‫‪Lecture No.

: 3‬‬ ‫المحاضرة الثالثة‬

‫‪1‬‬
Remember
Modeling of Structures ‫نمذجة المنشآت‬
Single Story Structure

Single Degree of Freedom

Structure SDOF
2
Remember
Modeling of Structures ‫نمذجة المنشآت‬
Two Stories Structure

Multi Degree of Freedom

Structure
3 MDOF
Remember
Equation Of Motion
.. .
m x+c x+k x = F

4
Remember
Equation Of Motion of SDOF
.. .
m x+c x+k x = F
Calculation of structure parameters
Calculation of structure mass
Weight
=m
g

5
Remember
Equation Of Motion of SDOF
.. .
m x+c x+k x = F
Calculation of structure parameters
Calculation of structure stiffness


B C

A D
6
Remember
Equation Of Motion
.. .
m x+c x+k x = F
Damping (C)

C≈0 C>0
Undamped Damped
Structure Structure
7
Remember
Equation Of Motion
.. .
m x+c x+k x = F
Force (F)

F=0 F≠0
Free vibration Forced
motion motion
8
Remember

Free vibration motion :

Undamped Structure

Damped Structure

Forced motion :
Undamped Structure

9
Damped Structure
Remember
Free vibration motion of
Undamped Structure
Equation Of Motion ..
m x+k x = 0
2
 vo 
x  x  
2
o
 Sin (n t  )
 n 
v  x o n  2
 v Cos (n t  )
2
o

k x o n
n2 = tan  
10
m vo
Remember
2
 vo 
x  x  
2
o
 Sin (n t  )
 n 
Amplitude Frequency Shift
2
 vo 
x max  x  
2
o

 n  xon
x o n 
tan   vo
11
vo
 Free
vibration
motion of
Damped
Structure
12
 Equation Of Motion
.. .
m x+c x+k x = F
Free vibration motion of Damped
Structure

.. F=0
.
m x+c x+k x = 0
Second order homogeneous
13
differential equation
To solve this equation
Remember
a 0 y  a1 y  a 2 y  0
a 0   a1   a 2  0
2

Assume
x
y  ce
x x
y  c  e y  c  e
2

x x x
a0 c  e
2
 a1 c  e  a2 ce  0
x
Divid by c e x
e 0
a 0   a1   a 2  0
2
14
Remember a 0 y  a1 y  a 2 y  0
a 0   a1   a 2  0
2
Solve this equation
1 ,  2

Distinct Real Imaginary Conjugate

1   2  1, 2  R  i M
1 x 2 x y  e R x  c1 Cos(M x )  c 2 Sin(M x)
y  c 1e  c 2e
Repeated Real

1   2
1 x 1 x
15
y  c1e  c 2 x e
 Return to our problem
.. .
m x+c x+k x = 0
m 2 + c  + k = 0
 c  c  4mk
2

2m
c2 – 4 m k

>0 =0 <0
16
  c  c  4mk
2

2m
First case :
c2 – 4 m k = 0 c2 = 4 m k
k
n2 =
m
c2 = 4 m2 n2
c = 2 m n
ccr = 2 m n
Critical Damping
17
First case :  c  c  4mk
2

2m
c2 – 4 m k = 0
ccr = 2 m n
c  1   n
1 
2 2m 2

t t
x  c 1e  c 2 t e
 n t  n t
x  c1e  c 2t e

18
First case : ccr = 2 m n
 n t  n t
x  c1e  c 2t e
No oscillation
rest at minimum time &

19
20
Second case :
c2 – 4 m k > 0 c2 > 4 m k
c > ccr Overdamped system
c ccr = 2 m n
 c =  ccr
c cr
c = 2  m n >1
 c  c  4mk
2 k
 n2 =
2m m

 2  m n   2  m n  2
 4m 
2 2

 n

2m
21
Second case : c = 2  m n >1

 2  m n   2  m n  2
 4 m 2 n2

2m
 2  m n  2 m n  2  1

2m
    n  n  2  1
1 t 2 t
x  c 1e  c 2e

22
Second case : c = 2  m n >1

No oscillation

23
Third case :
c2 – 4 m k < 0 c2 < 4 m k
c < ccr Underdamped system
c ccr = 2 m n
 c =  ccr
c cr
c = 2  m n <1
 c  c2  4 m k k
 n2 =
2m m
 2  m n   2  m n  2
 4m 
2 2

 n

2m
24
Third case : c= 2  m  <1
 2  m n   2  m n  2
 4m 
2 2

 n

2m
 2  m n  2 m n  2  1

2m
    n  n  2  1
    n  i n 1   2

 1, 2  R  i M
ye Rx
 c1 Cos(M x)  c 2 Sin(M x)
25
Third case : c= 2  m  <1
    n  i n 1   2
 D  n 1   2

    n  i  D
 1, 2  R  i M
ye Rx
 c1 Cos(M x)  c 2 Sin(M x)
xe   n t
 c1 Cos (D t )  c 2 Sin (D t )
 v o   n x o 
xe   n t
 x o Cos ( D t )  Sin ( D t ) 
 D 

26
Third case : c= 2  m  <1
 v o   n x o 
xe   n t
 x o Cos ( D t )  Sin ( D t ) 
 D 
  n t
xe Sin ( D t  )
2
 v o   n x o 
  x  
2
o

