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(1)
(2)
Using complex-exponential notation and retaining the positive-exponent parts, the steady
state responses r(t) = reit and ra (t) = ra eit to forcing f (t) = feit can be inserted into the
equations of motion to obtain
( 2 m + ic + k + ka )
r ka ra = f
ka r + ( 2 ma + ka )
ra = 0
(3)
(4)
and the frequency response function from forcing to the displacement response of the primary
system mass, m
2 ma + ka
r
H() = =
(1/k)( 2 m + ic + k + ka )( 2 ma + ka ) ka2
f /k
(5)
The frequency response function has a value of zero where 2 ma + ka = 0 which gives the
tuning equation for the un-damped tuned mass damper. The TMD should be tuned so that
its natural frequency equals the forcing frequency.
2 =
ka
= n 2a
ma
(6)
For systems tuned in this way, the motion amplitude of the TMD is out of phase with the
forcing, ra = f/ka . Undamped TMDs are applicable to cases in which the forcing frequency
is known precisely and in which the forcing frequency does not vary. Systems with undamped
TMDs are very sensitive to mis-tuning errors; they are not robust with respect to variations
in forcing frequency.
CEE 541. Structural Dynamics Duke University Fall 2016 H.P. Gavin
ka /ma .
(7)
(8)
Using complex-exponential notation and considering the positive-exponent part of the solution, the frequency-response from forcing f to response r is
2 ma + ica + ka
r
H() = =
(1/k)[( 2 m + ica + k + ka )( 2 ma + ica + ka ) (ka + ica )2 ]
f /k
(9)
For fixed values of m, k, ma , and ka , and for any value of ca , all of the frequency-response
curves from f to r pass through the same coordinates, A , HA and B , HB .
Den-Hartog showed that when HA 6= HB the peaks of H() are not at A or B .
q
k/m, the
absorber natural frequency na = ka /ma , and the absorber damping ratio = ca /(2 mk).
The Den-Hartog design objectives are:
Define: the mass ratio = ma /m, the primary system natural frequency np =
q
to select na so that HA = HB 1 .
to select ca as the average of the damping values that maximize H() at A and at B .
The optimal tuning is found from the criterion HA = HB .
na
np
The values of HA and HB are both
2A,B =
=
opt
1
.
1+
(10)
!2
2 + 2 + 2
=
np A,B
(1 + )(2 + )
(11)
The optimal absorber damping is found from averaging the damping values that maximize
H() at A and at B ;
v
opt =
1
u
u
t
33
.
8(1 + )3
(12)
30
25
H() = r / (f/k)
20
15
10
ma/m = 0.2
ka/ma = k/m
5
n1
0
0.4
0.6
n2
0.8
1
frequency ratio = / np
1.2
(2np = k/m)
1.4
1.6
ma
ra (t)
ka ,ca
r(t)
k
11111111111111
00000000000000
00000000000000
11111111111111
f(t)
11
00
00
11
00
11
00
11
00
11
00
11
00
11
f(t)
k
m
r(t)
ka
ma
ca
ra (t)
Figure 2. Force and displacement coordinates for the Den Hartog absorber
References
[1] Den Hartog, J.P., Mechanical Vibration, Dover 1984, (pp. 93-105).
[2] Hunt, J.B., Dynamic Vibration Absorbers, Mechanical Engineering Publications, 1979.
[3] Smith, R., Dynamic Vibration Absorbers, Sound & Vibration Magazine, Nov. 1998,
pp. 22-27.
[4] Snowdon, J.C., Vibration and Shock in Damped Vibrational Systems, Wiley 1968, Ch. 4.
CEE 541. Structural Dynamics Duke University Fall 2016 H.P. Gavin
10
ca = 0
ca =
ca = 0.05
= ma/m = 0.2
ka/ma = k/m
H() = r / (f/k)
7
(A,HA)
6
5
4
3
2
(B,HB)
1
n1
0
0.4
0.6
n2
0.8
1
frequency ratio = / np
1.2
(2np = k/m)
1.4
1.6
ca = 0
ca =
ca = 0.05
ca = "opt"
= ma/m = 0.2
na/np = 1/(1+)
H() = r / (f/k)
4
(A,HA)
(B,HB)
0
0.4
0.6
0.8
1
frequency ratio = / np
(2np
1.2
= k/m)
1.4
1.6