Ch3 PDF

Ch.
3: Forced Vibration of 1-DOF System

3.0 Outline
Harmonic Excitation
Frequency Response Function
Applications
Periodic Excitation
Non-periodic Excitation
3.0 Outline
Ch. 3: Forced Vibration of 1-DOF System
3.1 Harmonic Excitation
Force input function of the harmonic excitation is the

harmonic function, i.e. functions of sines and cosines.
This type of excitation is common to many system
involving rotating and reciprocating motion. Moreover,
many other forces can be represented as an infinite
series of harmonic functions. By the principle of
superposition, the response is the sum of the individual
harmonic response.
It is more convenient to use the frequency domain

technique in solving the harmonic excitation problems.
This is because the response to different
excitation frequencies can be seen in one graph.
Let us focus on the particular solution of
mx + cx + kx = F0 cos t
normalize the equation of motion
x + 2n x + n2 x = f 0 cos t , f 0 = F0 / m
f ( t ) = f 0 Re eit
solve for z ( t ) from z + 2n z + n2 z = f 0 eit
and the solution is the real part of z ( t ) ; x ( t ) = Re z ( t )
Assume the solution to have the same form as the forcing function
z ( t ) = Z ( i ) eit ( same frequency as the input w/ different mag. and phase )
( 2
+ i 2n + n2 ) Z ( i ) eit = f 0 eit
f0 f 0 / n2
Z ( i ) = 2 =
n + i 2n 1 ( / n )2 + i 2 / n
2
F0
=
k 1 ( / n ) + i 2 / n
2

F0
z (t ) = e it
= H ( i ) F e it
k 1 r 2 + i 2 r
0
F0
x ( t ) = Re e , r = / n
it
k 1 r + i 2 r
2
1
If H ( i ) = = H ( i ) e i
is the frequency response
k 1 r + i 2 r
2
x ( t ) = F0 H ( i ) cos (t + )
1
where H ( i ) = = magnitude
k (1 r ) + ( 2 r )
2 2 2
2 r
= tan 1 = phase
1 r 2
The system modulates the harmonic input by

the magnitude H ( i ) and phase H ( i )

total response = homogeneous soln. + particular soln.
Recall the homogeneous solution of the underdamped system
xh = Ce nt cos (d t ) or xh = e nt ( A1 sin d t + A2 cos d t )
x ( t ) = Ce nt cos (d t ) + F0 H ( i ) cos (t + )
or x ( t ) = e nt ( A1 sin d t + A2 cos d t ) + F0 H ( i ) cos (t + )
The initial conditions will be used to determine C , or A1 , A2
They will be different from those of free response
because the transient term now is partly due to the excitation force
and partly due to the initial conditions

Ex. 1 Compute and plot the response of a spring-mass
system to a force of magnitude 23 N, driving
frequency of twice the natural frequency and i.c.
given by x0 = 0 m and v0 = 0.2 m/s. The mass
of the system is 10 kg and the spring stiffness
is 1000 N/m.

n = k / m = 1000 /10 = 10 rad/s
= c / ( 2mn ) = 0
= 2 10 = 20 rad/s
1 1
H ( i ) = = = 0.333 10 3
k 1 r 2 + i 2 r 1000 (1 22 )
x ( t ) = A1 sin nt + A2 cos nt 23 0.333 103 cos t
x ( t ) = n A1 cos nt n A2 sin nt + 23 0.333 103 sin t
i.c. x ( 0 ) = 0 = A2 23 0.333 103 , A2 = 7.667 103
x ( 0 ) = 0.2 = 10 A1 , A1 = 0.02
x ( t ) = 0.02sin10t + 7.667 103 ( cos10t cos 20t ) m


Ex. 2 Find the total response of a SDOF system with
m = 10 kg, c = 20 Ns/m, k = 4000 N/m, x0 = 0.01 m,
v0 = 0 m/s under an external force F(t) = 100cos10t.

