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Serv - Chula.ac - TH Pphongsa Teaching Vibration Ch3
Serv - Chula.ac - TH Pphongsa Teaching Vibration Ch3
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
F0
=
k ⎡1 − (ω / ωn ) + i 2ζω / ωn ⎤
2
⎣ ⎦
3.1 Harmonic Excitation
Ch. 3: Forced Vibration of 1-DOF System
F0
z (t ) = e iωt
= H ( iω ) F e iωt
k ⎡⎣1 − r 2 + i 2ζ r ⎤⎦
0
⎡ F0 ⎤
∴ x ( t ) = Re ⎢ e ⎥ , r = ω / ωn
iωt
⎢⎣ k ⎡⎣1 − r + i 2ζ r ⎤⎦ ⎥⎦
2
1
If H ( iω ) = = H ( iω ) e iθ
is the frequency response
k ⎡⎣1 − r + i 2ζ r ⎤⎦
2
∴ x ( t ) = F0 H ( iω ) cos (ωt + θ )
1
where H ( iω ) = = magnitude
k (1 − r ) + ( 2ζ r )
2 2 2
−2ζ r
θ = tan −1 = phase
1− r 2
k ⎣⎡1 − r 2 + i 2ζ r ⎤⎦ 1000 × (1 − 22 )
x ( t ) = A1 sin ωnt + A2 cos ωnt − 23 × 0.333 ×10−3 cos ωt
x ( t ) = ωn A1 cos ωnt − ωn A2 sin ωnt + ω × 23 × 0.333 × 10−3 sin ωt
i.c. x ( 0 ) = 0 = A2 − 23 × 0.333 ×10−3 , A2 = 7.667 ×10−3
x ( 0 ) = 0.2 = 10 × A1 , A1 = 0.02
∴ x ( t ) = 0.02sin10t + 7.667 ×10−3 ( cos10t − cos 20t ) m
F0ωnt/(2k)
⎛ −2ζ r ⎞
θ = tan −1 ⎜ 2 ⎟
⎝ 1 − r ⎠
= ⎢ ml + M +M⎜ ⎟ ⎥θ
⎢⎣ 12 ⎝ 2 ⎠ ⎥⎦
0.1×10 cos10t = 0.5θ + 0.0049cθ + 59.05θ
0.0049c
ωn = 15.37, ζ = 0.2 = , c = 627.3 Ns/m
2 × 0.5 × ωn
ω = 10, r = 0.6506
1
H ( iω ) = = 0.02677 − 24.268°
59.05 ( 0.5767 + i 0.26 )
θ ss = 0.02677 cos (10t − 0.424 )
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
measured acc. ωn z
2
10 1
= = =
actual acc. y 9.81
(1 − r 2 ) + ( 2ζ r )
2 2
(1 − r ) + ( 2ζ r )
2 2 2
= 0.962
ωd k c
ωn = = 758 rad/s = , ζ = 0.56 =
1− ζ 2 m 2mωn
k = 5745.6 N/m, c = 8.49 Ns/m
3.3 Applications
Ch. 3: Forced Vibration of 1-DOF System
3.4 Periodic Excitation
1⎡ ⎤ 2π
T T /2 T
1
Cn = ∫ f ( t ) e − inω0t
dt = ⎢ ∫ Ae − inω0t
dt + ∫ − Ae − inω0t dt ⎥ , ω0 =
T 0 T⎣0 T /2 ⎦ T
⎧ 0, n = even
iA ⎡ ⎪
Cn = 1 − ( −1) ⎤ = ⎨ i 2 A
n
nπ ⎣ ⎦
⎪⎩− nπ , n = odd
⎛ π⎞
i 2 A inω0t 2 A i⎜⎝ nω0t − 2 ⎟⎠ 4 A ∞ 1
∴ f ( t ) = ∑ n =odd − ×e = ∑ n =odd ×e = ∑ sin nω0t
nπ nπ π n =1,3,… n
1 ω nω0 n
Gn ( iω ) = , ζ = 0.1, r = = =
1 − r 2 + i 2ζ r ωn ω n 4
1
Gn ( iω ) =
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 ( nω0t + Gn )
π n =1,3,… n n
a
T
⎡ − in 2π t ⎤ ⎡ T
2π
⎤
⎢ − in t ⎥
B⎢e T ⎥ A⎢ e T ⎛ 2π ⎞⎥ iA
Cn = ⎢ ⎥ + 2 ⎜
−in t − 1 ⎟⎥ = , n≠0
T ⎢ −in 2π ⎥ T 2 ⎢ ⎛ 2π ⎞ ⎝ T ⎠ 2π n
⎣ T ⎦0 ⎢ ⎜ −in ⎟ ⎥
⎣⎝ T ⎠ ⎦0
A
C0 = B +
2
3.4 Periodic Excitation
Ch. 3: Forced Vibration of 1-DOF System
A ⎡ ∞ iA ⎤
∴ y ( t ) = B + + 2 Re ⎢ ∑ ( cos nω0t + i sin nω0t )⎥
2 ⎣ n =1 2π n ⎦
A A ∞ 1
y ( t ) = B + − ∑ sin nω0t
2 π n =1 n
1
Frequency response H n ( iω ) =
( k1 + k2 ) ⎡⎣1 − r 2 + i 2ζ r ⎤⎦
1
H n ( iω ) =
⎡ ⎛ nω ⎞ 2 ⎛ nω0 ⎞ ⎤
( k1 + k2 ) ⎢1 − ⎜ ⎟ + i 2ζ ⎜ ⎟ ⎥
0
⎢⎣ ⎝ ωn ⎠ ⎝ ωn ⎠ ⎥⎦
⎛ nω ⎞
−2ζ ⎜ 0 ⎟
Hn =
1
, H n = tan −1 ⎝ ωn ⎠
2
2
⎛ ⎛ nω ⎞ ⎞ ⎛ ⎛ nω ⎞ ⎞
2 2 ⎛ nω0 ⎞
1− ⎜ ⎟
( k1 + k2 ) ⎜⎜1 − ⎜ 0 ⎟ ⎟⎟ + ⎜ 2ζ ⎜ 0 ⎟ ⎟ ⎝ ωn ⎠
ω ω
⎝ ⎝ n ⎠ ⎠ ⎝ ⎝ n ⎠⎠
k2 ⎛ A ⎞ k2 A ∞ 1
xss ( t ) = ⎜B+ ⎟−
k1 + k2 ⎝
∑ H n sin ( nω0t + H n )
2 ⎠ π n =1 n
∫ δ ( 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 δ-t is 1, the value of δ ( t − a ) is very
large in the vicinity of t=a.
