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Forced-Vibration Response

Forced-Vibration
Harmonic Loading
Periodic Loading
Impulsive Loading
General Dynamic Loading

Chapter 3- Harmonic loading

Forced-Vibration
Equation of motion of SDOF system:
mv( t ) + cv ( t ) + kv ( t ) = p ( t )
v (t )
k

p(t )

Types of dynamic loads


- Harmonic Loading
- Periodic Loading
- Impulsive Loading
- General Dynamic Loading

Chapter 3- Harmonic loading

Chapter 3: RESPONSE TO HARMONIC LOADING

3.1 Undamped system


Assume the system subjected to harmonic load p ( t ) = p0 sin t
by Equation of Motion



m v ( t ) + c v ( t ) + k v ( t ) = p0 sin t

For undamped system:

(3.1)

m v( t ) + k v ( t ) = p0 sin t

General solution consists of


- Complimentary solution
which is freefree-vibration

v ( t ) = vc ( t ) + v p ( t )

(3.3)

vc ( t ) = A sin t + B cos t

(3.4)

- Particular solution, i.e. specific behavior


vp
generated by form of the dynamic loading
p 1
Substituting (3.5) into (3.2)
C= 0
k 1 2
& rearranging give:
with frequency ratio:

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

A , B determined from the initial conditions.

Chapter 3- Harmonic loading

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)

sin t component at is steadysteady-state response & related to the load.


sin t component at is freefree-vibration effect controlled by initial

conditions & is called transient response since in practice, damping will


cause it to vanish

p0 k = vst

: displacement produced by p0 applied statically

Response ratio R ( t ) measures


the influence of dynamic load :

R (t ) =

Magnification factor (MF)


MF) represents the
amplification effect of dynamic loading:

(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

Chapter 3- Harmonic loading

= 23

vp
v st

MF

However, for the undamped system starting


from rest (3.9):
t

Tp =

Steady-state

MFsint

vc
v st

MF

a- SteadySteady-state component at the frequency


of the load & directly related to the load.

t
Tc =

MF sin t

v
R=
vst

1
R (t ) =
sin t sin t )
2 (
1

b- Transient response at natural vibration


frequency; freefree-vibration effect & related to
dynamic properties of structure.
=
t
c- Total response R ( t ) = R p ( t ) + Rs ( t )

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

Chapter 3- Harmonic loading

v (t )
vs ( t )

vp (t )

Response & its components of


system on Example 2.2 without
damping & subjected to load

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 )

related to load & steady.


freefree-vibration & transient

Responses of the system E2 are


subjected to loading having

< 1 ( i.e < )


> 1 ( i.e > )

= 3.222
= 7.25
= 4.833 rads

Chapter 3- Harmonic loading

3.2 System with viscous damping


From (3.1), EoM including damping c m = 2 is lead to
p
v ( t ) + 2 v ( t ) + 2 v ( t ) = 0 sin t

(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)

()

Since transient response vc t damps out quickly, therefore


therefore system
will vibrate in accordance with steadysteady-state harmonic response v p ( t )

p0
1
(1 2 ) sint 2 cost
v( t ) = vp ( t ) =

k (1 2 )2 +( 2 )2

Chapter 3- Harmonic loading

vp ( t ) = sin(t )

Using rotating vector, steadysteady-state response


with amplitude & phase angle

(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

Dynamic Amplification (D)

= 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

Dynamic magnification factor D :


Ratio of dynamic response amplitude to
static displacement produced by force p0

(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

Chapter 3- Harmonic loading

Example 3.1:

A portable harmonicharmonic-loading machine can be used in the field for


evaluating dynamic properties of structures. By operating at 2 different
different
frequencies and measuring resulting structuralstructural-response amplitude and
phase angle, one can determine the mass, damping and stiffness of
of a
SDOF system. In one test on a singlesingle-storey building, the machine was
operated at frequencies of 1 & 2 = 16 & 25 rad s, respectively, with a
force amplitude of 2.5 kN in each case. Response amplitudes & phase
1 = 0.2 mm, 1 = 150 and 2 = 0.4 mm, 2 = 550
angles are:
Solution: From (3.20), we have

