Structural Dynamics

Single Degree of Freedom

(SDOF) System (5)
Harmonic Loading (Damped)
Lecture 6
M.E. in Earthquake Engineering
Khwopa Engineering College, Bhaktapur
2020
SDOF System: Harmonic Loading

Equation of motion:mvt   cvt   kvt   P t  (1)

Harmonic loading: P t   P0 sin  t (2)

Damped system: mvt   cv(t )  kvt   P0 sin t (3)

P t   P0 sin  t
Damped Harmonic Loading

mvt   cv t   kv t 
 Damped Harmonic Loading
mvt   cvt   kvt   P0 sin  t (3)

General solution:
v(t) = vc(t) + vp(t) (4)

Complementary solution:
vc(t) = e-ξωt (A cosDt + B sinDt) (5)

Particular solution:
v P t   C sin  t  D cos  t (6)
 Damped Harmonic Loading

Particular solution:
Sine as well as cosine term is
required because the response is not
in phase with the harmonic load.

v P t   C sin  t  D cos  t
 Damped Harmonic Loading

General solution:
v
(7)
v
 SDOF : Harmonic Response
(Damped)
 Apply a harmonic forcing function: p0 sin  t
 note that  is the DRIVING or INPUT frequency

 The equation of motion becomes

mv( t )  cv( t )  kv ( t )  p0 sin  t
 The solution consists of two terms:
 The initial response, due to initial conditions which decays rapidly
in the presence of damping
 The steady-state response as shown:

p0 sin( t   )
v(t )    sin  t   
k (1   2
) 2
 ( 2  /  ) 2
2

 SDOF : Harmonic Response
(Damped)
 This equation deserves inspection as it shows several
important dynamic characteristics:
Phase lead of the response relative to the
input (see next page)

p0 sin( t   )
v(t ) 
k (1   2 ) 2
 ( 2  /  ) 2
2

This is the static loading
and dominates as   tends At >>  both terms
to 0.0 drive the response to 0.0

At =  this term = (2 )^2 and

At 
 =  this term = 0.0
With no damping present this
results in an infinite response
controls the scaling of the response
From this is derived the Dynamic
Magnification Factor 1/2 
 SDOF : Harmonic Response
(Damped)

  is defined as the phase angle by which the response lags

behind the applied load:

2 / 
  tan 1

1  2

 2
 SDOF : Harmonic Response
(Damped)
 Summary:
For 
 1

Magnification factor 1 (static solution)
Phase angle 360º (response is in phase with the force)


For  1

Magnification factor 0 (no response)
Phase angle 180º (response has opposite sign of force)


For 1

Magnification factor 1/2
Phase angle 270º
SDOF : Harmonic Response
(Damped)
mv( t )  cv( t )  kv ( t )  p0 sin  t

k  v t  1
 ;  D 
1     2 
 v st 2 2 2
m

po  2 
v st    tan 1  2 
k  1   
 SDOF : Harmonic Response
(Damped)

D
1  2 
  tan 1  2 
1   
2 2
 2 
2
 1   
 Resonant Response
• In the derivation of the harmonic response for
undamped system, it was assumed that β ≠ 1
p0 1
v t   A cos t  B sin t  sin  t
k 1   
2

• If β = 1, the particular solution of the equation in the

form of C sinωt fails becase it is also a part of the
complementary solution
• When    , the particular solution of the equation
mvt   kvt   p0 sin  t

is of the form: v p  Ct cos t

 Resonant Response
p0
•Results into the value of C 
2k
p0
The particular solution is: v p t    t cos t
2k
The complete solution is:
p0
v t   A cos t  B sin t  t cos t
2k
If the initial condition is at rest, A = 0 and B = p0/2k,
and the complete solution is:

p0
v t    t cos t  sin t 
2k
 Resonant Response
• In the derivation of the harmonic response for
damped system, putting β = 1 in the equation:
v t   ( A cos  D t  B sin  D t )e t 
p0 1
   2
sin  t  2 cos  t ]
k 1     2 
[ 2 2
][ 1

will result into:

p0 1
 
v t  ( A cos  D t  B sin  D t )e t
 cos t
k 2
If the initial condition is at rest, : p0
A
2k
p0
B
2k 1   2
 Resonant Response
The complete solution then
is:
p0 t 
v t   [e (cos  D t  sin  D t )  cos t ]
2k 1 2