Indian Institute of Technology, Kharagpur

Ocean Engineering and Naval Architecture

VIBRATION OF FLOATING STRUCTURES

by
Dr. N. Datta
Teaching Assistants
Mr. R.K. Praharaj, Mr. A. Pal

Lecture # 4
Forced Vibration of 1DOF system
1 DOF spring-mass-dashpot system model

𝐹 𝑡 = 𝐹0 𝑒 𝑖𝜔𝑒𝑡

Lumped mass has only one degree of freedom. Displacement 𝑥(𝑡)

Linear Spring : Spring force is linearly proportional to the displacement.
Spring Force 𝐹𝑠𝑝𝑟𝑖𝑛𝑔 = 𝑘𝑥. Spring force opposes the motion.
Linear Damper : Damping force is linearly proportional to the velocity
Damping force 𝐹𝑑𝑎𝑚𝑝𝑖𝑛𝑔 = 𝑐𝑥. Damping force also opposes the motion.

Harmonic excitation force 𝐹 𝑡 = 𝐹0 𝑒 𝑖𝜔𝑒𝑡 . External force supports the motion.

2
 Single DOF forced vibration GDE
Newton’s 2nd law
Inertia force (mass × acceleration) = External force
𝑚𝑥 𝑡 = −𝑐 𝑥 𝑡 − 𝑘𝑥 𝑡 + 𝐹(𝑡) … … … 𝑁
Governing Differential Equation (GDE)
𝑚𝑥 𝑡 + 𝑐 𝑥 𝑡 + 𝑘𝑥 𝑡 = 𝐹 𝑡 = 𝐹0 𝑒 𝑖𝜔𝑒 𝑡 … … … 𝑁
Second-order, linear, non-homogenous, constant coefficient, ordinary differential
equation (ODE).
Independent variable : time 𝑡 (𝑠)
Dependent variable / Unknown : Displacement 𝑥(𝑡)
𝑁 𝑁𝑠
Parameters : Mass 𝑚 (𝑘𝑔) , spring constant 𝑘 , Damping constant 𝑐 ,
𝑚 𝑚
Harmonic excitation force amplitude 𝐹0 (N), Harmonic forcing excitation
frequency 𝜔𝑒 (rad/s).
Solved by : Method of Characteristic Equation.
Solution : Complementary Function (C.F.) and Particular Integral (P.I.).
𝑥 𝑡 = 𝑥𝐶𝐹 𝑡 + 𝑥𝑃𝐼 𝑡
3
Complementary Function (CF) : Transient
CF is the solution to the homogenous equation.
𝒎𝒙 𝒕 + 𝒄𝒙(𝒕) + 𝒌𝒙 𝒕 = 𝟎 … … … 𝑁
Assume 𝑥𝐶𝐹 𝑡 = 𝑥0 𝑒 𝜆𝑡 . Substituting in GDE, 𝑥0 𝑒 𝜆𝑡 [𝑚𝜆2 + 𝑐𝜆 + 𝑘] = 0
−𝑐± 𝑐 2 −4𝑘𝑚
For a non-trivial solution, 𝑚𝜆2 + 𝑐𝜆 + 𝑘 = 0 ⇒ 𝜆1,2 =
2𝑚

General Solution :
𝑐 𝑐2 −4𝑘𝑚 𝑐2 −4𝑘𝑚
− 𝑡 + 𝑡 − 𝑡
𝑥𝐶𝐹 𝑡 = 𝐴𝑒 𝜆1𝑡 + 𝐵𝑒 𝜆2𝑡 = 𝑒 2𝑚 𝐴𝑒 2𝑚 + 𝐵𝑒 2𝑚

= 𝑒 −𝜁𝜔𝑑 𝑡 [𝐶1 cos 𝜔𝑑 𝑡 + 𝐶2 sin(𝜔𝑑 𝑡)]

Decaying component
A, B are arbitrary constant that depend on the initial conditions : initial displacement
𝑥(0) and initial velocity 𝑥 0 .
Particular Integral (PI) : Steady-State
PI is the solution to the non-homogenous equation.
𝒎𝒙 𝒕 + 𝒄𝒙(𝒕) + 𝒌𝒙 𝒕 = 𝐹0 𝑒 𝑖𝜔𝑒𝑡 … … … 𝑁
Assume 𝑥𝑃𝐼 𝑡 = 𝑥𝐴 𝑒 𝜔𝑒𝑡 .
Substituting in GDE,𝑥𝐴 𝑒 𝜔𝑒𝑡 [−𝑚𝜔𝑒2 + 𝑖𝑐𝜔𝑒 + 𝑘] = 𝐹0 𝑒 𝑖𝜔𝑒 𝑡
𝐹0 𝐹0 𝑘 − 𝑚𝜔𝑒2 − 𝑖𝑐𝜔𝑒
𝑥𝐴 = = ×
−𝑚𝜔𝑒2 + 𝑖𝑐𝜔𝑒 + 𝑘 𝑘 − 𝑚𝜔𝑒2 + 𝑖𝑐𝜔𝑒 𝑘 − 𝑚𝜔𝑒2 − 𝑖𝑐𝜔𝑒
𝐹0 𝑘 − 𝑚𝜔𝑒2 2 + 𝑐𝜔𝑒 2 𝑒 𝑖𝛼 𝐹0 𝑒 𝑖𝛼
= =
𝑘 − 𝑚𝜔𝑒2 2 + 𝑐𝜔𝑒 2 𝑘 − 𝑚𝜔𝑒2 2 + 𝑐𝜔𝑒 2