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
=

test data, we get


2
o
cos 25
1 25 m
0.4

(1 ) k = 1
2

Chapter 3- Harmonic loading

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

which can be solved to give

k 2.5 106
=
369
m

625 256 4.83 16.5 kN/mm

1 2.27 17.3 tonne


1

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:

Chapter 3- Harmonic loading

3.3 Resonant response


When = = 1 , resonance occurs.
occurs.
(3.22)
D =1 = 1 2
From (3.21)

Dynamic Amplification (D)

If system is undamped,
undamped,
e.i

=0

D =1

For damped systems 0,


Dmax occurs when dD d

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

Chapter 3- Harmonic loading

General response equation (i.e. transient + steadysteady-state response):


At resonant exciting frequency ( = = 1), this equation becomes

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

&

General response equation becomes

v (t ) =

1 p0 t

sin D t + cos D t cos t


e
1 2

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)

Chapter 3- Harmonic loading

Plots show that response builds up gradually in cases of resonant


resonant
excitation with or without damping
Undamped System
- Response continues to grow by amount
for each cycle
Eventually produce distress in system
t
Damped System
- Damping limits resonantresonant-response amplitude
- Number of cycles required for damped
1
resonant response to reach essentially its
R ( t ) = ( sin t t cos t )
2
limid depends on amount of damping

R( t)

1
2

1 t
R (t )
e
1 cos t
2

Chapter 3- Harmonic loading

p ( t ) = p0 sin t

k
2

k
2

Response ratio envelope

Undamped

Damped

Response ratio, R(t)

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

3.4 Vibration Isolation

Vibration isolation is necessary in two cases:


a- Operating equipments transmit harmful vibration to
v (t )
supporting structures.
b- Vibrations of supporting structure transmit harmful
oscillatory to sensitive instruments.

f = fs + fD

a- Rotating machine produces an oscillatory vertical


force p ( t ) = p0 sin t due to unbalance in its rotor
rotor

Support motion induced by reaction force f is negligible in comparison


with system motion relative to the support
Its steady state displacement response is given by
Elastic force in spring
Damping force

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

Reaction force on support base

f = fS + fD

(3.21)

(3.22)

(3.23)
14

Chapter 3- Harmonic loading

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)

Ratio of maximum base force to amplitude of applied force is call


call as
the transmissibility (TR
(TR ) of the support system.
(3.25)
f (t )
2
TR max
= D 1 + ( 2 )
p0
vt (t )

b- Base vibration affects harmfully instruments:


When the support base subjected to a harmonic
,
v t ( t ) = vg ( t ) + v p ( t ) vertical motion
vg ( t ) = vg0 sint

vg ( t ) = vg0 sin t

the harmonic effective loading is

peff = mvg ( t ) = m 2 v g 0 sin t

In accordance (3.21), this loading forces a steadysteady-relative displacement


response to the base

v p (t ) =

m 2 v g 0
k

D sin ( t ) = v g 0 2 D sin ( t )

15

Chapter 3- Harmonic loading

Total response v t ( t ) is vectorial sum

v t ( t ) = v g ( t ) + v p ( t ) = v g 0 1 + ( 2 ) D sin ( t
2

(3.26)

Transmissibility on this case:

TR
Note:
Note:

t
vmax
2
= D 1 + ( 2 )
vg0

(3.27)

max vg max


This TR relation also applies to acceleration ratio v
2
t
2 t

max = vmax and v g max = v g 0
because v
TR given by (3.25) & (3.27) are identical for both cases.
t

Relation between TR & frequency ratio

TR

for discrete values of damping is plotted


-All curves pass through the same point at
= 2
-For < 2 effect of isolation increases
(TR
) when damping ( )

Frequency ratio,

-For > 2 generally, TR is much lower


than those for < 2 .
Thus, shout take machine to operate16in
higher frequency ratio

Chapter 3- Harmonic loading

When designing a vibrationvibration-isolation system,


system,
it is convenient to express the effect of isolation system by
IE (Isolation Effectiveness)
Effectiveness) rather than TR

IE [1 TR ]
Note:

(3.28)

