Structural Vibration Control 02 PDF

STRUCTURAL
VIBRATION
Shieh-Kung Huang
CONTROL
黃謝恭
1
CHAPTER 1
REVIEW OF STRUCTURAL DYNAMICS
Chapter Outline
1.1 Introduction of Structural Dynamics
1.2 Single-degree-of-freedom systems
1.3 Response of Free Vibration and Harmonic Vibration
1.4 Earthquake Response of Linear Systems
1.5 Response Spectrum
1.6 Earthquake Response of Inelastic Systems
1.7 Energy Concepts in Earthquake Engineering
1.8 Muliti-degree-of-freedom systems
1.9 Free and Force Vibration of MDOF Systems
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Copyright © 2016 by Pearson Education, Inc. All rights reserved.
Chapter 1 Review of Structural Dynamics
1.1 INTRODUCTION OF STRUCTURAL DYNAMICS
• Structural Dynamics
Determination of responses of
structures under the effect of dynamic
loading
• Responses
Responses are usually included the
displacement, velocity, and acceleration.
• Dynamic Loading
Dynamic loading is a loading whose
magnitude, direction, sense and point of
application changes in time.
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1.1 INTRODUCTION OF STRUCTURAL DYNAMICS
• (Modeling) Assumption
− Discrete vs. Continuous
− Lumped vs. Distributed
• Dimension
− Structural member
− Finite element
• (Analysis) Domain
− Time
− Frequency
− Time-frequency
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1.2 SINGLE-DEGREE-OF-FREEDOM SYSTEMS
• Simple Structures
We begin our study of structural dynamics with simple
structures; these structures simple because they can be idealized
as a concentrated or lumped mass m supported by a massless
structure with stiffness k in the lateral direction.
mu + ku = 0
• Degrees of Freedom
The number of independent displacements required to define
the displaced positions of all the masses relative to their original
position is called the number of degrees of freedom (DOFs) for
dynamic analysis. Thus we call this simple structure a single-
degree-of-freedom (SDOF) system.
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• Damping
The process by which vibration steadily
diminishes in amplitude is called damping. It is
usually represented in a highly idealized manner.
This idealization is therefore called equivalent
viscous damping.
• Damping in Real Structures

− Opening and closing of microcracks
− Friction in connections
− Friction between structure and non-structure
elements
Mathematical description of these components
is almost impossible, so the modelling of damping
in real structures is usually assumed to be
equivalent viscous damping.
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• Sources of Damping Mechanisms

Damping is utilized to characterize the ability of structures to dissipate energy during dynamic
response. Unlike the mass and stiffness of a structure, damping does not relate to a unique physical
process but rather to a number of possible processes.
Courtesy of Elnashai and Sarno, 2015

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• SDOF system
The system considered is shown schematically and It consists of a mass m concentrated at the
roof level, a massless frame that provides stiffness to the system, and a viscous damper (also known
as a dashpot) that dissipates vibrational energy of the system. The beam and columns are assumed to
be inextensible axially.
mu + cu + ku = 0
where the constant c is the viscous damping coefficient, which is a measure of the energy dissipated
in a complete cycle.
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• Force–Displacement Relation
The internal force resisting the displacement u is equal and opposite to the external force fS. It is
desired to determine the relationship between the force fS and the relative displacement u associated
with deformations in the structure during oscillatory motion. This force–displacement relation would be
linear at small deformations but would become nonlinear at larger deformations.
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• Linear Elastic System:

− Elastic material
− First-order analysis
fS = k  u
• Inelastic System:
− Plastic material
− Higher-order analysis
f S = f (u , u )
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• Equation of Motion
The following figure is the free-body diagram at time t with the mass replaced by its inertia force.
The forces acting on the mass at some instant of time are balanced according to D’Alember’s principle
of dynamic equilibrium. These include the external force p, the elastic (or inelastic) resisting force fS,
the damping resisting force fD, and the inertial force fI.
p − f S − f D = mu or mu + f D + f S = p
 f D = cu and f S = ku or f S = f (u , u )
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• Mass–Spring–Damper System
We have introduced the SDOF system by idealizing a one-story structure, an approach that
should appeal to structural engineering students. However, the classic SDOF system is the mass–
spring–damper system of the following figure.
mu + cu + ku = p or mu + f D + f S = p
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Matlab Demonstration (Demo_1_2_A.m)
p − f S − f D = mu or mu + f D + f S = p
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• Solution of A Linear SDOF System

