MEEM 3700 Mechanical Vibrations

Mohan D. Rao Chuck Van Karsen

Mechanical Engineering-Engineering Mechanics Michigan Technological University
Copyright 2003

MEEM 3700
Lecture 6-SDOF Damped Vibration

Single Degree of Freedom Damped Free Vibration

M X M

Given an initial condition, Determine the resulting motion

MEEM 3700
Lecture 6-SDOF Damped Vibration

Viscous Damping Element (Dashpot)

Damping Force is Linear and Proportional to Velocity.

Linear Non-linear
f x

& X
C is the viscous damping coefficient units: N-sec/m or lbf-sec/ft
MEEM 3700
Lecture 6-SDOF Damped Vibration

& X

& F = CX
3

Maintain Dynamic Equilibrium C K Free Body Diagram

& cx
X m

kx + k
X

At rest, X= 0 (static equilibrium) mg = k

mg

MEEM 3700
Lecture 6-SDOF Damped Vibration

Free Body Diagram

Maintain Dynamic Equilibrium Apply Newtons 2nd Law

& cx
m

kx + k
X

& x F = m& & x Fx+ = m&

mg

& = m& & mg ( kx + k) cx x

Equation of motion

& + cx & + kx = 0 m& x

MEEM 3700

Lecture 6-SDOF Damped Vibration

Equation of motion

& + cx & + kx = 0 m& x

2nd order Differential equation homogeneous linear Constant coefficients Form of solution:

x(t ) = X sin( t + ) or x(t ) = Ce st

MEEM 3700
Lecture 6-SDOF Damped Vibration

Equation of motion

& + cx & + kx = 0 m& x

st

Assume x(t) = Ce

& ( t ) = sCe x & &( t ) = s Ce x

2

st

st

ms 2Ce st + scCe st + kCe st = 0

(ms 2 + cs + k )Cest = 0
for a non - trivial solution ms 2 + cs + k = 0
MEEM 3700
Lecture 6-SDOF Damped Vibration

Equation of motion

& + cx & + kx = 0 m& x

ms 2 + cs + k = 0
s1, 2 c c 2 4 mk = 2m 2m

x ( t ) = C 1 e s1 t + C 2 e s 2 t if s1 a n d s 2 a re n o t e q u a l
C1 and C2 are determined from initial conditions
MEEM 3700
Lecture 6-SDOF Damped Vibration

s1, 2

c 2 4 mk c = 2m 2m
c 2 4 mk = 0

Consider a case when,

Solving for c : c = 2 km = Cc
Cc = critical damping

MEEM 3700
Lecture 6-SDOF Damped Vibration

Define : n = k = natural frequency m

c = damping ratio Cc

s1, 2 = n ( 2 1) n

MEEM 3700
Lecture 6-SDOF Damped Vibration

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Case 1: < 1 Under damped (Complex conjugate roots)

s1, 2 = n ( 2 1) n
s1, 2 = n j (1 2 ) n
Define :

d = (1 2 ) n = damped natural frequency

s1, 2 = n jd
MEEM 3700
Lecture 6-SDOF Damped Vibration

11

Case 1: < 1 Under damped (Complex conjugate roots)

x ( t ) = C1es t + C 2es t
1 2

x(t) = C1e( + j )t + C2e( j )t

n d n d

This simplifies to:

x(t ) = ent ( A cosd t + B sin d t )

where A & B are arbitrary constants to be found from initial conditions
MEEM 3700
Lecture 6-SDOF Damped Vibration

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Case 1: < 1 Under damped (Plot of x(t) vs. time)

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0

x ( t ) = e n t ( A co s d t + B sin d t )

0.5

1.5

2.5

3.5

MEEM 3700
Lecture 6-SDOF Damped Vibration

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Case 2: =1 Critically damped (Real equal roots)

s1,2 = n
s1 = n

s 2 = n

x(t ) = C1e s1t + C2te s2t or x(t ) = (C1 + C2t )e nt

C1 and C2 are constants to be found from initial conditions
MEEM 3700
Lecture 6-SDOF Damped Vibration

