Introduction To Vibrations of Structures: Single Degree of Freedom Systems Mohammad Tawfik

Introduction to Vibrations of
Structures
Single Degree of Freedom Systems #WikiCourses

http://WikiCourses.WikiSpaces.com
Mohammad Tawfik
References
• M. Bismarck-Nasr, "Structural Dynamics in Aeronautical
Engineering," AIAA Educational Series, 1999
• D. Inman and E. Austin, “Engineering Vibration,” 2nd edition,
Prentice Hall, 2001
• A. A. Shabana, "Vibration of Discrete and Continuous Systems," 2nd
edition, Springer, 1997
• D. Thorby, “Structural Dynamics and Vibration in Practice” Elsevier,
2008
• A. G. Ambekar, “Mechanical Vibrations and Noise Engineering”
Prentice Hall – India, 2006
• Leonard Meirovitch, “Fundamentals of Vibrations,” 1st edition,
McGraw Hill, 2001

Mohammad Tawfik
Single degree of freedom
systems

Mohammad Tawfik
Objectives
• Recognize a SDOF system
• Be able to solve the free vibration equation
of a SDOF system with and without
damping
• Understand the effect of damping on the
system vibration
• Apply numerical tools to obtain the time
response of a SDOF system

Mohammad Tawfik
Single degree of freedom systems
• When one variable can describe the
motion of a structure or a system of
bodies, then we may call the system a 1-D
system or a single degree of freedom
(SDOF) system. e.g. x(t), q(t) Z(t), y(x).

Mohammad Tawfik
Stiffness
• From strength of materials recall:

Mohammad Tawfik
Newton’s Law
mx(t )  kx(t )
• Newton’s Law:
mx(t )  kx(t )  0
x(0)  x0 , x (0)  v0
Mohammad Tawfik
Solving the ODE
• The ODE is mx(t )  kx(t )  0
• The proposed t
solution: x(t )  ae
• Into the ODE you get
k t
t
the characteristic
equation:
 ae  ae  0
2
m
k k
• Giving:  
2
j
m m
Mohammad Tawfik
Solving the ODE (cont’d)
k k
• The proposed j t j t
solution becomes: x(t )  a1e m
 a2 e m
• For simplicity, let’s k

define: 
m
jt  j t
• Giving: x(t )  a1e  a2 e

Mohammad Tawfik
Let’s manipulate the solution!

Mohammad Tawfik
Recall
e  Cos a   jSin a 
ja
Sina  b  Sina Cosb  Cosa Sinb

Mohammad Tawfik
Manipulating the solution
jt  j t
• The solution we have: x(t )  a1e  a2 e
x(t )  a1 Cos t   jSint 
• Rewriting:
 a2 Cos t   jSint 

x(t )  a1  a2 Cost   j a1  a2 Sint 
x(t )  A1Cost   A2 Sint 

Mohammad Tawfik
Further manipulation
x(t )  A1Cost   A2 Sint 
A  A1  A2
2 2
Cos   & Sin  

A2 A1
A A
x(t )  ASin Cost   Cos Sint 
x(t )  ASint   
Mohammad Tawfik
Different forms of the solution
x(t )  ASin( t   )
x(t )  A1Sin t  A2Cos t
j t  j t
x(t )  a1e  a2 e

Mohammad Tawfik
NOTE!

Mohammad Tawfik
Natural Frequency of Oscillation
• In the previously obtained solution:
x(t )  ASint   
• The frequency of oscillation is 
• It depends only on the characteristics of the
oscillating system. That is why it is called the
natural frequency of oscillation
k
n 
m
Mohammad Tawfik
Frequency
n is in rad/s is called the natural frequency
n rad/s n cycles n
fn    Hz
2 rad/cycle 2 s 2
2
T s is the period
n
We often speak of frequency in Hertz or

RPM, but we need rad/s in the arguments
of the trigonometric functions.
Mohammad Tawfik
Recall: Initial Conditions

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Amplitude & Phase from the ICs
x0  A sin(n 0   )  A sin 
v0  n A cos(n 0   )  n A cos 
Solving yields
v02  n x0 
A x  2
,   tan  1

n
0
    v0 
Amplitude Phase

Mohammad Tawfik
Some useful quantities
A  peak value
T
1
x  lim  x(t )dt = average value
T  T
0
T
1 2
x  lim  x (t )dt = mean - square value
2
T  T
0
xrms  x = root mean square value

2

Mohammad Tawfik
Peak Values
Maximum or peak (amplitude) values:
displacement : xmax  A
velocity : x max  A
acceleration : xmax   A 2

Mohammad Tawfik
Mohammad Tawfik
Samples of Vibrating Systems
• Deflection of continuum (beams, plates,
bars, etc) such as airplane wings, truck
chassis, disc drives, circuit boards…
• Shaft rotation
• Rolling ships

Mohammad Tawfik
Wing Vibration

Mohammad Tawfik
Ship Vibration

Mohammad Tawfik
Effective Stiffness of
Structures

Mohammad Tawfik
Bars
• Longitudinal motion
• A is the cross sectional
l area (m2)
EA
k • E is the elastic modulus

(Pa=N/m2)
m
• l is the length (m)
x(t) • k is the stiffness (N/m)

