Harmonics Lecture For Vibrations Tudents

ME 553 :
Advanced Vibrations
Dr. A. Aziz Bazoune

Mechanical Engineering Department
King Fahd University of Petroleum & Minerals
Dr. A. Aziz Bazoune

Mechanical Engineering Department
King Fahd University of Petroleum & Minerals
A. Aziz Bazoune ME 553 Advanced Vibrations 1 LEC 04 Slide 1

LEC-04
Harmonic Analysis
A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 2

Objectives
After you have finished this lecture you will be able to do the following:
Recognize a periodic motion
Obtain a periodic motion by a Fourier Series representation
Calculate Fourier Series coefficients
Know the Gibbs Phenomenon
Distinguish between Even and Odd function
Use Eulers Formula for complex numbers
Use complex notation for Fourier Series
Obtain complex representation of Fourier Series coefficients
Obtain harmonic response of systems having a sdof

Lecture Outlines
Harmonic Analysis
Fourier Series
Time to Frequency Domain
Gibbs Phenomenon
Frequency Spectrum
Half Range Expansion
Time and frequency Domain Representation

Time to Frequency Domain Conversion: Fourier Series
Periodic Function
Amplitude
F ( t ) = F ( t + nt )
Time
Trigonometric series representation
a0
x (t ) = + a 1 cos(wt ) + a 2 cos(2 wt ) + a 3 cos(3 wt ) + 2p
2 w=
+ b1 sin( w t ) + b2 sin(2 wt ) + b3 sin(3 wt ) + t
Conditions for application:

1. Function is periodic
2. Discontinuities are finite within any period
3. Function has a finite number of maxima and minima during any period
4. Function is absolutely integrable over any period | |

Harmonic Analysis: Fourier Series Expansion
Any periodic function of time can be represented by a Fourier series as an infinite sum of sine
and cosine terms.
If is a periodic function with period , its Fourier Series representation is given by
a0
x (t ) = + a1 cos ( wt ) + a2 cos ( 2wt ) + + b1 sin ( wt ) + b2 sin ( 2wt ) + ...
2 (1)

a0
= + {an cos ( n wt ) + bn sin ( n wt ) }
2 n =1
where 2 is the fundamental frequency and , , , , , ,, are constant

coefficients.
Series coefficients are evaluated as:
t t t
2 2 2
a0 = x ( t ) dt a n = x (t ) cos(n w t )dt bn = x (t ) sin(n w t )dt
t 0
t t
0 0

Time to Frequency Domain Conversion: Fourier Series
Evaluation is simplified by the Orthogonality conditions of Sine & Cosine
t 0 for m n
sin(m wt ) sin(n wt ) = t
for m = n 0
0 2
t 0 for m n

cos(m w t ) cos(n w t ) = t
for m = n 0
0 2
sin(m w t ) cos(n w t ) = 0
0

Example:
http://www.falstad.com/fourier/
One Term
Two Terms
Three Terms

Example Contd
Four Term
Ten Terms
Twenty Terms

Example:
We are adding a series of sine terms
(with decreasing amplitudes and
decreasing periods) together. The
combined signal, as we take more
and more terms, starts to look like
our original square wave:
If we graph many terms, we see that

our series is producing the required
function. We graph the first 20 terms:

Gibbs Phenomenon
An anomalous behavior observed from a periodic function that is being represented by Fourier
series.
As increases, the approximation can

be seen to improve everywhere except
in the vicinity of the discontinuity, .
The error in amplitude remains at
approximately 9%, even when .

Harmonic Analysis
To determine the coefficients , and , we multiply Eq. (1) by cos and sin ,
respectively, and integrate over one period 2 , we obtain
2p / w t
w 2
a0 = x ( t ) dt = x ( t ) dt (2)
p 0
t 0
2p / w t
w 2
an = x ( t ) cos ( n wt ) dt = x ( t ) cos ( n wt ) dt (3)
p 0
t 0
2p / w t
w 2
bn = x ( t ) sin ( n wt ) dt = x ( t ) sin ( n wt ) dt (4)
p 0
t 0