IE = 1 represents complete isolation approachable only as

IE = 0 represents no isolation which take place at = 2

< 2

: Amplification of motion takes place. Displacement increases

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

Chapter 3- Harmonic loading

so, IE becomes

Solving this relation for


Noting:

IE = ( 2 2 ) ( 2 1)
2 = ( 2 IE ) (1 IE )

(3.30)

2 = 2 2 = 2 ( m k ) = 2 (W kg ) = 2 ( st g )

st : is the static deflection produced by the dead weight W on its springs


1 g 2 IE
(3.29) can be expressed f =
=

2 2 st 1 IE 0 < IE < 1

Input frequency f , Hz

st (cm)

(3.31)

Relation of input f & st for


discrete values of IE is plotted
& shown in Figure

Knowing input f ( Hz ), we can


determine from the curves
the supportsupport-pad deflection st
required to achieve desired IE

st (in)

18

Chapter 3- Harmonic loading

Example 3.2

A car travels at speed of 45mph=72km/h on a


multiple span bridge. The profile of a bridge span
is presented by a sine curve having a wavelength
(girder span) of 40 ft (12.2 m) & amplitude of 1.2 in
The car has its weight 4000 lb & spring stiffness
defined by test which showed that adding 100 lb
caused a deflection of 0.08 in. Predict maximum
vertical motion in the car. Assuming the damping
is 40% of critical

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

Natural period of the car:

T = 2 W kg = 2 4000 / (1250 386 ) = 0.572sec

19

Chapter 3- Harmonic loading

Excitation period is the time for traveling over one span of bridge
bridge with
speed S = 72 km/h = 72000/3600 = 20m/s

Tp = Lspan Scar = 12.2 20 = 0.61 s


Since

= T Tp = 0.572 0.61 = 0.938

and with

= 0.4,

From (3.27), amplitude of vertical motion is


12

t
vmax

1 + ( 2 )

= v g 0TR = v g 0
(1 2 )2 + ( 2 )2

= 1.2 in 1.642 = 1.97 in = 5.0cm

It also is of interest to note:


note: if there were no damping in the car ( = 0 ),
the amplitude would be

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

Chapter 3- Harmonic loading

Example 3.3

A reciprocating machine weighing 20,000 lb is known to develop a


vertically oriented harmonic force of amplitude 500 lb at its operating
speed of 40 Hz.
Hz. In order to limit the vibrations excited in the building
where this machine is to be installed, it
its to be support by a spring at
each corner of its rectangular base. The designer wants to know what
support stiffness will be required for each spring to limit the total
harmonic force transmitted from machine to building to 80 lb
Solution:

TR =

Transmissibility in this case:

f max
80
=
= 0.16
p0
500

It corresponds to an isolation efficiency

IE = 1TR = 1 0.16 = 0.84

Determine required st by using the curve of ( f & st ) with IE = 0.84


on the Fig.
We find that st is about 0.045 in
Thus the required stiffness

k=

Chapter 3- Harmonic loading

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

3.4 Vibration Isolation

Vibration isolation is necessary in two cases:


a- Operating equipments transmit harmful vibration to
v (t )
supporting structures.
b- Vibrations of supporting structure transmit harmful
oscillatory to sensitive instruments.

f = fs + fD

a- Rotating machine produces an oscillatory vertical


force p ( t ) = p0 sin t due to unbalance in its rotor
rotor

Support motion induced by reaction force f is negligible in comparison


with system motion relative to the support
Its steady state displacement response is given by

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

Chapter 3- Harmonic loading

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)

Ratio of maximum base force to amplitude of applied force is call


call as
the transmissibility (TR
(TR ) of the support system.
(3.25)
f (t )
2
TR max
= D 1 + ( 2 )
p0
vt (t )

b-

v t ( t ) = vg ( t ) + v ( t )
vg ( t ) = vg0 sint

Base vibration affects harmfully instruments:


When the support base subjected to a harmonic
vertical motion
,

vg ( t ) = vg0 sin t

the harmonic effective loading is

peff = mvg ( t ) = m 2 v g 0 sin t

In accordance (3.21), this loading forces a steadysteady-relative displacement


response to the base

v p (t ) =

m 2 v g 0
k

D sin ( t ) = v g 0 2 D sin ( t )

23

Chapter 3- Harmonic loading

Total response v t ( t ) is vectorial sum

v t ( t ) = v g ( t ) + v p ( t ) = v g 0 1 + ( 2 ) D sin ( t
2

(3.26)

Transmissibility on this case:

TR
Note:
Note:

t
vmax
2
= D 1 + ( 2 )
vg0

This TR relation also applies to acceleration ratio


2
t
t
max
because v
and vg max = v g 0
= 2 vmax

(3.27)

( v

t
max

vg max )

TR given by (3.25) & (3.27) are identical for both cases.


