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Forced-Vibration
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Forced-Vibration
Equation of motion of SDOF system:
mv( t ) + cv ( t ) + kv ( t ) = p ( t )
v (t )
k
p(t )
m v ( t ) + c v ( t ) + k v ( t ) = p0 sin t
(3.1)
m v( t ) + k v ( t ) = p0 sin t
v ( t ) = vc ( t ) + v p ( t )
(3.3)
vc ( t ) = A sin t + B cos t
(3.4)
v ( t ) = A sin t + B cos t +
(3.2)
( t ) = C sin t
(3.5)
(3.6)
=
p0
k
(3.7)
1
1 2 sin t
(3.8)
3
In case v ( 0 ) = v ( 0 ) = 0:
v (t ) =
p0
k
A=0
B=
p0
k
1
1 2 ( sin t sin t )
1
1 2
(3.9)
p0 k = vst
R (t ) =
(3.10)
v (t ) v (t )
=
vst
p0 k
(3.11)
MF = R ( t )max
(3.12)
In fact,
fact, damping exists & the transient response component will vanish.
vanish.
1
1
2
v ( t )max = vst
R ( t )max = MF =
= 2
2
2
1 2
1
(3.13)
4
= 23
vp
v st
MF
Tp =
Steady-state
MFsint
vc
v st
MF
t
Tc =
MF sin t
v
R=
vst
1
R (t ) =
sin t sin t )
2 (
1
Transient
Total R(t)
Zero slope
1
R (t ) =
( sin t sin t )
1 2
The graph of MF on
MF
<
>
= is shown
> MF < 0
< MF > 1
MF increases quickly.
= MF = Resonance occurs.
5
v (t )
vs ( t )
vp (t )
p ( t ) = p 0 sin ( t )
( p0 = 54 kN , = 23 = 3.222 rads )
v( t ) =
2
<1
3
= 1.5 > 1
54 1
2
sin3.222t sin4.883t
2
180 1( 2 3)
3
vp ( t )
vs ( t )
v ( t ) = v p ( t ) + vs ( t )
= 3.222
= 7.25
= 4.833 rads
(3.14)
-Complementary solution:
solution: damped freefree-vibration response given by (2.30)
vc ( t ) = e t ( A cos D t + B sin D t )
-Particular solution:
solution: v p ( t ) = G1 cos t + G2 sin t
(3.15)
(3.16)
Substituting (3.15), (3.16) into (3.14) & identifying two sides obtain
(1 2 )
p
p
2
G2 = 0
G1 = 0
&
2
2
k (1 2 ) + ( 2 )
k (1 2 )2 + ( 2 )2
v( t ) = et ( AcosDt + BsinDt ) +
p0
1
(1 2 ) sin t 2 cos t
k (1 2 )2 + ( 2 )2
(3.17)
()
p0
1
(1 2 ) sint 2 cost
v( t ) = vp ( t ) =
k (1 2 )2 +( 2 )2
vp ( t ) = sin(t )
(3.19)
2
(3.20)
= tan1
2
o
0
<
<
180
)
1 (
Phase angle also varies with frequency
ratio for different damping ratios
1 2
2
p
2
= 0 (1 2 ) + ( 2 )
Phase angle,
=0
= 0.05
= 0.1
= 0.2
10
=0
=1
= 0.3
= 0.5
= 0.05
7
6
Frequency ratio,
2
2
= (1 2 ) + ( 2 )
D=
p0 k
(3.21)
= 0.1
(3.18)
7
1 2
= 0.2
= 0.3
= 0.5
2
1
=1
0
0
0.5
1.5
Frequency ratio
2.5
= 8
Example 3.1:
p0 1
k 1 2
1 2
(1 )
2
+ ( 2 )
=
2
p0 cos
k 1 2
1 2 k =
p0 cos
2
p cos
=
k
k
k = k 2m = 0
2
k/m
cos15o
2
1 16 k
From the 2 sets of
0.2
2.5
=
(1 ) k = 1
2
cos15o
1 16 k
4.83
0.2
= 2.5 106
= 2.5 106
2
o
2.27
1 25 m
cos 25
0.4
2
k 2.5 106
=
369
m
k
16.5
=
103 = 30.9 rad/s
m
17.3
2
1 2
tan =
=
tan