Example:
Determine the Fourier series coefficients for the function shown in the graph below.
Solution The expression of the triangular wave,

which has a period is given by

4

t - 1, 0t t 2
F (t ) = t (E.1)
4 t

1 - t - , t 2t t

t
2
Straightforward integration of Eqs (1) to (3) gives
t t 2 t
4
2
a 0 = F ( t ) dt
2 t - 1 dt + 2 1 - 4 t - t dt = 0
t 0
a0 =
t t t t2 t 2
0
t t 2 t
4
2 2 t - 1 cos ( n wt )dt + 2 1 - 4 t - t cos ( n wt )dt
an = F ( t ) cos ( n wt ) dt an =
t t t t2 t 2
t 0 0

0, n even

= 8

- , n odd

n 2p2

Example:
t t 2 t
2 4
bn = F ( t ) sin ( n wt ) dt
2 t - 1 sin ( n wt )dt + 2 1 - 4 t - t sin ( n wt )dt = 0
t 0
bn =
t t t t2 t 2
0
Therefore, the Fourier series representation of F(t) becomes
8 2p 1

6p
1 10p

F (t ) = - cos t + cos t + cos t +
2
p
t 9
t 25 t


Complex Fourier Series
The Fourier series can also be represented in terms of complex numbers.
e i wt = cos wt + i sin wt (5)
e -i wt = cos wt - i sin wt (6)
Also, e i wt + e -i wt and e i wt - e -i wt
cos wt = sin wt = (7),(8)
2 2i
Thus Eq. (1) can be written as
e in wt + e -in wt e in wt - e -in wt
a0

x (t ) = + an + bn
2
2
2i
n =1

(9)
i ( 0 )wt a 0 ib0

in wt an bn
-in wt an bn

=e
2
- + 2 2
2 n =1
e - i + e

2
+ i
2

where 0

Complex Fourier Series
By defining the complex Fourier coefficients Cn and C-n as
an - ibn and
an + ibn
Cn = C -n = (10)
2 2
Eq. (9) can be expressed as

x (t ) = C ne in wt (11)
n =-
The Fourier coefficients Cn can be determined using Eqs. (1) to (3), as
t
an - ibn 1
Cn = = x ( t ) cos ( n wt ) - i cos ( n wt ) dt

2 t 0
t (12)
1
= x ( t ) e -in wt
dt
t 0

Time and Frequency Domain Representation of a Signal

Time and Frequency Domain Representation
Initial conditions are lost in frequency domain. Often

considered unnecessary in many practical
applications.

Frequency Spectrum
Harmonic functions cos or sin in

Eq. (1) are called the harmonics of order n of the
periodic function .
The Harmonic of order has a period of .
Harmonics plotted as vertical lines on a diagram of

amplitude ( and or and ) vs frequency
, are called the frequency spectrum or
spectral diagram. n = Harmonics are multiples of the
= Fundamental Frequency fundamental frequency (or a first harmonic)
Frequency Spectrum of a typical periodic function of time

Even and Odd Functions
Odd function & its Fourier series expansion
An odd function is symmetric about the origin
x (t ) = -x (-t ) i.e., sin(wt ) = - sin(-wt )
x (-t ) = -x (t )

x (t ) = bn sin n wt
n =1
Even function & its Fourier series expansion
An even function satisfies the relationship
x (t ) = x (-t ) i.e., cos(wt ) = cos(-wt )
x (-t ) = x (t )

a0
x (t ) = + an cos n wt
2 n =1

Half Range Expansion
In some practical conditions the function is defined

only in the interval 0 to as shown in Fig. (a).
In such a case, there is no condition of periodicity of the

function.
However, the function is extended to include the interval

to 0 as shown in the figure.
The Fourier series expansions of and are

known as half-range expansions.

