Lecture 3 - SDOF Free Vibration

Dynamics of Structures
PART I
Single-Degree-of- Freedom Systems
Class# 3.1
Dr. Anis Shatnawi
Structural Dynamics 1
Single-Degree-of-Freedom
Free Vibration
(Review)
Free Vibration
(Review)
Free Vibration
(Review)
Free Vibration
Structural Dynamics Complementary + Particular 5

Free Vibration
Complementary Solution
Free Vibration
(Trivial Sol’n)
Free Vibration
Distinct or repeated !
1. Real Distinct Roots: ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ 𝑅 , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠 2
Free Vibration
Eqn #1
Eqn #2
Solve the two equations to obtain C1 and C2.

Free Vibration
Non-Oscillating decayed solution
Free Vibration
2. Complex Distinct Roots: ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ℂ , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠2
Free Vibration
( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ℂ , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠2
Oscillating decayed solution
Free Vibration
Single-Degree-of-Freedom Free Vibration
14
Free Vibration
Free Vibration
Free Vibration
Free Vibration
Free Vibration
19
Free Vibration - Undamped
c=0
F(t) = 0
Free Vibration- Undamped
c=0
F(t) = 0
Amplitude
Amplitude
Characteristic equation !
Distinct complex roots
Natural Frequency
26
Oscillating Harmonic Solution

28
Harmonic Response
Another Form:
Another Form:
Single-Degree-of-Freedom System
Summary on Free Vibration Response
Undamped Free Vibration
Or
Or
Free Vibration
Free Vibration Response
Other Form of Natural Frequency and Natural Period
Free Vibration
Note: Different stiffnesses in different directions

produces different natural periods and different
natural frequencies in these directions. 40
Free Vibration
Note: The higher the building, the

lower the stiffness, and thus the
higher the period.
Free Vibration
Note: Vibrations in different directions leads to

different periods in these directions.
Free Vibration
Note: Dams period or frequency depends on depth of

dam as well as depth of its water content.
Free Vibration-Damped
1) Define Free Vibrations:
Free vibrations introduces dynamics via initial displacement
or initial velocity without additional external load.
Excitation Structure Response
𝒎 𝒖+
¨ 𝒄 𝒖+𝒌𝒖=
˙ 𝒑(𝒕 )
2nd ODE has two solutions: Complementary, 𝒖𝒄
Particular, 𝒖

𝒑
Total Solution:
Free Vibration: 𝒑 ( 𝒕 ) =𝟎 , 𝒖 ( 𝟎 ) = 𝟎 , 𝒖
˙ (𝟎)=𝟎
𝒎 𝒖+
¨ 𝒄 𝒖+𝒌𝒖=𝟎
˙ Essentially Complementary,
Solution to ODE 44
Structural Dynamics
Free Vibration
2) Define System Properties:
𝒎 𝒖+
˙ Essentially Complementary, Solution to ODE
𝑐 𝑘
 Mass Normalize: 𝑢+
¨ 𝑢
˙ + 𝑢=0
𝑚 𝑚
𝒌
⟹ =𝝎𝒏𝟐
𝒎
𝒄
⟹ =𝟐𝜻 𝝎𝒏
𝒎
Cc = coefficient of critical damping.
𝒖+𝟐 𝜻 𝟐
¨ 𝝎 𝒏 𝒖+
˙ 𝝎𝒏 𝒖= 𝟎 45
Free Vibration
3) Solve Equation of Motion:
𝒖+𝟐 𝟐
𝒎 𝒖+
˙ ¨ 𝜻 𝝎 𝒏 𝒖+
˙ 𝝎𝒏 𝒖= 𝟎
Assume: 𝑢 ( 𝑡 ) = 𝐴 𝑒 𝑠𝑡 𝑢˙ ( 𝑡 ) = 𝐴𝑠 𝑒 𝑠𝑡 𝑢¨ ( 𝑡 ) = 𝐴 𝑠 2 𝑒 𝑠𝑡
2 𝑠𝑡 𝑠𝑡 2 𝑠𝑡
𝐴 𝑠 𝑒 + 2 𝜁 𝜔𝑛 𝐴𝑠 𝑒 +𝜔 𝑛 𝐴 𝑒 =0
2 2 𝑠𝑡
(𝑠 + 2 𝜁 𝜔𝑛 𝑠+𝜔 𝑛 ) 𝐴 𝑒 =0 but 𝐴 𝑒 𝑠𝑡 ≠ 0
𝟐 𝟐
𝒔 +𝟐 𝜻 𝝎𝒏 𝒔+𝝎 𝒏 = 𝟎 Characteristic Equation
𝒔=−𝜻 𝝎 𝒏 ± 𝝎𝒏 𝜻 𝟐 −𝟏
√ Quadratic Equation
2
3 Cases: 𝑠 1 ≠ 𝑠2 ∈ 𝑅 (𝜻 >1)
𝑠 1= 𝑠 2 ∈ 𝑅 (𝜻 =1)
2
𝑠
1 ≠ 𝑠 2 ∈ ℂ (𝜻 <1) 46
Free Vibration
𝒔=−𝜻 𝝎 𝒏 ± 𝝎𝒏 𝜻 𝟐 −𝟏
√
2
3 Cases: 𝑠
1 ≠ 𝑠2 ∈ 𝑅 (𝜻 >1)
𝑠 1=𝑠 2 ∈ 𝑅 (𝜻 =1)
2
𝑠 1 ≠ 𝑠2 ∈ ℂ (𝜻 <1)
𝑠 1𝑡 𝑠2𝑡
𝐼𝐹 : 𝑠1 ≠ 𝑠 2 ∈ 𝑅 ( 𝜻 2 >1 ) , 𝑇h𝑒𝑛 : 𝑢 ( 𝑡 ) = 𝐴1 𝑒 + 𝐴2 𝑒
𝐼𝐹 : 𝑠1 = 𝑠2 ∈ 𝑅 ( 𝜻 2>1 ) ,𝑇h𝑒𝑛 : 𝑢 ( 𝑡 ) = 𝐴1 𝑒 𝑠 𝑡 + 𝐴 2 𝑡 𝑒 𝑠