Damping coefficient c :
2
1 2
From (3.20)
16
Using data from the first test, we obtain =
=
= 0.518
30.9
2
2
1
1 0.518
=
tan =
tan150 = 0.189
2
2 0.518
c = cc = ( 2m ) = 0.189 2 17.3 103 30.9
10
c = 202 kN s/m
Natural frequency:
If system is undamped,
undamped,
e.i
=0
D =1
peak = 1 2 2
Dmax
10
=0
(3.23)
( < 0.2 )
= 0.1
= 0.2
= 0.3
1
=
=
2 1 2 2 D
= 0.05
For structures,
=0
= 0.5
2
1
=1
0
0
(3.24)
0.5
1.5
2.5
Frequency ratio
is small
Dmax D =1 =
1
2
(3.25)
11
v ( t ) = et ( Acos Dt + B sin Dt )
p0 cos t
k 2
p
p
1
Assuming system
A= 0
= 0
k 2D
k 2 1 2
starts from rest, then:
(3.17)
p 1
B= 0
k 2
&
v (t ) =
1 p0 t
2 k
(3.18)
For real structures where is small, the sin term contribution is small
& since D is nearly equal to
, the response ratio becomes
becomes
v (t )
1
(3.19)
R (t ) =
e t 1 cos t
2
p0 k
For zero damping,
1 et
1 t
1 cos t
R
t
sin t +
e
(
)
equation is indeterminate
2
2 1
2
By applying LHospital
Hospitals rule, resonant R ( t ) = 1 ( sin t t cos
12t )
response of an undamped system is
2
(3.20)
R( t)
1
2
1 t
R (t )
e
1 cos t
2
p ( t ) = p0 sin t
k
2
k
2
Undamped
Damped
R( t)
1
2
= 0.1 = 0.05
1
4
= 0.02
= 0.2
No. of response cycles
0
12
16
Duration of loading,
10
20
12
13
24
f = fs + fD
f D = cv ( t ) =
v p (t ) =
p0
D sin ( t )
k
f s = kv ( t ) = p0 D sin ( t )
cp0 D
cos ( t ) = 2 p0 D cos ( t )
k
f = fS + fD
(3.21)
(3.22)
(3.23)
14
Since these 2 forces are 900 out of phase with each other, the
the amplitude
of total base reaction force is given by
f max ( t ) =
f S ,max ( t ) + f D ,max ( t ) = p0 D 1 + ( 2 )
2
(3.24)
vg ( t ) = vg0 sin t
v p (t ) =
m 2 v g 0
k
D sin ( t ) = v g 0 2 D sin ( t )
15
v t ( t ) = v g ( t ) + v p ( t ) = v g 0 1 + ( 2 ) D sin ( t
2
(3.26)
TR
Note:
Note:
t
vmax
2
= D 1 + ( 2 )
vg0
(3.27)
TR
Frequency ratio,
IE [1 TR ]
Note:
(3.28)
< 2
Actual vibration isolation can take place only when system operates
operates
at value of greater than 2
For small damping, TR given by (3.25), after substitution of (3.21)
can be expressed approximately by
TR 1 ( 2 1)
(3.29)
17
so, IE becomes
IE = ( 2 2 ) ( 2 1)
2 = ( 2 IE ) (1 IE )
(3.30)
2 = 2 2 = 2 ( m k ) = 2 (W kg ) = 2 ( st g )
2 2 st 1 IE 0 < IE < 1
Input frequency f , Hz
st (cm)
(3.31)
st (in)
18
Example 3.2
Solution:
This profile will cause a harmonic excitation in a car traveling over the
bridge at constant speed. VibrationVibration-isolation system of the car
(consisting of springs & shock absorbers) will limit vertical motions
motions
transmitted from the road to the occupants.
