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By Tom Irvine
Email: tomirvine@aol.com
February 12, 2005
x
&&
k c
where
m is the mass
c is the viscous damping coefficient
k is the stiffness
x is the absolute displacement of the mass
x
&&
m
kx c x&
∑F = mx
&& (A-1)
1
&& = − cx& − kx
mx (A-2)
&& + cx& + kx = 0
mx (A-3)
Divide through by m,
c k
&&x + x& + x = 0 (A-4)
m m
By convention,
(c / m) = 2ξω n
(k / m) = ω n 2
where
ωn is the natural frequency in (radians/sec),
ξ is the damping ratio.
By substitution,
2
x& (0) + {s + 2 ξ ω n }x(0)
X(s) = 2 (A-10)
s + 2 ξ ω n s + ω n 2
s2 + 2 ξ ω n s + ω n 2 = ( s + ξ ω n ) + ω n 2 − ( ξ ω n )
2 2
(A-11)
(
s2 + 2 ξ ω n s + ω n 2 = ( s + ξ ω n ) + ω n 2 1 − ξ 2
2
) (A-12)
ω d = ω n 1− ξ2 (A-13)
s2 + 2 ξ ω n s + ω n 2 = (s + ξ ω n ) + ω d 2
2
(A-14)
3
Oscillatory Motion
Now take the inverse Laplace transform using standard tables. Assume that ξ < 1. This
case is referred to as oscillatory motion.
(B-1)
An alternate form is
1
x (t ) = exp(− ξω n t ){ωd [x (0)]cos(ωd t ) + [x& (0) + (ξω n )x (0)]sin (ω d t )} , ξ <1
ωd
(B-2)
The velocity is
− ξω n
x& (t ) = exp(− ξω n t ){ω d [x (0)]cos(ωd t ) + [x& (0) + (ξω n )x (0)]sin (ω d t )}
ωd
+ exp(− ξω n t ){− ωd [x (0)]sin (ωd t ) + [x& (0) + (ξω n )x (0)]cos(ωd t )}, ξ < 1
(B-3)
− ξω n
x& (t ) = exp(− ξω n t )− ξω n [x (0)]cos(ωd t ) + [x& (0) + (ξω n )x (0)]sin (ωd t )
ωd
+ exp(− ξω n t ){− ωd [x (0)]sin (ωd t ) + [x& (0) + (ξω n )x (0)]cos(ωd t )}, ξ < 1
(B-4)
− ξω n
x& (t ) = exp(− ξω n t )x& (0) cos(ωd t ) + − ωd [x (0)] + [x& (0) + (ξω n )x (0)] sin (ω d t ) ,
ωd
ξ <1
(B-5)
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− ξ 2 ωn 2 − ξωn
x& ( t ) = exp(− ξωn t ) x& (0) cos(ωd t ) + − ωd + x ( 0) + x
& ( 0 ) sin (ω )
d ,
t
ωd ωd
ξ <1
(B-6)
1 − ξω n
x& ( t ) = exp(− ξω n t ) x& (0) cos(ωd t ) + 2 2 2
− ω d − ξ ω n x (0) + x& (0) sin (ωd t ) ,
ωd ωd
ξ <1
(B-7)
1
x& ( t ) = exp(− ξω n t )x& (0) cos(ω d t ) + [
ω d
− ω n ( ) n ]
2 1 − ξ 2 − ξ 2 ω 2 x (0) + − ξω n x& (0) sin (ω t )
ωd
d ,
ξ <1
(B-8)
x& ( t ) =
1
[ ] − ξ ωn
exp(− ξ ωn t )x& (0) cos(ωd t ) + − ωn 2 + ξ 2 ωn 2 − ξ 2 ωn 2 x (0) +
ωd ωd
x& (0) sin (ωd t ) ,
ξ <1
(B-9)
1
x& ( t ) = exp(− ξω n t )x& (0) cos(ωd t ) + [ ]
− ω n x (0) − ξω n x& (0) sin (ωd t ) ,
ωd
2
ξ <1
(B-10)
5
Critically Damped Motion
Recall,
ωd = ω n 1 − ξ 2 (C-1)
ξ =1 (C-2)
ωd = 0 (C-3)
This case is referred to as critically damped motion. Substitute equations (C-2) and (C-3)
into equation (A-16),
6
Non-oscillatory Motion
Now consider the special case where
ξ >1 (D-1)
− 2ξω n ± 2ω n ξ 2 − 1
s 1, 2 = (D-4)
2
s 1, 2 = ω n − ξ ± ξ 2− 1 (D-5)
Note that
s1 − s 2 = ω n − ξ + ξ 2 − 1 − ω n − ξ − ξ 2− 1 (D-6)
s1 − s 2 = ω n − ξ + ξ 2 − 1 + ω n ξ + ξ 2− 1 (D-7)
s1 − s 2 = 2ω n ξ 2 − 1 (D-8)
7
Equation (D-2) can be rewritten as
Equation (D-10) can be expanded in terms of partial fractions using the following
equation from Reference 1.