Mohammad Tawfik
Rods
• Jp is the polar
moment of inertia of
the rod
GJ p • J is the mass
Jp
k moment of inertia of
 the disk
0
• G is the shear
J qt) modulus, l is the
length
Mohammad Tawfik
Helical Spring
d = diameter of wire
2R= diameter of turns
2R n = number of turns
x(t)= end deflection
x(t) G= shear modulus of
spring material
4
Gd
k 3
64nR
Mohammad Tawfik
Beams
• Strength of materials
and experiments
f
yield:
m
3EI
k 3

x 3EI
n 
m 3

Mohammad Tawfik
Equivalent Stiffness

Mohammad Tawfik
Summary
• Write down the equation of motion using
Newton’s law
• Solve the equation of motion for a SDOF
• Use initial conditions to determine the
amplitude and phase of vibration for a
SDOF
• Evaluate the effective stiffness of
structural members

Mohammad Tawfik
HW #1
1. The amplitude of vibration of an undamped
system is measured to be 1 mm. the phase
shift is measured to be 2 rad and the
frequency 5 rad/sec. Calculate the initial
conditions.
2. Using the equation:
x(t )  A1Cost   A2 Sint 
evaluate the constant A1 and A2 in terms of
the initial conditions

Mohammad Tawfik
HW #1 (cont’d)
3. An automobile is modeled as 1000 kg
mass supported by a stiffness k=400000
N/m. When it oscillates, the maximum
deflection is 10 cm. when loaded with the
passengers, the mass becomes 1300 kg.
calculate the change in the frequency,
velocity amplitude, and acceleration if the
maximum deflection remain 10 cm.

Mohammad Tawfik
Adding Damping

Mohammad Tawfik
Objectives
• Understand the damping as a force
resisting motion
• Adding viscous damping to the equation of
motion of a SDOF
• Understand the difference in the
responses of different systems depending
on the value of the damping

Mohammad Tawfik
Damping
• Damping is some form of friction!
• In solids, friction between molecules result
in damping
• In fluids, viscosity is the form of damping
that is most observed
• In this course, we will use the viscous
damping model; i.e. damping proportional
to velocity

Mohammad Tawfik
Viscous Damping
• A mathematical form
called a dashpot or
viscous damper
somewhat like a shock
absorber the constant c
f c  cx (t )
has units: Ns/m or kg/s

Mohammad Tawfik
Shock Absorbers

Mohammad Tawfik
Spring-mass-damper systems
• From Newton’s law:

mx(t )  cx (t )  kx(t )
mx(t )  cx (t )  kx(t )  0
x(0)  x0 , x (0)  v0
Mohammad Tawfik
Solution (dates to 1743 by Euler)
Divide the equation of motion by m
x(t )  2n x (t )   x(t )  0

2
n
Where the damping Ratio c

is given by: (dimensionless)  =
2 km

Mohammad Tawfik
t
Let x(t )  ae & subsitute into eq. of motion
2 t t t
a e  a 2n e   ae  0 2
n
which is now an algebraic equation in  :

1, 2  n  n   1 2
from the roots of a quadratic equation

Here the discriminant  2  1, determines
the nature of the roots 

Mohammad Tawfik
Three possibilities:
1)   1  roots are equal & repeated
called criticallydamped
 = 1  c  ccr  2 km  2mn
 n t  n t
x(t )  a1e  a2te
Using the initial conditions :
a1  x0 , a2  v0  n x0
Mohammad Tawfik
Critical damping cont’d
• No oscillation occurs
 n t
x(t )  [ x0  (v0  n x0 )t ]e

Mohammad Tawfik
2)   1, called over - damping - two distinct real roots :
1, 2  n  n  2  1
 n t  n t  2 1  n t  2 1
x(t )  e (a1e  a2 e )
 v0  (    1)n x0 2
where a1 
2n  2  1
v0  (   2  1)n x0
a2 
2n  2  1

Mohammad Tawfik
The over-damped response

Mohammad Tawfik
Most interesting Case!
3)   1, called underdampe d motion - most common

Two complex roots as conjugate pairs
write roots in complex form as :
1, 2  n  n j 1   2

Mohammad Tawfik
Under-damping
 n t j n t 1 2  j n t 1 2
x(t )  e (a1e  a2 e )
 Ae  nt sin( d t   )
d  n 1   2 , damped natural frequency
1
A (v0  n x0 ) 2  ( x0 d ) 2
d
 x0 d 
  tan 1

 v0  n x0 
Mohammad Tawfik
Under-damped-oscillation
• Gives an oscillating response with exponential decay
• Most natural systems vibrate with an under-damped
response

Mohammad Tawfik
Summary
• Modeling viscous damping
• Solving the equation of motion involving
viscous damping
• Recognizing the different types of
response based on the level of damping

Mohammad Tawfik
HW #1 (cont’d)
1. Use the given data to plot the response of the
SDOF system n  2rad / sec, x0  1mm, v0  0m / s
  0.01,0.1,0.2,0.4,0.6,0.8
2. Solve the equation x  x  x  0
x0  1, v0  0
And plot the response

Mohammad Tawfik
HW #1 (cont’d)
• Homework is due next week:
26/9/2010

Mohammad Tawfik

Introduction To Vibrations of Structures: Single Degree of Freedom Systems Mohammad Tawfik

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Introduction to Vibrations of

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

• For simplicity, let’s k

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Sina  b  Sina Cosb  Cosa Sinb

Single Degree of Freedom Systems #WikiCourses

 a2 Cos t   jSint 

x(t )  A1Cost   A2 Sint 

Single Degree of Freedom Systems #WikiCourses

Cos   & Sin  

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

We often speak of frequency in Hertz or

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

xrms  x = root mean square value

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

• From Newton’s law:

x(t )  2n x (t )   x(t )  0

Where the damping Ratio c

Single Degree of Freedom Systems #WikiCourses

which is now an algebraic equation in  :

from the roots of a quadratic equation

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

3)   1, called underdampe d motion - most common

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

Single Degree of Freedom Systems #WikiCourses

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