Numerical Computation of Coefficients
If is not in a simple form,

experimental determination of the
amplitude of vibration and numerical
integration procedure like the trapezoidal
or Simpsons rule is used to determine
the coefficients , and .
N
2
a0 =
N
xi
i =1
N
2 2n pti
an =
N
xi cos t
i =1
N
2 2n pti
bn = x i sin
N i =1 t

Example
Determine the Fourier series expansion of the motion of the valve in the cam-follower system
shown in the Figure.
Solution
If denotes the vertical motion of the
pushrod, the motion of the valve, , can
be determined from the relation:
y(t ) x (t )
tan q = =
l1 l2
(E.1)
l 2

x (t ) = y(t )
l
where
1
t
y(t ) = Y ; 0t t (E.2)
t
With a period of t = 2p w

By defining , can be expressed as
t
x (t ) = A ; 0t t (E.3)
t
Equation (E.3) is shown in the Figure. To compute the Fourier coefficients , and , we use
Eqs. (1) to (3): 2
2p / w
w 2p / w w 2p / w t w At
A dt =
p 0 p 0
a0 = x (t )dt = =A (E.4)
t p t 2 0
w 2p / w w 2p / w t
p 0 p 0
an = x (t )cos n wt dt = A cos n wt dt
t (E.5)
2p / w
Aw 2p / w A cos n wt wt sin n wt
=
pt 0
t cos n wt dt =
2

2p n 2
+
n

0
= 0, n = 1, 2, ..
w 2p / w w 2p / w t
bn = x (t )sin n wt dt = A sin n wt dt
p 0 p 0 t
2p / w (E.6)
Aw 2p / w A sin n wt wt cos n wt A
pt 0
= t sin n wt dt = + = , n = 1, 2, ..
2 2 n n p
2p n 0

Therefore the Fourier series expansion of, is
A A A
x (t ) = - sin wt - sin 2wt - ...
2 p 2p (E.7)
A p 1 1

= - sin wt + sin 2wt + sin 3wt + ...
p 2 2 3

The first three terms of the series are shown plotted in the figure. It can be seen that the
approximation reaches the sawtooth shape even with a small number of terms

Example
It is desired to determine the Fourier Series for the square wave shown in the figure below, which
has a period of 0.2 s, giving a circular frequency of of 10 rad/s.
Solution
With the origin selected as shown in the

Figure, the square wave is an odd function,
with 10 over the interval 0, ,
which is 0.1 s.
Since it is an odd function, we can use the

half range expansion
an = 0
0.1
0.1 -200
bn = 2 ( 10 ) 10 sin ( n10t )dt = cos ( 10n pt )
0 10n p 0
40 b
bn = = 1, n = 1, 3, 5,..
np n
bn = 0 n = 2, 4, 6,..

40 1
f (t ) =
p n =1,3,5 n
sin ( n w1t )
40 1 1
f (t ) = sin ( w1t ) + sin ( 3w1t ) + sin ( 5w1t ) +
p 3 5
is the fundamental circular frequency.
Since 2 and 5 Hz, the

frequency spectrum for a frequency
bandwidth of 0 to 25 Hz is shown in the figure
below.
It is clear that the frequency spectrum is

simply a graphical plot of the Fourier
coefficients, which are in turn simply the
amplitudes of the frequency components in
the time domain wave.

Plotting Fourier Series Approximation for a Sqaure Wave Using MATLAB
Suppose is a square wave of period MATLAB Script

2 such that. % Fourier Series Evaluation & Plotting Example
% Square Wave Function
f (x ) = 1; 0x p % Sum & Plot FS Partial Sums Until Error Level Is Reached
% *******************************************************
f (x ) = -1; p x 2p
clc;clear all;clf;
x=linspace(0,1.5,1000);
f=0;
The Fourier series of, is for n=1:2:200
% First Plot Square Wave Function
X=[0,0,0.5,0.5,1.0,1.0,1.5,1.5];
4 1 1 Y=[0,1,1,-1,-1,1,1,0];
f (x ) = sin x + sin 3x + sin 5x +

p 3 5 line(X,Y,'color','r','linewidth',2)
grid on;hold on;
f=f+(4/(n*pi))*sin(2*pi*n*x);
error=mean((abs(f)-1).^2);
plot(x,f,'k','linewidth',2)
title(['Square Wave FS Partial Sum: ',...
'n = ',num2str(n),' Error = ',num2str(error)])
pause
if error<0.01
break
end
clf
end