αs + β 1 β − αλ ασ − β (D-11)
= +
(s + λ )(s + σ) σ − λ s + λ s + σ
The expansion is performed in equation (D-12).
1 [x& (0) + 2ξω n x (0)] + x (0)s1 − x (0)s 2 − [x& (0) + 2ξω n x (0)]
= +
− s 2 + s1 s − s1 s − s2
(D-12)
1 [x& (0) + 2ξω n x (0)] + x (0)s1 − x (0)s 2 − [x& (0) + 2ξω n x (0)]
X( s ) = +
− s 2 + s1 s − s1 s − s2
(D-13)
8
Take the inverse Laplace transform.
1
x(t) = {A exp(s1t ) + B exp(s 2 t )}
− s 2 + s1
where
A = [x& (0) + 2ξωn x (0)] + x (0)s1
B = − x (0)s 2 − [x& (0) + 2ξωn x (0)]
(D-14)
1
x(t) = A exp ω n − ξ + ξ 2−1 t + B expω n − ξ − ξ 2− 1 t
2ω n ξ 2 − 1
where
A = [x& (0) + 2ξω n x (0) ] + x (0)ω n − ξ + ξ 2 − 1
B = − x (0)ω n − ξ− ξ 2 − 1 − [x& (0) + 2ξω n x (0)]
(D-15)
Simplify
1
x(t) = A exp − ξ + ξ 2− 1 ω n t + B exp − ξ − ξ 2− 1 ω n t
2ω n ξ 2 − 1
where
(D-16)
9
Simplify again,
1
x(t) = A exp − ξ + ξ 2− 1 ω n t + B exp − ξ − ξ 2− 1 ω n t
2ω n ξ 2 − 1
where
A = x& (0) + ω n x (0) ξ + ξ 2 − 1
B = − x& (0) + ω n x (0) −ξ + ξ 2 − 1
(D-17)
Control Theory
The transfer function denominator forms the characteristic equation, when it is set to
zero.
The roots of the characteristic equation are called poles and have a crucial importance.
The system is stable if the real part of each root is negative.
The roots of the transfer function numerator are called the zeros.
Again, the transfer function for the single-degree-of-freedom subjected to free vibration
is
x& ( 0) + {s + 2 ξ ω n }x( 0)
X( s) = 2 (E-1)
s + 2 ξ ω n s + ω n 2
An alternative form is
x& ( 0) + {s + 2 ξ ω }x( 0)
n
X( s) = (E-2)
(s + ξ ω n ) + ω d 2
2
10
The characteristic equation is thus
(s + ξωn )2 + ωd 2 = 0 (E-3)
s = − ξ ωn ± j ωd (E-4)
Or
s = − ξ ωn ± j ωn 1 − ξ 2 (E-5)
Let
x1 = x (F-2)
x 2 = x& 1 (F-3)
2
x& 2 + 2ξω n x 2 + ω n x1 = 0 (F-4)
x& 1 = x2 (F-5)
2
x& 2 = −2ξω n x 2 − ω n x1 (F-6)
11
The pair of equations can be expressed in matrix form as
x& 1 0 1 x1
x& = − ω 2 − 2ξω n x 2
(F-7)
2 n
0 − λ 1
det =0 (F-8)
− 2ξω n − λ
2
− ω n
−λ 1
det =0 (F-9)
− 2ξω n − λ
2
− ω n
λ2 + 2ξω n λ + ω n 2 = 0 (F-10)
λ = − ξ ω n ± j ωd (F-11)
References
2. T. Irvine, The State Space Method for Solving Shock and Vibration Problems,
Vibrationdata Publications, 2005.
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