Relation between TR & frequency ratio

TR

for discrete values of damping is plotted


-All curves pass through the same point at
= 2
-For < 2 effectiveness of isolation
(TR
) when damping ( )

Frequency ratio,

-For > 2 generally, TR is much lower


than those for < 2 .
Thus, shout take machine to operate24in
higher frequency ratio

12

Chapter 3- Harmonic loading

When designing a vibrationvibration-isolation system,


it is convenient to express the effectiveness of isolation system
system by
IE (isolation effectiveness)
effectiveness) rather than TR

IE [1 TR ]
Note:

(3.28)

IE = 1 represents complete isolation approachable only as

IE = 0 represents no isolation which take place at = 2

< 2

: Amplification of motion takes place.

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 )

Chapter 3- Harmonic loading

so, IE becomes

(3.29)

st : is the static deflection produced by the dead weight W on its springs

(3.29) can be expressed


Relation of input
st (cm)

f =

1
=
2 2

g
st

2 IE

1 IE

0 < IE < 1

(3.30)

f & st for discrete values of IE is plotted as Figure

Input frequency f , Hz

Knowing input f ( Hz ), we can


determine from the curves
the support-pad deflection st
required to achieve desired IE

st (in)

26

13

Chapter 3- Harmonic loading

Example 3.2

A vehicle has its weight 4000 lb & spring stiffness


defined by test which showed that adding 100 lb
caused a deflection of 0.08 in. The bridge profile
is presented by a sine curve having a wavelength
(girder span) of 40 ft (12.2 m) & amplitude of 1.2 in
Predict the steady-state vertical motion in the car
when it is traveling at speed of 45 mph=72.4 km/h,
Assuming the damping is 40% of critical &
the bridge is multiple span.

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:

T = 2 W kg = 2 4000 / (1250 386 ) = 0.572sec


Excitation period is the time for traveling over one span of bridge with
speed S=72 km/h=72000/3600=20m/s

Tp = Lspan Scar = 12.2 20 = 0.61 s

27

Chapter 3- Harmonic loading

Excitation period is the time for traveling over one span of bridge
bridge with
speed S = 72 km/h = 72000/3600 = 20m/s

Tp = Lspan Scar = 12.2 20 = 0.61 s


Since = T T p = 0.572 0.61 = 0.938 and with

= 0.4

From (3.27), amplitude of vertical motion is


t
vmax

1 + ( 2 )

= v g 0TR = v g 0
(1 2 )2 + ( 2 )2

12

= 1.2 in 1.642 = 1.97 in = 5.0cm

It also is of interest to note:


note: if there were no damping in the car ( = 0 ),
the amplitude would be

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

Chapter 3- Harmonic loading

A reciprocating machine weighing 20,000 lb is known to develop a


vertically oriented harmonic force of amplitude 500 lb at its operating
speed of 40 Hz.
Hz. In order to limit the vibrations excited in the building
where this machine is to be installed, it
its to be support by a spring at
each corner of its rectangular base. The designer wants to know what
support stiffness will be required for each spring to limit the total
harmonic force transmitted from machine to building to 80 lb
Solution:
Transmissibility in this case:

TR =

f max
80
=
= 0.16
p0
500

It corresponds to an isolation efficiency

IE = 1TR = 1 0.16 = 0.84

Determine required st by using the curve of ( f & st ) with IE = 0.84


on the Fig.
We find that st is about 0.045 in
Thus the required stiffness k of each spring is

k=

W
20,000
=
= 111 103 inlb = 19.82Ton
cm
4 st 4 0.045

29

15

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