n = k / m = 20 rad/s
= c / ( 2mn ) = 0.05
r = / n = 0.5
1 1
H ( i ) = = = 332.6 E 6 0.0666
k 1 r + i 2 r 4000 (1 0.5 + i 2 0.05 0.5 )
2 2
x p ( t ) = F0 H ( i ) cos (t + ) = 33.26 E 3cos (10t 0.0666 )
xh ( t ) = e nt ( A1 sin d t + A2 cos d t ) , d = n 1 2 = 19.975 rad/s

x ( t ) = e nt ( A1 sin d t + A2 cos d t ) + F0 H ( i ) cos (t + )
x ( t ) = n e nt ( A1 sin d t + A2 cos d t ) + e nt (d A1 cos d t d A2 sin d t )
F0 H ( i ) sin (t + )


response finally becomes , and in phase

response finally becomes , and out of phase

F0nt/(2k)
In case of = 0 and = n , the guess solution of the form

x ( t ) = X ( i ) eit = A cos t + B sin t is invalid. This is because
it has the same form as the homogeneous solution.
F t
The correct particular solution is x p ( t ) = 0 n sin nt.
2k
Beat when the driving frequency is close to natural freq.
The total solution can be arranged in the form
v0 f0
x (t ) = sin nt + x0 cos nt + ( cos t cos nt )
n n2 2
x02n2 + v02 x 2f n +
= sin n t + tan 1 0 n + 2 0 2 sin n t sin t
n v0 n 2 2
If the system is at rest in the beginning,
2 f0 n n +
x (t ) = sin t sin t
n
2 2
2 2
n +
The response oscillates with frequency inside
2
2f
the slowly oscillated envelope 2 0 2 sin n t
n 2
The beat frequency is n

Beat when the driving frequency is close to natural freq.

3.2 Frequency Response Function
The core of the particular solution to the harmonic function is
1
H ( i ) = ; frequency response function
k (1 r + i 2 r )
2
It specifies how the system responds to harmonic excitation.

As a standard, we normalize the frequency response function
1
G ( i ) = and then study how it varies as the
1 r + i 2 r
2
excitation frequency and system parameters ,n vary.

It is indeed more convenient since we already normalized the frequency;
r = / n . So we can now study its variation to and r.
For the fixed damping ratio, we plot G ( i ) with r varies.
G ( i ) has both magnitude and phase magnitude and phase plot.
Then we repeatedly evaluate G ( i ) by varying .

1
H ( i ) =
(1 r )
2 2
+ ( 2 r )
2
Frequency response plot

(Bode diagram)
2 r
= tan 1 2
1 r

Resonance is defined to be the vibration response at
=n, regardless whether the damping ratio is zero.
At this point, the phase shift of the response is /2.
The resonant frequency will give the peak amplitude for

the response only when =0. For0 < < 1/ 2 ,the peak
amplitude will be at = n 1 2 2 , slightly before n.
For 1/ 2 , there is no peak but the max. value of the
output is equal to the input for the dc signal (of course,
for this normalized transfer function).

Ex. 3 Consider the pivoted mechanism with k=4x103 N/m,
l1=0.05 m, l2=0.07 m, l=0.10 m, and m=40 kg.
The mass of the beam is 40kg which is pivoted
at point O and assumed to be rigid. Calculate c
so that the damping ratio of the system is 0.2.
Also determine the amplitude of vibration of the
steady-state response if a 10 N force is applied
to the mass at a frequency of 10 rad/s.

l l1
M O = I O Fl mgl Mg ( )
c l2 l2 k ( l1 ) l1
2
2 ( l + l1 ) l l1
2 2
= ml + M +M
12 2
0.110 cos10t = 0.5 + 0.0049c + 59.05
0.0049c
n = 15.37, = 0.2 = , c = 627.3 Ns/m
2 0.5 n
= 10, r = 0.6506
1
H ( i ) = = 0.02677 24.268
59.05 ( 0.5767 + i 0.26 )
ss = 0.02677 cos (10t 0.424 )

Ex. 4 A foot pedal for a musical instrument is modeled
as in the figure. With k=2000 kg/s2, c=25 kg/s,
m=25 kg, and F(t)=50cos2t N, compute the
steady-state response assuming the system starts
from rest. Use the small angle approximation.