Spring stiffness of the car :
kg
k = 100 lb 0.08 in = 1250 inlb = 233.4 cm
19
Excitation period is the time for traveling over one span of bridge
bridge with
speed S = 72 km/h = 72000/3600 = 20m/s
and with
= 0.4,
t
vmax
1 + ( 2 )
= v g 0TR = v g 0
(1 2 )2 + ( 2 )2
1
1
t
= vg0
= 1.2in
= 9.99in = 25.3cm
v max
2
2
1 0.938
1
This result is 5 times greater than car having absorbers.
It demonstrates the important function of shock absorbers in limiting
limiting
motions resulting from waviness of the road surface.
20
10
Example 3.3
TR =
f max
80
=
= 0.16
p0
500
k=
p ( t ) = p0 sin t
k
2
k
2
of each spring is
W
20,000
=
= 111 103 inlb = 19.82Ton
cm
4 st 4 0.045
21
f = fs + fD
v p (t ) =
Elastic force in spring
Damping force
f D = cv ( t ) =
p0
D sin ( t )
k
f s = kv ( t ) = p0 D sin ( t )
cp0 D
cos ( t ) = 2 p0 D cos ( t )
k
(3.21)
(3.22)
(3.23)
22
11
Since these 2 forces are 900 out of phase with each other, the
the amplitude
of total base reaction force is given by
f max ( t ) =
f S ,max ( t ) + f D ,max ( t ) = p0 D 1 + ( 2 )
2
(3.24)
b-
v t ( t ) = vg ( t ) + v ( t )
vg ( t ) = vg0 sint
vg ( t ) = vg0 sin t
v p (t ) =
m 2 v g 0
k
D sin ( t ) = v g 0 2 D sin ( t )
23
v t ( t ) = v g ( t ) + v p ( t ) = v g 0 1 + ( 2 ) D sin ( t
2
(3.26)
TR
Note:
Note:
t
vmax
2
= D 1 + ( 2 )
vg0
(3.27)
( v
t
max
vg max )
TR
Frequency ratio,
12
IE [1 TR ]
Note:
(3.28)
< 2
Actual vibration isolation can take place only when system operates
operates
at value of greater than 2
For small damping, TR given by (3.25), after substitution of (3.21)
can be expressed approximately by
TR 1 ( 2 1)
25
IE = ( 2 2 ) ( 2 1)
2
2 = ( 2 IE ) (1 IE )
Solving this relation for
Note: 2 = 2 2 = 2 ( m k ) = 2 (W kg ) = 2 ( st g )
so, IE becomes
(3.29)
f =
1
=
2 2
g
st
2 IE
1 IE
0 < IE < 1
(3.30)
Input frequency f , Hz
st (in)
26
13
Example 3.2
Solution: This profile will cause a harmonic excitation in a car traveling over the
bridge at constant speed. VibrationVibration-isolation system of the car
(springs & shock absorbers) will limit vertical motions transmitted
transmitted
from the road to the occupants.
kg
lb
= 233.4 cm
Spring stiffness of the car : k = 100 lb 0.08 in = 1250 in
Natural period of the car:
27
Excitation period is the time for traveling over one span of bridge
bridge with
speed S = 72 km/h = 72000/3600 = 20m/s
= 0.4
1 + ( 2 )
= v g 0TR = v g 0
(1 2 )2 + ( 2 )2
12
1
1
t
= vg0
= 1.2in
= 9.99in = 25.3cm
v max
2
2
1 0.938
1
This result is 5 times greater than car having absorbers.
It demonstrates the important function of shock absorbers in limiting
limiting
motions resulting from waviness of the road surface.
28
14
Example 3.3
TR =
f max
80
=
= 0.16
p0
500
k=
W
20,000
=
= 111 103 inlb = 19.82Ton
cm
4 st 4 0.045
29
15