

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It is a continuous function having the following properties -

18-01-2024 Dept. of Civil Engineering 20

Slope of the Probability distribution function

Plot of the function

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Let x(t) be a sample time history

- Variance -> 𝜎𝑥2 = 𝑥 2 − 𝑥ҧ 2

18-01-2024 Dept. of Civil Engineering 22

The autocorrelation function is expressed as,

We take the Fourier transform of the Autocorrelation function

Inverse Fourier transform of the PSD

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- Shape of the PSD often defines Narrow or Broadband processes

Sharply peaked spectrum around a frequency – narrowband

18-01-2024 Dept. of Civil Engineering 25

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where, 𝑔 𝑡 is the impulse response

Applying proper arguments one can write

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is the Fourier Transform of the excitation, and

is the Fourier Transform of the impulse response.

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1. Mean or Expected value of the response random process

Assuming Ensemble averaging and integration are interchangeable,

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As the response random process is stationary,

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It can be easily arrived at that,

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Road roughness is described by the random variable y(s) with s = vt

18-01-2024 Dept. of Civil Engineering 36

One can write the response auto correlation function as,

18-01-2024 Dept. of Civil Engineering 37

We know that 𝑅𝑥 −𝜏 = 𝑅𝑥 (𝜏) as autocorrelation function is symmetric. Hence for  < 0

18-01-2024 Dept. of Civil Engineering 38

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It is very easy to obtain