( )
M O = I O F 0.15 k ( 0.05 ) 0.05 c 0.05 0.1 = m 0.152
5 100
3.75 + + = 50 cos 2 t , positive CW
6 3
Find the parameters
n = 2.98, = 0.0373, = 2 , r = 2.108
1
H ( i ) = = 0.0087 177.4
k (1 r 2 + i 2 r )
since 0, the transient response will die out
ss = F0 H ( i ) cos (t + ) = 0.435cos ( 2 t 3.096 )

3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
3.3 Applications
measured acc. n z
2
10 1
= = =
actual acc. y 9.81
(1 r 2 ) + ( 2 r )
2 2
(1 r ) + ( 2 r )
2 2 2
= 0.962
From the problem statement, = 628 rad/s, d = n 1 2 = 628 rad/s

r
= =1
d 1 2
d k c
n = = 758 rad/s = , = 0.56 =
1 2 m 2mn
k = 5745.6 N/m, c = 8.49 Ns/m
3.3 Applications
3.4 Periodic Excitation
A periodic function is any function that repeats itself in

time, called period T.
f (t ) = f (t + T )
It is more general than the harmonic function. Here, we

will find the response to the input that is a periodic
function. The idea is to decompose that periodic input
into the sum of many harmonics. The response, by the
superposition principle of linear system, is then the sum
of the responses of individual harmonic. The response
of a harmonic function was studied in section 3.1

Fourier found the way to decompose the periodic
function into sum of harmonic functions (sine & cosine)
whose frequencies are multiples of the fundamental
frequency. The fundamental frequency is the frequency
of the periodic function.

Fourier series
Fourier series in real form:
a0 2
f ( t ) = + ( an cos n0t + bn sin n0t ), 0 =
2 n =1 T
Fourier coefficients:
T
2
an = f ( t ) cos n0t dt , n = 0,1, 2,
T 0
T
2
bn = f ( t ) sin n0t dt , n = 1, 2,3,
T 0
Fourier series in complex form:

2
f (t ) =
n =
Cnein0t , 0 =
T
Fourier cofficients (complex):
T
1
Cn = f ( t ) e in0t dt , n = , 2, 1, 0,1, 2,
T 0

Some properties of Fourier series
1) If f ( t ) is an even function, bn = 0.
2 ) If f ( t ) is an odd function, an = 0.
a0
3) is the average value of f ( t ) over one period.
2

4 ) If f ( t ) is real, Ck = C k f ( t ) = C0 + 2 Re Cn ein0t
n =1

Frequency spectrum tells how much each harmonic
contributes to the periodic function f ( t ) .
In real form, the harmonic at n0 has the amplitude an2 + bn2
In complex form, the harmonic at n0 has the amplitude 2 Re ( Cn )
Plot of the amplitude of each harmonic vs. its frequency

is the (discrete) frequency spectrum.


Superposition principle of linear system

Response to harmonic excitation

mx + cx + kx = F ( t ) = Cn ein0t
From section 3.1, xss = Cn H ( in0 ) ein0t
1
where H ( in0 ) =
n 2 n0
k 1 0 + i 2
n n

mx + cx + kx = F ( t ) = C0 + 2 Re Cn ein0t
n =1
C0
by superposition, xss = + 2 Re Cn H ( in0 ) ein0t
k n =1

excitation frequency spectrum response frequency spectrum
system frequency response

Ex. Calculate the response of a damped system to
the periodic excitation f(t) depicted in the figure
by means of the exponential form of the Fourier
series. The system damping ratio is 0.1 and the
driving frequency is of the system natural freq.

