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Vibration and Noise 354

Prof A Bekker

Lecture 6: Harmonic excitation of damped systems1

Solution to the equation of motion
Consider the system that is acted on by a harmonic external force, F (t):

x(t)

c
fc
F (t) F (t)
m
mg
k fk
N1 N2

The equation of motion is:

mẍ + cẋ + kx = F0 cos ωt (1)

The total solution, x(t), once again consists of two parts: a particular solution, xp (t),
and a homogeneous solution, xh (t). The particular solution is now assumed to be of the
form:

xp (t) = X cos(ωt − θ) (2)

Remember that this solution can also be written in the form:

xp (t) = As cos ωt + Bs sin ωt (3)

where:
1
Lecture notes adapted from: Inman, DJ; Engineering Vibration; Fourth Edition; pp 142-156; Van
Niekerk, JL; Vibration and Noise 354 class notes; 2016 and Muiyser, J; Vibration and Noise 354 class
notes; 2018

1
 Bs
and θ = tan−1
p
X= A2s + Bs2 (4)
As
Substituting this solution into the equation of motion:

(−ω 2 As + 2ζωn ωBs + ωn2 As − f0 ) cos ωt + (−ω 2 Bs − 2ζωn ωAs + ω 2 Bs ) sin ωt = 0 (5)

Two equations can be generated by noting that the above equation has to hold for
π
t= and t = 0. These equations can then be solved to determine As and Bs , which
2ω
can be used to obtain the particular solution:
 
f0 2ζωn ω 
ωt − tan−1 2

xp (t) = p cos   (6)
2 2 2
(ωn − ω ) + (2ζωn ω)2  ωn − ω 2 
| {z } | {z }
X θ

The total solution is then the sum of this particular solution and the homogeneous
solution:

x(t) = Ae−ζωn t sin(ωd t + φ) + X cos(ωt − θ) (7)

Note that for large values of t the homogeneous solution approaches zero while the
entire solution approaches the particular solution. As such, the homogeneous solution is
called the transient response while the particular solution is known as the steady-state
response.
When considering the initial conditions one may arrive at the following:

ωd (x0 − X cos θ)
φ = tan−1 (8)
v0 + (x0 − X cos θ)ζωn − ωX sin θ
x0 − X cos θ
A= (9)
sin φ

Steady-state response
Often it is of value to neglect the transient part of the response to focus on the steady-state
response. If the system has large damping the transient response dies out very quickly
and can be ignored.
It is of interest to consider the amplitude and phase of the steady-state response as a
function of the driving frequency:

Xωn2 1 2ζr
=p and θ = tan−1 (10)
f0 (1 − r )2 + (2ζr)2
2 1 − r2
ω
where r = is known as the frequency ratio.
ωn

2
3
4
Alternative representation
Euler’s function relates the exponential function to harmonic motion:

Aejωt = A cos ωt + (A sin ωt)j (11)

As such, the harmonic forcing function may be replaced by the complex exponential
function:

mẍ + cẋ + kx = F0 ejωt (12)

The real part of this solution corresponds to the physical solution, x(t). The particular
solution is now:

xp (t) = Xejωt (13)

Substituting into the equation of motion:

(−ω 2 m + cjω + k)Xejωt = F0 ejωt (14)

This results in:

f0
X= (15)
(ωn2 − 2
ω )+ 2ζωn ω
Through manipulation of the complex number, X, and substitution into equation 13
it can be shown that:
( )
f0 j(ωt−θ)
xp (t) = < p e (16)
(ωn2 − ω 2 )2 + (2ζωn ω)2
where:

2ζωn ω
θ = tan−1 (17)
ωn2 − ω 2

5
 Matlab code for forced response

1 % System p a r a m e t e r s
2 m = 1; % Mass [ kg ]
3 k = 20; % S t i f f n e s s [N/m]
4 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 ]
5 z = 0.2; % Damping r a t i o
6 wd = wn ∗ s q r t ( 1 − z ˆ2 ) ; % Damped n a t u r a l f r e q u e n c y [ rad / s ]
7

8 % Harmonic e x c i t a t i o n
9 f0 = 8; % Amplitude o f e x c i t a t i o n [N/ kg ]
10 w = 10; % Frequency o f e x c i t a t i o n [ rad / s ]
11

12 % I n i t i a l conditions
13 x0 = 0 . 3 ; % I n i t i a l d i s p l a c e m e n t [m]
14 v0 = 0 ; % I n i t i a l v e l o c i t y [m/ s ]
15