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Case 2: =1 Critically damped (Real equal roots)

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1

x(t ) = (C1 + C2t )e nt

<1

=1

0.5

1.5

2.5

3.5

MEEM 3700
Lecture 6-SDOF Damped Vibration

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Case 3: > 1 Over-damped (Real unequal roots)

s1, 2 = n ( 2 1) n
s1 = n + s 2 = n ( (
2

1) n 1) n

x(t ) = C1e s1t + C2 e s2t

MEEM 3700
Lecture 6-SDOF Damped Vibration

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Case 3: > 1 Over-damped (Real unequal roots)

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1

x(t ) = C1e s1t + C2 e s2t

>1 =1 <1

0.5

1.5

2.5

3.5

MEEM 3700
Lecture 6-SDOF Damped Vibration

17

Review

MEEM 3700
Lecture 6-SDOF Damped Vibration

18

Maintain Dynamic Equilibrium C K Free Body Diagram

& cx
X m

kx + k
X

At rest, X= 0 (static equilibrium)

mg

& + cx & + kx = 0 m& x

MEEM 3700
Lecture 6-SDOF Damped Vibration

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Case 1: < 1 Under-damped (Complex conjugate roots)

x(t ) = ent ( A cosd t + B sin d t )

Or alternatively, we can also write n t

x(t ) = e

( X sin ( t + ) )
d

where X = A2 + B 2 and = tan 1 A / B

Case 2: =1 Critically damped (Real equal roots)

x(t ) = (C1 + C2t )e nt

Case 3: > 1 Over-damped (Real unequal roots)

x(t ) = C1e s1t + C2 e s2t

MEEM 3700
Lecture 6-SDOF Damped Vibration

s1, 2 = n ( 2 1) n
20

10

Free Vibration Response: SDOF with Damping

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0

>1 =1

<1

0.5

1.5

2.5

3.5

MEEM 3700
Lecture 6-SDOF Damped Vibration

21

Damping ratio (for many structural

materials)

0.001 0.05

% critical damping

*100%

0.1% 5%

MEEM 3700
Lecture 6-SDOF Damped Vibration

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11

Case 1: < 1 Under damped (Complex conjugate roots)

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0

x(t) = ent (A cosd t + Bsin d t)

0.5 1 1.5 2 2.5 3 3.5 4

MEEM 3700
Lecture 6-SDOF Damped Vibration

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x(t) = ent (A cosd t + Bsin d t)

Determine A, and B from the given initial Conditions, x(0) and

&(0) x

x(0) = en 0 ( A cos (d 0) + B sin (d 0))

x(0) = A
MEEM 3700
Lecture 6-SDOF Damped Vibration

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12

& (t) = nent (x(0) cosd t + Bsin d t) x + ent (d x(0) sin d t + dBcosd t)
&(0) = nen 0 ( x(0)cos (d 0) + B sin (d 0)) x + ent (d x(0)sin (d 0) + d B cos (d 0))

& (0) = n x(0) + dB x

& (0) + n x(0) x B= d

MEEM 3700
Lecture 6-SDOF Damped Vibration

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x(t) = ent (x(0) cosd t +

displacement

& (0) + n x(0) x sin d t) d

time

MEEM 3700
Lecture 6-SDOF Damped Vibration

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13

x(t) = ent (x(0) cosd t +

1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 0

& (0) + n x(0) x sind t) d

d = 2/d

0.5

1.5

2.5

3.5

MEEM 3700
Lecture 6-SDOF Damped Vibration

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Alternate form of Equation of motion

& + cx & + kx = 0 m& x

n =
k = natural frequency m

c = damping ratio Cc

&& + cx & + kx = 0 mx && x+ c k &+ x=0 x m m

2 && & + n x + 2 n x x=0
MEEM 3700
Lecture 6-SDOF Damped Vibration

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