1 2 𝑡
Free Vibration
4) Specialize Solution:
i) Undamped: 𝒄= 𝟎 ,𝜻 =𝟎
ii) Damped: 𝒄 ≠ 𝟎 , 𝜻 ≠𝟎
Under Damped: 𝜻 <𝟏 Vast Majority of Civil Eng. Structures
Critical Damped: 𝜻 =𝟏
Over Damped: 𝜻 >𝟏
5) Undamped SDOF Solution: 𝒄= 𝟎 ,𝜻 =𝟎
𝒎 𝒖+
¨ 𝒌𝒖=𝟎 𝒔=−𝜻 𝝎 𝒏 ± 𝝎𝒏 𝜻 𝟐 −𝟏
√ Quadratic
Equation
𝟐 𝟐
𝒔 +𝝎 𝒏 =𝟎 Characteristic Equation
𝒔=± 𝝎𝒏 √ −𝟏=± 𝝎𝒏 𝒋 Distinct Complex Roots 48

Free Vibration
Distinct complex roots
Free Vibration
Free Vibration
Undamped
OR:
Free Vibration
Harmonic Response
Repeated in different form!!
(i.e., Equilibrium Method)
Undamped free vibration

Repeated
in
different
form!!
Repeated
in
different
form!!
Repeated
in
different
form!!
Will be visited later
Dynamics of Structures
PART I
Single-Degree-of- Freedom Systems
Class# 3.2 Damped System
Dr. Anis Shatnawi

Free Vibration – Damped System
Δ
𝑥˙
Damped free vibration

If distinct roots
Repeated in
different
form!!
Decay curve
91
Repeated in other form !
Repeated real roots








Summary:

Summary:

Example: Most of
structures!



Lecture 3 - SDOF Free Vibration

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Lecture 3 - SDOF Free Vibration

Uploaded by

Copyright:

Available Formats

Dynamics of Structures

Structural Dynamics Complementary + Particular 5

1. Real Distinct Roots: ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ 𝑅 , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠 2

Solve the two equations to obtain C1 and C2.

1. Real Distinct Roots: ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ 𝑅 , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠 2

Non-Oscillating decayed solution

2. Complex Distinct Roots: ( 𝑠 1 𝑎𝑛𝑑 𝑠 2) ∈ℂ , 𝑤𝑖𝑡h 𝑠 1 ≠ 𝑠2

Oscillating decayed solution

Distinct complex roots

Oscillating Harmonic Solution

Other Form of Natural Frequency and Natural Period

Note: Different stiffnesses in different directions

Note: The higher the building, the

Note: Vibrations in different directions leads to

Note: Dams period or frequency depends on depth of

Excitation Structure Response

𝐼𝐹 : 𝑠1 = 𝑠2 ∈ 𝑅 ( 𝜻 2>1 ) ,𝑇h𝑒𝑛 : 𝑢 ( 𝑡 ) = 𝐴1 𝑒 𝑠 𝑡 + 𝐴 2 𝑡 𝑒 𝑠

𝒔=± 𝝎𝒏 √ −𝟏=± 𝝎𝒏 𝒋 Distinct Complex Roots 48

Distinct complex roots

(i.e., Equilibrium Method)

Undamped free vibration

Undamped free vibration

Undamped free vibration

Repeated in different form!!

Repeated in different form!!

Will be visited later

Dr. Anis Shatnawi

Damped free vibration

Damped free vibration

Damped free vibration

Repeated in other form !

Repeated real roots

Repeated in other form !

Structural Dynamics 100

Structural Dynamics 101

Structural Dynamics 102

Structural Dynamics 103

Structural Dynamics 104

Structural Dynamics 105

Structural Dynamics 106

Structural Dynamics 107

Structural Dynamics 108

Structural Dynamics 109

Structural Dynamics 110

Structural Dynamics 111

Structural Dynamics 112

You might also like