16 t = 0:0.01:14;
17

18 % Solution
19 t h e t a = atan ( 2 ∗ z ∗ wn ∗ w / ( wnˆ2 − wˆ2 ) ) ;
20

21 X = f 0 / s q r t ( ( wnˆ2 − wˆ2 ) ˆ2 + ( 2 ∗ z ∗ wn ∗ w ) ˆ2 ) ;
22

23 phi = atan ( wd ∗ ( x0 − X ∗ c o s ( t h e t a ) ) / ( v0 + ( x0 − X ∗
c o s ( t h e t a ) ) ∗ z ∗ wn − w ∗ X ∗ s i n ( t h e t a ) ) ) ;
24

25 A = ( x0 − X ∗ c o s ( t h e t a ) ) / s i n ( p h i ) ;
26

27 x = A ∗ exp ( −z ∗ wn ∗ t ) . ∗ s i n ( wd ∗ t + p h i ) + X ∗ c o s (
w ∗ t − theta ) ;
28

29 % P l o t t i n g the curves
30 f i g u r e ( ’ DefaultAxesFontSize ’ , 12 , ’ Pos ition ’ , [ 1 0 0 , 1 0 0 , 8 0 0 , 5 0 0 ] )
; h o l d on ;
31

32 l 1 = p l o t ( t , x , ’ LineWidth ’ , 1 ) ; L1 = ’ Response ’ ;
33

34 grid () ;
35

36 x l a b e l ( ’ Time [ s ] ’ )
37 y l a b e l ( ’ D i s p l a c e m e n t [m] ’ )
38

39 p r i n t ( ’ f o r c e d d ’ , ’−dpng ’ )

Matlab code for steady state response

1 clear
2

6
 3 % System p a r a m e t e r s
4 z = transpose ( [ 0 . 1 , 0.25 , 0.5 , 0 . 7 ] ) ;
5 r = 0:0.01:2;
6

7 % Steady−s t a t e r e s p o n s e
8 X = 1 . / s q r t ( ( 1 − ones ( 4 , 1 ) ∗ r .ˆ2 ) .ˆ2 + ( 2 ∗ z ∗ r )
.ˆ2 ) ;
9

10 t h e t a = atan2 ( 2 ∗ z ∗ r , ( 1 − r . ˆ 2 ) ) ;
11

12 % P l o t t i n g the curves
13 f i g u r e ( ’ DefaultAxesFontSize ’ , 12 , ’ Pos ition ’ , [ 1 0 0 , 1 0 0 , 8 0 0 , 5 0 0 ] )
; h o l d on ;
14

15 l1 = plot (r , X( 1 ,:) , ’ LineWidth ’ , 1) ; L1 = ’\ zeta = 0.1 ’ ;

16 l2 = plot (r , X( 2 ,:) , ’ LineWidth ’ , 1) ; L2 = ’\ zeta = 0.25 ’ ;
17 l3 = plot (r , X( 3 ,:) , ’ LineWidth ’ , 1) ; L3 = ’\ zeta = 0.5 ’ ;
18 l4 = plot (r , X( 4 ,:) , ’ LineWidth ’ , 1) ; L4 = ’\ zeta = 0.7 ’ ;
19

20 l = l e g e n d ( [ l 1 ; l 2 ; l 3 ; l 4 ] , L1 , L2 , L3 , L4 ) ;
21 s e t ( l , ’ FontSize ’ , 11) ;
22

23 grid () ;
24

25 x l a b e l ( ’ Frequency r a t i o , r ’ )
26 y l a b e l ( ’ Normalised a m p l i t u d e ’ )
27

28 p r i n t ( ’ steady X ’ , ’−dpng ’ )
29

30 % P l o t t i n g the curves
31 f i g u r e ( ’ DefaultAxesFontSize ’ , 12 , ’ Pos ition ’ , [ 1 0 0 , 1 0 0 , 8 0 0 , 5 0 0 ] )
; h o l d on ;
32

33 l1 = plot (r , theta ( 1 ,:) , ’ LineWidth ’ , 1) ; L1 = ’\ zeta = 0.1 ’ ;

34 l2 = plot (r , theta ( 2 ,:) , ’ LineWidth ’ , 1) ; L2 = ’\ zeta = 0.25 ’ ;
35 l3 = plot (r , theta ( 3 ,:) , ’ LineWidth ’ , 1) ; L3 = ’\ zeta = 0.5 ’ ;
36 l4 = plot (r , theta ( 4 ,:) , ’ LineWidth ’ , 1) ; L4 = ’\ zeta = 0.7 ’ ;
37

38 l = l e g e n d ( [ l 1 ; l 2 ; l 3 ; l 4 ] , L1 , L2 , L3 , L4 ) ;
39 s e t ( l , ’ FontSize ’ , 11) ;
40

41 grid () ;
42

43 x l a b e l ( ’ Frequency r a t i o , r ’ )
44 y l a b e l ( ’ Phase ’ )
45

46 p r i n t ( ’ s t e a d y t h e t a ’ , ’−dpng ’ )