−𝑐𝜔𝑒
where 𝛼 = tan−1 is the phase difference between the forcing and the response
𝑘−𝑚𝜔𝑒2
displacement.
The steady state displacement lags behind the forcing by a phase angle 𝛼 .
This phase lag is caused by the damping.
 Final Solution (CF + PI)
𝑐 𝑐2 −4𝑘𝑚 𝑐2 −4𝑘𝑚
− 𝑡 + 𝑡 − 𝑡 𝐹0 𝑒 𝑖(𝜔𝑒 𝑡+𝛼)
Final solution 𝑥 𝑡 = 𝑒 2𝑚 𝐴𝑒 2𝑚 + 𝐵𝑒 2𝑚 +
2
𝑘−𝑚𝜔𝑒2 + 𝑐𝜔𝑒 2

(𝐹0 /𝑘) 𝑒 𝑖(𝜔𝑒𝑡+𝛼)

= 𝑒 −𝜁𝜔𝑑 𝑡 𝐶1 cos 𝜔𝑑 𝑡 + 𝐶2 sin 𝜔𝑑 𝑡 +
1 − 𝑚𝜔𝑒2/𝑘 2 + 𝑐𝜔𝑒 /𝑘 2

(𝐹0 /𝑘) 𝑒 𝑖(𝜔𝑒𝑡+𝛼)

= 𝑒 −𝜁𝜔𝑑 𝑡 𝐶1 cos 𝜔𝑑 𝑡 + 𝐶2 sin 𝜔𝑑 𝑡 +
1 − Λ2 2 + 2𝜁Λ 2
𝐹0
Static Deflection 𝑥𝑠𝑡 =
𝑘
𝜔𝑒 −2𝜁Λ
Tuning factor Λ = Phase lag 𝛼 = tan−1
𝜔𝑛 1−Λ2

The CF oscillates at the damped natural frequency, while the PI oscillates at the
excitation frequency.
The CF decays with time, and the PI continues as the steady-state response.
Amplification factor =
𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒 𝑜𝑓 𝑠𝑡𝑒𝑎𝑑𝑦−𝑠𝑡𝑎𝑡𝑒 𝑑𝑦𝑛𝑎𝑚𝑖𝑐 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 𝑥𝐴 1
= =
𝑆𝑡𝑎𝑡𝑖𝑐 𝐷𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 𝑥𝑠𝑡 1−Λ2 2 + 2𝜁Λ 2
 Amplification factor vs. Tuning factor
If Λ > √2 , the
response is always
quasi-static,
irrespective of the
damping ratio.

1
If 𝜁> , the
2
response is always
quasi-static,
irrespective of the
Dynamic
tuning factor.
Quasi-Static
If 𝜁 > 0 , the
response is always
finite.

Λ<1 Λ=1 Λ>1

Stiffness-dominant Damping-dominant Inertia-dominant
Phase angle vs. Tuning factor
−2𝜁Λ
Phase lag 𝛼 = tan−1
1−Λ2

Pre-resonance zone (Λ < 1)

−𝑣𝑒
𝛼 = tan−1
+𝑣𝑒
Therefore, phase angle is in
the fourth quadrant of the
phasor diagram.

Post-resonance zone Λ > 1

−𝑣𝑒
𝛼 = tan−1
−𝑣𝑒
Therefore, phase angle is in
the third quadrant of the
phasor diagram.
Resonance : Sharpness of resonance
𝑥𝐴 1
For tuning factor Λ = 1, Amplification factor =
𝑥𝑠𝑡 2𝜁
−2𝜁.1 𝜋
Phase lag 𝛼 = tan−1 = tan−1(−∞) = −
1−12 2
Half-power points : two tunings factors (one pre-resonance and one post-resonance), at
1
which the energy is half of the resonant energy, i.e. the amplitude is times of the
2
resonant amplitude.
1 1 1
= ⟹ 1 − Λ2 2 + 2𝜁Λ 2 = 8𝜁 2
2 2𝜁 1 − Λ2 2 + 2𝜁Λ 2
⟹ Λ4 + 4𝜁 2 − 2 Λ2 + 1 − 8𝜁 2 = 0
2 − 4𝜁 2 ± 2 − 4𝜁 2 2 − 4 1 − 8𝜁 2
⇒ Λ2 =
2
1
=1− 2𝜁 2 ± 4 + 16𝜁 4 − 16𝜁 2 − 4 + 32𝜁 2
2
1
= 1 − 2𝜁 2 ± 16𝜁 4 + 16𝜁 2 = 1 − 2𝜁 2 ± 2𝜁 1 + 𝜁 2 ≈ 1 ± 2𝜁
2
Therefore, Λ1,2 ≈ 1 ± 2𝜁 are the two half-power points (half-power tuning factors)/.
End of Lecture #4
Thank you