clear all for i=-3:-1
j=input('Enter the value of "N": '); text(-0.05,i,'--')
text(i,0,'|','FontSize',6)
if ischar(i)==1%Exception handling for char input
end
fprintf('Please enter an integer value') for i=1:3
break; text(-0.05,i,'--')
end text(i,0,'|','FontSize',6)
hold on end
for m=1:j x=-pi:0.05:pi;
f2=0;
cla
xx=-pi:0.05:pi;
axis([-4 4 -1 1]) for n=1:m
axis equal f1=4*(sin((2*n-1)*x)/(2*n-1))/pi;
line([-4 4], [0 0],'Color', 'k') f2=f2+f1;
line([0 0], [-4 4],'Color', 'k') end
a=line([0 pi], [1 1],'Color', 'b','LineWidth',2); yy=spline(x,f2,xx);
p=plot(x,f2,xx,yy,'r','LineWidth',2);
line([0 -pi], [-1 -1],'Color', 'b','LineWidth',2)
title(['At N=',int2str(m)])
for i=-3:-1 ylabel('f(x)')
text(i,-0.25,int2str(i)) set(gca,'XTick',-pi:pi/2:pi)
text(0.2,i,int2str(i)) set(gca,'XTickLabel',{'-pi','-pi/2','0','pi/2','pi'})
end if m<j
for i=1:3 xlabel({'-pi<x<pi';'Press any key for the next output'})
end
text(i+0.05,-0.25,int2str(i))
if m==j
text(-0.2,i,int2str(i)) xlabel({'-pi<x<pi';'Final o/p'})
end end
pause(1/10);
end

http://www.jhu.edu/~signals/fourier2/index.html
http://www.sosmath.com/fourier/fourier1/fourier1.html
http://mathworld.wolfram.com/FourierSeries.html
http://www.fourier-series.com/fourierseries2/flash_programs/sin_cos/index.html
http://www.falstad.com/fourier/
http://tutorial.math.lamar.edu/Classes/DE/FourierSeries.aspx
http://www.facstaff.bucknell.edu/mastascu/elessonshtml/Freq/Freq4.html
http://www.fourier-series.com/fourierseries2/fourier_series_tutorial.html
http://www.falstad.com/mathphysics.html
http://www.fourier-series.com/rf-concepts/flash_programs/decibel/decibels.html

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ME 553 :

Dr. A. Aziz Bazoune

Dr. A. Aziz Bazoune

A. Aziz Bazoune ME 553 Advanced Vibrations 1 LEC 04 Slide 1

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 2

Recognize a periodic motion

Obtain a periodic motion by a Fourier Series representation

Calculate Fourier Series coefficients

Know the Gibbs Phenomenon

Distinguish between Even and Odd function

Use Eulers Formula for complex numbers

Use complex notation for Fourier Series

Obtain complex representation of Fourier Series coefficients

Obtain harmonic response of systems having a sdof

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 3

Time to Frequency Domain

Half Range Expansion

Time and frequency Domain Representation

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 4

Trigonometric series representation

Conditions for application:

4. Function is absolutely integrable over any period | |

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 5

If is a periodic function with period , its Fourier Series representation is given by

where 2 is the fundamental frequency and , , , , , ,, are constant

Series coefficients are evaluated as:

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 6

Evaluation is simplified by the Orthogonality conditions of Sine & Cosine

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 7

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 8

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 9

If we graph many terms, we see that

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 10

As increases, the approximation can

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 11

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 12

Solution The expression of the triangular wave,

Straightforward integration of Eqs (1) to (3) gives

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 13

Therefore, the Fourier series representation of F(t) becomes

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 14

e i wt = cos wt + i sin wt (5)

e -i wt = cos wt - i sin wt (6)

Thus Eq. (1) can be written as

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 15

By defining the complex Fourier coefficients Cn and C-n as

Eq. (9) can be expressed as

The Fourier coefficients Cn can be determined using Eqs. (1) to (3), as

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 16

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 17

Initial conditions are lost in frequency domain. Often

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 18

Harmonic functions cos or sin in

The Harmonic of order has a period of .

Harmonics plotted as vertical lines on a diagram of

Frequency Spectrum of a typical periodic function of time

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 19

An odd function is symmetric about the origin

x (t ) = -x (-t ) i.e., sin(wt ) = - sin(-wt )

Even function & its Fourier series expansion

An even function satisfies the relationship

x (t ) = x (-t ) i.e., cos(wt ) = cos(-wt )

A. Aziz Bazoune ME 553 Advanced Vibrations LEC 04 Slide 20