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V&N 354 LectureLesing2
V&N 354 LectureLesing2
x(t)
c
fc
m
mg
k fk
N1 N2
1
Lecture notes adapted from: Inman, DJ; Engineering Vibration; Fourth Edition; pp 33-43 & 70-75 and Van
Niekerk, JL; Vibration and Noise 354 class notes; 2016
1
The equation of motion of the system is:
mλ2 + cλ + k = 0 (5)
The two solutions to this quadratic equation are:
c 1 p
λ1,2 = − ± c 2 − 4km (6)
2m 2m
The value of the discriminant, c 2 − 4km will determine whether the roots are distinct real
numbers, a complex conjugate pair or equal real numbers. The critical damping coefficient is
defined by:
p
ccr = 2mωn = 2 km (7)
This leads to the definition of the damping ratio:
c c c
ζ= = = p (8)
ccr 2mωn 2 km
The roots are then:
p
λ1,2 = −ζωn ± ωn ζ2 − 1 (9)
Underdamped motion
If the damping ratio is less than 1 (0 < ζ < 1) the discriminant will be negative, resulting in
a complex conjugate pair of roots. If the discriminant is negative:
p p
ζ2 − 1 = 1 − ζ2 j (10)
And the roots are:
p
λ1,2 = −ζωn ± ωn 1 − ζ2 j (11)
As with the undamped case, the solution is then:
p 2 p 2
x(t) = e−ζωn t a1 e j 1−ζ ωn t + a2 e− j 1−ζ ωn t (12)
2
Using the Euler relations this can be written as:
s
(v0 + ζωn x 0 )2 + (x 0 ωd )2
A= (15)
ω2d
x 0 ωd
φ = tan−1 (16)
v0 + ζωn x 0
Overdamped motion
When the damping ratio is larger than 1 (ζ > 1) the discriminant is positive, resulting in
distinct real roots:
p
λ1,2 = −ζωn ± ωn ζ2 − 1 (17)
The solution is then:
p p
−ζωn t − ζ2 −1ωn t ζ2 −1ωn t
x(t) = e a1 e + a2 e (18)
When the damping ratio is equal to 1 (ζ = 1) the discriminant is equal to zero. The roots are
then equal and real:
3
4
Measuring the damping ratio
One can see that underdamped motion is contained within the decay envelope defined by
±Ae−ζωn t . One can use the displacement response of the system to determine the viscous
damping ratio.
The logarithmic decrement is given by:
x(t)
δ = ln (21)
x(t + T )
where x(t) and x(t + T ) are measurements taken at two adjacent peaks of the displace-
ment response. The damping ratio is then given by:
δ
ζ= p (22)
4π2 + δ2
The accuracy of the measurement may be increased by taking a measurement over a larger
number of peaks:
1 x(t)
δ= ln (23)
n x(t + nT )
5
Matlab code for free response
1 clear
2
3 % System p a r a m e t e r s
4 m = 1; % Mass [ kg ]
5 k = 10; % S t i f f n e s s [N/m]
6 ccr = 2 ∗ sqrt ( k ∗ m ) ; % C r i t i c a l damping c o e f f i c i e n t [Nm/ s ]
7 wn = s q r t ( k / m ) ; % N a t u r a l f r e q u e n c y [ rad / s ]
8
9 % I n i t i a l conditions
10 x0 = 1 ; % I n i t i a l d i s p l a c e m e n t [m]
11 v0 = 0 ; % I n i t i a l v e l o c i t y [m]
12
13 t = 0:0.01:10; % Time a r r a y [ s ]
14
15 % The undamped c a s e
16 A = s q r t ( wn^2 ∗ x0^2 + v0^2) / wn; % eqn 1 . 9
17 p h i = atan ( wn ∗ x0 / v0 ) ; % eqn 1 . 9
18
19 x1 = A ∗ s i n ( wn ∗ t + p h i ) ; % eqn 1 . 3
20
21 % The underdamped c a s e
22 z = 0.1; % Damping r a t i o
23 c = z ∗ ccr ; % Damping c o e f f i c i e n t [Nm/ s ]
24 wd = wn ∗ s q r t ( 1 − z^2 ) ; % Damped n a t u r a l f r e q u e n c y [ rad / s ]
25
31 % The overdamped c a s e
32 z = 2 ; % Damping r a t i o
33
34 a1 = ( −v0 + ( −z + s q r t ( z^2 − 1 ) ) ∗ wn ∗ x0 ) / ( 2 ∗ wn ∗ s q r t
( z^2 − 1 ) ) ; % eqn 1.42
35 a2 = ( v0 + ( z + s q r t ( z^2 − 1 ) ) ∗ wn ∗ x0 ) / ( 2 ∗ wn ∗ s q r t (
z^2 − 1 ) ) ; % eqn 1.43
36
39 % The c r i t i c a l l y damped c a s e
40 z = 1 ; % Damping r a t i o
41
42 a1 = x0 ; % eqn 1.46
6
43 a2 = v0 + wn ∗ x0 ; % eqn 1.46
44
47 % P l o t t i n g the curves
48 f i g u r e ( ’ D e f a u l t A x e s F o n t S i z e ’ , 12 , ’ P o s i t i o n ’ , [100 ,100 ,800 ,500]) ;
hold on ;
49
55 grid () ;
56
57 l = legend ( [ l 1 ; l 2 ; l 3 ; l 4 ] , L1 , L2 , L3 , L4 ) ;
58 s e t ( l , ’ F o n t S i z e ’ , 11) ;
59
60 x l a b e l ( ’ Time [ s ] ’ )
61 y l a b e l ( ’ D i s p l a c e m e n t [m] ’ )
62
63 p r i n t ( ’ damping ’ , ’−dpng ’ )
7
Example problem: Damped free response
Consider the damped SDOF system:
x(t)
Solution
mẍ + c ẋ + k x = 0 (24)
The damping ratio is:
c
ζ= p = 0.1118 (25)
2 km
The system is therefore underdamped. As such the solution is:
s
(v0 + ζωn x 0 )2 + (x 0 ωd )2
A= = 0.4720 m (29)
ω2d
x 0 ωd
φ = tan−1 = 0.2135 (30)
v0 + ζωn x 0
Find the first point where ẋ = 0:
8
ẋ(t) = −ζωn Ae−ζωn t sin(ωd t + φ) + ωd Ae−ζωn t cos(ωd t + φ) = 0 (31)
ωd
tan(ωd t + φ) = (32)
ζωn
ωd
tan−1 −φ
ζωn
t= = 0.2802 s (33)
ωd