Expand f ( t ) as sum of harmonic series

f (t ) = Ce
n =
n
in 0t
1 2
T T /2 T
1
Cn = f ( t ) e in0t
dt = Ae in0t
dt + Ae in0t dt , 0 =
T 0 T0 T /2 T
0, n = even
iA
Cn = 1 ( 1) = i 2 A
n
n
n , n = odd

i 2 A in0t 2 A i n0t 2 4 A 1
f ( t ) = n =odd e = n =odd e = sin n0t
n n n =1,3, n
1 n0 n
Gn ( i ) = , = 0.1, r = = =
1 r 2 + i 2 r n n 4
1
Gn ( i ) =
1 ( n / 4 ) + i 0.05n
2
1 0.05n
Gn = , Gn = tan 1
1 ( 0.25n )
2 2
1 ( 0.25n )2 + ( 0.05n )2

4A 1
xss ( t ) = G sin ( n0t + Gn )
n =1,3, n n


Ex. The cam and follower impart a displacement y(t)
in the form of a periodic sawtooth function to the
lower end of the system. Derive an expression
for the response x(t) by means of Fourier analysis.

FBD and assume y > x
Fx = max mx = k2 ( y x ) k1 x cx
k1 + k2 c
mx + cx + ( k1 + k2 ) x = k2 y, n = , =
m 2mn
Write y ( t ) in the Fourier series expansion

2 A
y (t ) = Ce
n =
n
in 0t
, 0 =
T
, y (t ) = B + t, 0 t T
T
T T T
1 1 1 A
Cn = y ( t ) e in0t dt = Be in0t dt + te in0t dt
T 0 T 0 T 0T
e ax e ax
Integration formula: e dx = + c and xe dx = a 2 ( ax 1) + c
ax ax
a
T
in 2 t T
2

in t
Be T A e T 2 iA
Cn = + 2
in t 1 = , n0
T in 2 T 2 2 T 2 n
T 0 in
T 0
A
C0 = B +
2
A iA
y ( t ) = B + + 2 Re ( cos n0t + i sin n0t )
2 n =1 2 n
A A 1
y ( t ) = B + sin n0t
2 n =1 n
1
Frequency response H n ( i ) =
( k1 + k2 ) 1 r 2 + i 2 r
1
H n ( i ) =
n 2 n0
( k1 + k2 ) 1 + i 2
0
n n
n
2 0
Hn =
1
, H n = tan 1 n
2
2
n n
2 2 n0
1
( k1 + k2 ) 1 0 + 2 0 n

n n
k2 A k2 A 1
xss ( t ) = B+
k1 + k2
H n sin ( n0t + H n )
2 n =1 n










3.5 Non-periodic Excitation
Harmonic and steady-state excitation and response are

conveniently described in the frequency domain. For
deterministic non-periodic excitation and response, time
domain technique is more suitable.
We cannot find the repeated pattern that lasts forever

(both in the past & future) for the non-periodic excitation.
System response to the unit impulse, called the impulse

response, will be first studied. Then, this fundamental
response will be used to synthesize the response of the
LTI system to arbitrary excitation.


Impulse
The unit impulse, or Dirac delta function, is defined as

( t a ) = 0 for t a

( t a ) dt = 1

This means that the unit impulse is zero everywhere
except in the neighborhood of t=a. Since the area
under the graph -t is 1, the value of ( t a ) is very
large in the vicinity of t=a.
The impulse of magnitudeF , which may represent a
large force acting over a short period, can be written as
F ( t ) = F ( t a )


The unit impulse has a useful property called the
sampling property. Multiplying a continuous function
f ( t ) by ( t a ) , and integrating w.r.t. time:

f ( t ) ( t a ) dt = f ( a ) ( t a ) dt = f ( a )

which is just the value of f(t) at t=a. This is a way in
evaluating integrals involving with impulse.

Impulse response
The impulse response, h(t), is the response to the unit

impulse, (t), applied at t=0 with zero initial conditions.
The impulse response is very important since it contains
all the system characteristics and can be used to find
the response to arbitrary excitation of LTI system via the
convolution integral theorem.
The impulse response of a 1 DOF MBK system must

satisfy
mh ( t ) + ch ( t ) + kh ( t ) = ( t )
subject to i.c.
h ( 0 ) = 0, h ( 0 ) = 0

Get rid of the impulse function by
integrating over the duration ( 0, ) of the impulse

( mh + ch + kh ) dt = ( t ) dt = 1
0 0
Take limit as 0 and apply the i.c.