 D 
xo D
tan  
v o   n x o

27
Remember x = sin t
4   3   2     0 t
0 -1 0 1 0 -1 0 1 0 x

28
Remember x = 2 sin t
4   3   2     0 t
0 -2 0 2 0 -2 0 2 0 x

x = sin t

29
Remember x = t sin t
4   3   2     0 t
0 -1* 0 1* 0 -1* 0  0 x
   

x =t

x= -
t
30
Remember x = e-t sin t

31
   n t
xe Sin ( D t  )

x=

e -
nt

t
- n

 e
=-
x

32
   n t
xe Sin ( D t  )

oscillation
Decaying

33
 =2% =5%

 = 10 %  = 20 %

34
   n t
xe Sin ( D t  )

TD

35
   n t
xe Sin ( D t  )

xt
xt+TD

TD

36
   n t
xt e Sin ( D t  )

x t  TD e   n t  TD
Sin ( D  t  TD   )
  n t
xt e

x t  TD  e   n t  TD
  n t
xt e
   n t  TD
x t  TD e
xt  n TD
e
x t  TD
2 2
TD  
 D n 1   2
37
 xt   n TD 2 2
e TD  
x t  TD  D n 1   2
2 
xt 1  2
e x1
x t  TD x2
x3 x4
2 
xi 1  2
e
x i 1
 xi  2 
ln   
 x i 1  1  2

38
  xi  2 
ln    2 2
x
 i 1  1   2 
4  
2 2
1
 xi  2   2
  ln    2 
 x i 1  1  2 4 2  2
2
  
 4  
2 2
2 1  2
2 2 Or approximately

4 2
1  2 1  2  1
2 2
 
4  
2 2
1  2  2 
2
39
For successive decaying
2   x1 
xi 1  2 ln   j
e x 
x i 1  j 1 
xi
e  
2  1  x1 
ln 
  j  x j1 
2
x i 1 1

x1 x 2 x 3 xj
  e j 
2
x 2 x 3 x 4 x j 1 4  
2 2

x1
e j
Or approximately
x j 1


2
40
 D  n 1   2

Range of damping for most structures

D
D n
n = 


41
Example 5 :
Determine the natural vibration period and damping
ratio of the shown column from the displacement
record of its free vibration of the End A.

Peak disp. Time Peak

(cm) (sec) .No
A
9.15 1.110 1
76. 3.844 11 6

42
 Peak disp. Time Peak
(cm) (sec) .No
9.15 1.110 1
76. 3.844 11
3.844  1.110
TD   0.273 sec
10
1  9.15 
1  x1    ln   0.249
ln  10  0.76 
 
j  x j1 
2 0.2492
   0.0396
4 2  2 4   0.249
2 2

Or  0.249
   0.0396 % = 3.96
43 2 2
Example 6 :
A free vibration test is conducted on an empty elevated
water tank as shown is Figure. A cable attached to the
tank applies a lateral (horizontal) force of 100 ton and
pulls the tank horizontally by 5 cm. The cable is
suddenly cut and the resulting free vibration is
recorder. At the end of four complete cycles, the time
is 2 sec and the amplitude is 2.5 cm. From these data
compute the following : (a) damping ratio; (b) natural
period damped vibration; (c) natural period undamped
vibration; (d) effective stiffness; (e) effective weight; (f)
damping coefficient; and (g) number of cycles required
for the displacement amplitude to decrease to 0.2 cm.

44
Solution :
(a) Damping ratio
1  x1  1  5 
ln    ln   0.173
 
j  x j1  4  2.5 
2 0.1732
   0.0275
4 2  2 4   0.173
2 2

 0.173
or   
2
 0.0275 %  = 2.75
2
2.0
(b) natural period damped TD   0.5 sec
4
(c) natural period undamped Tn  TD  0.5 sec
45
 100
(d) effective stiffness k  20 t / cm
5
2 2
(e) effective weight n    12.57
Tn 0.5
k
n2 = m
k 20
m 2   0.127 t / cm. sec 2

n 12.57 2

m=12.7 t/m.sec2
w = m g = 12.7x 10 = 127 t
46
(f) damping coefficient

c = 2  m  = 2x0.0275x12.7x12.57
c = 8.78 t/m.sec
(g) number of cycles required for the displacement
amplitude to decrease to 0.5 cm.

   2    2   0.0275  0.173
2
1  5  3.219
1  x1  ln   0.173  0.173
ln  j
 
j  x j1  j  0.2 

3.219
j  18.6 Number of cycles = 19
0.173
47
Free vibration motion of Damped Structure

Displacement
  n t
xe Sin ( D t  )
Velocity
v  x   e    n Sin (D t  )
  n t
D
  D Cos ( D t  )  1
n
D n 1   1 2 2
tan 1   
 n  n 

  n t
v    e
2 2
n
2
D Sin ( D t    1 )
48
   n t
v    e
2 2
n
2
D Sin ( D t    1 )
 D  n 1   2

         (1   )
2 2
n
2
D
2 2
n
2
n
2

         n
2 2
n
2
n
2 2
n

  n t
v   n e Sin ( D t    1 )
1  2
tan 1 

49
 Summary

50
Summary
Free vibration motion of
Damped Structure
Equation Of Motion
.. .
m x+c x+k x = F

51
Summary
Free vibration motion of
Damped Structure
  n t
xe Sin ( D t  )
2
 v o   n x o 
  x  
2
o

 D 
xo D
tan  
v o   n x o
 D  n 1   2

52
Summary
Free vibration motion of
Damped Structure

  n t
v   n e Sin ( D t    1 )

1  2
tan 1 


53
Summary
For Free vibration test of
Damped Structure
 xi  1  x1 
  ln   Or   ln
j  x j1 
 x i 1 
2

4 2  2

Or approximately


2
54
 Questions
55