Forced Vibration of SDOF system

Dynamic forces that can act on a structural system

1. Wind load

2. Live load (load due to traffic movement/rotating machineries)

3. Seismic load (Earthquake Engineering)

4. Oceanic/Tidal load

5. Blast/Impact load (bird hit, gust etc)

Loading Classifications

1. Deterministic loading, A load (function) is said to be deterministic when their

values can be given in advance for any time t

2. Non-deterministic (random) loading, A load (function) whose value cannot

be predicted for a future instance of time and such loading can be referred as
random loading.

Forced Vibration Problems

Equation of Motion

..
u
111
000
11
00 k
00
11
00
11 F(t)
00
11
00
11
m 11111
00000
00
11
00
11
00
11
00
11
00
11 c

Figure 1: SDOF with viscous damping

mü + cu̇ + ku = F (t) (1)

The equation is an inhomogeneous, linear, second order differential equation and have
a solution of the form,
uT = uC + uP (2)
where, uT is the total solution, uC and uP are the complimentary and particular so-
lutions respectively. The complimentary solution, uC is the solution of free vibration
problem.
Example of Force Vibration
Figure 2 shows a constant load of magnitude P .
Equation of Motion

1
 F(t)

Time t

Figure 2: A constant load of magnitude P

mü + cu̇ + ku = P
P
ü + 2ξωn u̇ + ωn2 u = (ξ < 1) (3)
m
Solving Equation 3, we get,
³ ´
uC = C1 eıωd t + C2 eıωd t e−ξωn t
= [(C1 + C2 ) sin ωd t + ı(C1 − C2 ) cos ωd t] e−ξωn t (4)
P
uP = (5)
mωn2

Thus the overall response is obtained as,

u T = uC + uP
³ ´ P
= C1 eıωd t + C2 eıωd t e−ξωn t + (6)
mωn2

Imposing the initial condition of u|@t=0 = u0 and u̇|@t=0 = u̇0 , we get,

P
(C1 + C2 ) = − (7)
mωn2
ıωd (C1 − C2 ) − ξωn (C1 + C2 ) = 0
−ξωn P −ξP −ξP
ı(C1 − C2 ) = 2
= = √ (8)
mωd ωn mωn ωd mωn 1 − ξ 2
2

Substituting Equations 7 and 8 into Equation 6, we get,

" #
P ξP −ξωn t P
uT = − cos ω d t − √ e +
mωn2 mωn2 1 − ξ 2 mωn2
P h −ξωn t
i
= 1 − (cos ω d t + sin ωd t)e (9)
mωn2

2
Harmonic Loading

mü + cu̇ + ku = F (t) and F (t) is written as F (t) = kf (t) = kA cos ωt (10)

where, ω is referred as the driving or excitation frequency. Equation 10 can be rewritten

as,

mü + cu̇ + ku = kA cos ωt

ü + 2ξωn u̇ + ωn2 u = ωn2 A cos ωn t (11)

The overall response is uT = uC + uP , where,

³ ´
uC = C1 eıωd t + C2 e−ıωd t e−ξωn t (12)
→ For, ξ > 0, this response will die down
after sometime and thus is termed as transient response.
uP = X cos(ωt − φ) (assumed solution) (13)
→ This solution (response) will not vanish and thus
is termed as steady state response

Next, we need to determine the values of X (amplitude) and φ (phase). Substituting

Equation 13 into Equation 11, we get,
h i
X −ω 2 cos(ωt − φ) − 2ξωn ω sin(ωt − φ) + ωn2 cos(ωt − φ) = ωn2 A cos(ωt)
h i
⇒ X (ωn2 − ω 2 ) cos(ωt − φ) − 2ξωn ω sin(ωt − φ) = ωn2 A cos(ωt)

Expanding cos(ωt − φ) and sin(ωt − φ), we get,

h
X (ωn2 − ω 2 ) cos ωt cos φ + (ωn2 − ω 2 ) sin ωt sin φ
−2ξωn ω sin ωt cos φ + 2ξωn ω cos ωt sin φ] = ωn2 A cos(ωt)
hn o
⇒X (ωn2 − ω 2 ) cos φ + 2ξωn ω sin φ cos ωt
n o i
(ωn2 − ω 2 ) cos φ − 2ξωn ω sin φ sin ωt = ωn2 A cos(ωt)
h i
⇒ X (ωn2 − ω 2 ) cos φ + 2ξωn ω sin φ = ωn2 A (14)
h i
⇒ X (ωn2 − ω 2 ) cos φ − 2ξωn ω sin φ = 0 (15)

Multiplying Equations 14 and 15 by cos φ and sin φ respectively, and adding them we
get,
X(ωn2 − ω 2 ) = ωn2 A cos φ (16)
Again, multiplying Equations 14 and 15 by sin φ and cos φ respectively, and subtracting
them we get,
X(2ξωn ω) = ωn2 A cos φ (17)

3
 f(t)=F(t)/k

u (t)
p
steady state
response

Time, t

Figure 3: Applied harmonic loading and the steady state response

From Equations 16 and 17, we get,

ωn2 A
X= 1 (18)
[(ωn2 − ω 2 )2 + (2ξωn ω)2 ] 2

and  
2ξ ωωn 
−1 ½
2ξ ωωn 
tan φ = ½ ³ ´2 ¾ ⇒ φ = tan  ³ ´2 ¾ 
 (19)
ω ω
1− ωn
1− ωn

Knowing X and φ, the steady state response uP = X cos(ωt − φ) is obtained. When

compared to the applied load, the steady state response only has a difference in phase
and amplitude as shown in Figure 3.
1
Magnification Factor = H(ω) = "½ #1 (20)
³ ´2 ¾2 n o2 2
ω
1− ωn
+ 2ξ ωωn