to evaluate the integral on the left hand side:

lim mh ( t ) dt = lim mh ( t ) = mh ( 0+ ) 0, assuming h ( t ) is not continuous

0 0 0
0

lim ch ( t ) dt = lim ch ( t ) 0 = ch ( 0+ ) = 0, assuming h ( t ) is continuous

0 0
0

lim kh ( t ) dt = lim gh ( 0 ) t 0 = 0, assuming h ( t ) is continuous
0 0
0
mh ( 0+ ) = 1

Therefore, the effect of a unit impulse at t=0 is to
produce equivalent initial velocity (impulse-momentum)
h ( 0+ ) = 1/ m
Now, we are ready to find the impulse response. The
equivalent system is a homogeneous system with i.c.
h ( 0 ) = 0, h ( 0 ) = 1/ m
If the system is underdamped, the impulse response is

1 nt
e sin d t , t 0
h ( t ) = md
0, t < 0

Note that the above i.c. is not the actual i.c.

Impulse response of underdamped system

Linear Time Invariant (LTI) system has the characteristic
that the shape of the response will not be influenced by
the time the input is applied to the system. That is
f (t ) x (t )
LTI system
f (t a ) x (t a )
LTI system
Hence if the impulse is applied at t=to, the response is

1 n ( t t0 )
e sin d ( t t0 ) , t t0
h ( t ) = md
0, t < t0


Total response of underdamped MBK with i.c. x(a)=x0
and v(a)=v0 subject to the impulse force F ( t a )
x ( t ) = xh + x p
F n (t a )
=e n ( t a )
( A1 sin d ( t a ) + A2 cos d ( t a ) ) + m e sin d ( t a )
d
F
sin d ( t a ) + A2 cos d ( t a ) , t a
n ( t a )
=e A1 +
md
F
x ( t ) = n e n ( t a )
A1 + sin d ( t a ) + A2 cos d ( t a )
md
F
cos d ( t a ) d A2 sin d ( t a )
n ( t a )
+e d A1 +
m d

Total response of underdamped MBK with i.c. x(a)=x0
and v(a)=v0 subject to the impulse force F ( t a )
Apply i.c. x ( a ) = x0 and x ( a ) = v0 to solve for A1 and A2 :
x0 = A2
F
v0 = n A2 + d A1 +
m d
1 F
A2 = x0 and A1 = x + v
d n 0 0 m
n ( t a ) 1
x (t ) = e (n x0 + v0 ) sin d ( t a ) + x0 cos d ( t a ) , t a
d

Arbitrary Excitation
Ideally, arbitrary excitation can be expressed as linear

combinations of simpler excitations. The simpler
excitations are simple enough that the response
is readily available. This concept is exactly used by
Fourier.
Now, the idea is to regard the arbitrary excitation as a

superposition of impulses of varying magnitude and
applied at different times. It is used when the excitation
can be easily described in time domain.

Consider the excitation F(t). We can imagine that it is
constructed from infinite impulses at different times.

Convolution integral theorm
Focus on the time interval < t < + , at which
the impulse of magnitude F ( ) is acting. This
shifted impulse can be written as F ( ) ( t ) .
The response of the LTI system to this particular
impulse is
x ( t , ) = F ( ) h ( t )
Since by sampling property F ( t ) = F ( ) ( t ),

and the system is linear, the response to F ( t ) is

x ( t ) = F ( ) h ( t )

t
In the limit as 0, x ( t ) = F ( ) h ( t ) d .
0

Convolution integral theorm
The response of the arbitrary excitation is the
superposition of shifted impulse responses.
Interpretation
for the whole
range of time; t

To obtain h ( t ) from h ( ) , we need to carry out
two operation; shifting and folding. This is another interpretation
for the specific time t. The figures show the steps in evaluating the convolution.
If we define a new variable = t , then = t

and d = d . With the change of the integration limits,
0 t
x ( t ) = F ( t ) h ( )( d ) = F ( t ) h ( ) d
t 0
That is the convolution is symmetric in F ( t ) and h ( t ) .