The impulse of magnitudeF̂ , which may represent a
large force acting over a short period, can be written as
F ( t ) = Fˆ δ ( t − a )
∫ f ( t ) δ ( t − a ) dt = f ( a ) ∫ δ ( 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.
∫ ( mh + ch + kh ) dt = ∫ δ ( t ) dt = 1
0 0
ε →0 ε →0 0
0
ε
lim ∫ ch ( t ) dt = lim ch ( t ) 0 = ch ( 0+ ) = 0, assuming h ( t ) is continuous
ε
ε →0 ε →0
0
ε
ε
lim ∫ kh ( t ) dt = lim gh ( 0 ) t 0 = 0, assuming h ( t ) is continuous
ε →0 ε →0
0
∴ mh ( 0+ ) = 1
f (t ) x (t )
LTI system
f (t − a ) x (t − a )
LTI system
⎧⎪⎛ Fˆ ⎞ ⎫⎪
⎟ sin ωd ( t − a ) + A2 cos ωd ( t − a ) ⎬ , t ≥ a
−ζωn ( t − a )
=e ⎨⎜ A1 +
⎩⎪⎝ mωd ⎠ ⎭⎪
⎧⎪⎛ Fˆ ⎞ ⎫⎪
x ( t ) = −ζωn e −ζωn ( t − a )
⎨⎜ A1 + ⎟ sin ωd ( t − a ) + A2 cos ωd ( t − a ) ⎬
⎪⎩⎝ mωd ⎠ ⎪⎭
⎧⎪ ⎛ Fˆ ⎞ ⎫⎪
⎟ cos ωd ( t − a ) − ωd A2 sin ωd ( t − a ) ⎬
−ζωn ( t − a )
+e ⎨ωd ⎜ A1 +
⎪⎩ ⎝ mω d ⎠ ⎪⎭
1 ⎛ Fˆ ⎞
∴ A2 = x0 and A1 = ⎜ ζω x + v − ⎟
ωd ⎝ n 0 0 m ⎠
−ζωn ( t − a ) ⎧ 1 ⎫
∴ x (t ) = e ⎨ (ζωn x0 + v0 ) sin ωd ( t − a ) + x0 cos ωd ( t − a ) ⎬ , t ≥ a
⎩ ωd ⎭
Interpretation
for the whole
range of time; t
u(t)
1
0 t
Let t − τ = λ. Hence dτ = − d λ
t t
1 −ζωn λ
∴ x (t ) = ∫ h ( λ ) d λ = ∫ e sin ωd λd λ
0 0
mωd
eiωd λ − e − iωd λ e ax
Substitute sin ωd λ = and use ∫ e dx =
ax
+c
2i a
1⎡ ⎛ ζω ⎞⎤
∴ x ( t ) = ⎢1 − e −ζωnt ⎜ cos ωd t + n sin ωd t ⎟ ⎥ , t > 0
k⎣ ⎝ ωd ⎠⎦
3.5 Non-periodic Excitation
Ch. 3: Forced Vibration of 1-DOF System
Ex. Find the undamped response for the sinusoidal
pulse force shown using zero i.c.
⎛ 2π ⎞ ⎛π ⎞
F (τ ) = F0 sin ⎜ τ ⎟ = F0 sin ⎜ τ ⎟
⎝ 0 ⎠
2T ⎝ T0 ⎠
1
h (τ ) = sin ωnτ
mωn
h ( t − τ ) is the system impulse response shifted by t
and mirrored about the vertical axis.
If t < 0, F (τ ) h ( t − τ ) = 0 because of no overlap
∴ x ( t ) = 0, t < 0
k (1 − r 2 ) ωn
n 0 n
T0
t T0 t
If t > T0 , x ( t ) = ∫ F (τ ) h ( t − τ ) dτ = ∫ F (τ ) h ( t − τ ) dτ = ∫ F ( t − τ ) h (τ ) dτ
0 0 t −T0
∴ x (t ) =
F0
k (1 − r )
2 { }
[sin ωt − r sin ωnt ] − ⎡⎣sin ω ( t − T0 ) − r sin ωn ( t − T0 )⎤⎦ , t > T0
superposition of the out-of-phase shifted sine trains