To decide which formula to use depends on the nature of F ( t ) and h ( t ) .
It is obvious that if the excitation F ( t ) or the impulse response h ( t )

is too complicated, we may be unable to evaluate the closed form
solution of the convolution integral. The excitation may not at all
be written as functions of time. In these cases, the integration must
be carried out numerically.
Interpretation for the specific time; t

Ex. Determine the response of the underdamped MBK
to the unit step input.
u(t)
1
0 t

t
x ( t ) = F ( ) h ( t ) d
0
F ( ) = u ( ) and h ( t ) is the system impulse response

shifted by t and mirrored about the vertical axis.
If t < 0, F ( ) h ( t ) = 0 because of no overlap
If t > 0, F ( ) h ( t ) = h ( t )
x ( t ) = 0, t < 0
t
x ( t ) = h ( t ) d , t > 0
0
Let t = . Hence d = d
t t
1 n
x (t ) = h ( ) d = e sin d d
0 0
md
eid e id e ax
Substitute sin d = and use e dx =
ax
+c
2i a
1
x ( t ) = 1 e nt cos d t + n sin d t , t > 0
k d
Ex. Find the undamped response for the sinusoidal
pulse force shown using zero i.c.

t
x ( t ) = F ( ) h ( t ) d
0
2
F ( ) = F0 sin = F0 sin
0
2T T0
1
h ( ) = sin n
mn
h ( t ) is the system impulse response shifted by t
and mirrored about the vertical axis.
If t < 0, F ( ) h ( t ) = 0 because of no overlap
x ( t ) = 0, t < 0

1
If 0 < t < T0 , F ( ) h ( t ) = F0 sin sin n ( t )
T0 mn
t
F0
t

x ( t ) = F ( ) h ( t ) d = sin sin n ( t ) d
0
mn 0 T0
1
using the relation sin sin = cos ( ) cos ( + ) and some arrangements
2
F0
x (t ) = ( sin t r sin t ) , 0 < t < T where = , r = , k = m 2
k (1 r 2 ) n
n 0 n
T0
t T0 t
If t > T0 , x ( t ) = F ( ) h ( t ) d = F ( ) h ( t ) d = F ( t ) h ( ) d
0 0 t T0
x (t ) =
F0
k (1 r )
2 { }
[sin t r sin nt ] sin ( t T0 ) r sin n ( t T0 ) , t > T0
superposition of the out-of-phase shifted sine trains

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Ch.

3: Forced Vibration of 1-DOF System

Force input function of the harmonic excitation is the

It is more convenient to use the frequency domain

The system modulates the harmonic input by

3.1 Harmonic Excitation

3.1 Harmonic Excitation

3.1 Harmonic Excitation

3.1 Harmonic Excitation

3.1 Harmonic Excitation

3.1 Harmonic Excitation

x p ( t ) = F0 H ( i ) cos (t + ) = 33.26 E 3cos (10t 0.0666 )

xh ( t ) = e nt ( A1 sin d t + A2 cos d t ) , d = n 1 2 = 19.975 rad/s

3.1 Harmonic Excitation

3.1 Harmonic Excitation

response finally becomes , and in phase

3.1 Harmonic Excitation

response finally becomes , and out of phase

3.1 Harmonic Excitation

In case of = 0 and = n , the guess solution of the form

3.1 Harmonic Excitation

3.1 Harmonic Excitation

It specifies how the system responds to harmonic excitation.

excitation frequency and system parameters ,n vary.

3.2 Frequency Response Function

Frequency response plot

3.2 Frequency Response Function

The resonant frequency will give the peak amplitude for

3.2 Frequency Response Function

3.2 Frequency Response Function

3.2 Frequency Response Function

3.2 Frequency Response Function

3.2 Frequency Response Function

From the problem statement, = 628 rad/s, d = n 1 2 = 628 rad/s

A periodic function is any function that repeats itself in

It is more general than the harmonic function. Here, we

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

Plot of the amplitude of each harmonic vs. its frequency

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

excitation frequency spectrum response frequency spectrum

system frequency response

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation

3.4 Periodic Excitation