The equation of motion for a linear SDF system subjected to external force is the second-order
differential equation derived earlier.
mu (t ) + cu (t ) + ku (t ) = p (t )
The initial displacement u (0) and initial velocity u (0) at time zero must be specified to define the
problem completely. Typically, the structure is at rest before the onset of dynamic excitation, so that
the initial velocity and displacement are zero. A brief review of four methods of solution is given in the
following.
− Classical Solution
Complete solution of the linear differential equation of motion consists of the sum of the
complementary solution and the particular solution.
p
u (t ) = 0 (1 − cos nt ) when c = 0, p(0) = p0 , and p(t ) = 0
k
− Duhamel’s Integral
Another well-known approach to the solution of linear differential equations, such as the
equation of motion of an SDOF system, is based on representing the applied force as a sequence
of infinitesimally short impulses.
1 t
p ( )sin n (t −  )  d
mn 0
u (t ) =
Duhamel’s integral provides an alternative method to the classical solution if the applied force p(t)
is defined analytically by a simple function that permits analytical evaluation of the integral.
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− Frequency-Domain Method
The Laplace and Fourier transforms provide powerful tools for the solution of linear differential
equations, in particular the equation of motion for a linear SDOF system. Because the two
transform methods are similar in concept, here we mention only the use of Fourier transform,
which leads to the frequency-domain method of dynamic analysis.
1 
u (t ) =
2 −
H ( ) P( )eit d
− Other Numerical Methods
The preceding three dynamic analysis methods are restricted to linear systems and cannot
consider the inelastic behavior of structures anticipated during earthquakes if the ground shaking
is intense. The only practical approach for such systems involves numerical time-stepping
methods, for example, Newmark-beta method, Runge-Kutta method, or state-space method
(which are presented latter). These methods are also useful for evaluating the response of linear
systems to excitation—applied force p(t) or ground motion—which is too complicated to be defined
analytically and is described only numerically.
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Matlab Demonstration (Demo_1_2_B.m)
p0
u (t ) = (1 − cos nt )
k
when c = 0, p (0) = p0 , and p (t ) = 0
u(t) p(t)
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Matlab Demonstration
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ode23 is a three-stage, third-
order, Runge-Kutta method. ode45
is a six-stage, fifth-order, Runge-
Kutta method. ode45 does more
work per step than ode23, but can
take much larger steps. For
differential equations with smooth
solutions, ode45 is often more
accurate than ode23. In fact, it may
be so accurate that the interpolant is
required to provide the desired
resolution. That's a good thing.
ode45 is the anchor of the

differential equation suite. The
MATLAB documentation
recommends ode45 as the first
choice. And Simulink blocks set
ode45 as the default solver.
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1.3 RESPONSE OF FREE AND HARMONIC VIBRATION
• Undamped Free Vibration

Free vibration is initiated by disturbing the system from its static equilibrium (or undeformed, u(0)
=0) position by imparting the mass some displacement u (0) and velocity u (0) at time zero.
The time required for the undamped system to complete one cycle of free vibration is the natural
period of vibration of the system, which we denote as Tn, in units of seconds. It is related to the natural
circular frequency of vibration, ωn, in units of radians per second:
2
Tn =
n
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A system executes several cycles in 1 sec. This natural cyclic frequency of vibration is denoted by
1
fn =
Tn
The units of fn are hertz (Hz) [cycles per second (cps)]; fn is obviously related to ωn through
n
fn =
2
The term natural frequency of vibration applies to both ωn and fn.
By solving the dynamic equilibrium, we can further find the natural circular frequency of vibration
is related to mass and stiffness.
k
n =
m
fn Tn
n
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• Viscously Damped Free Vibration

Setting p(t)=0 in dynamic equilibrium gives the differential equation governing free vibration of
SDOF systems with damping:
c k
mu (t ) + cu (t ) + ku (t ) = 0  u (t ) + u (t ) + u (t ) = 0
m m
 u (t ) + 2nu (t ) + n u (t ) = 0
2
where ζ is the damping ratio or fraction of critical damping as:

c c 2k
 = = and ccr = 2mn = 2 km =
2mn ccr n
The damping coefficient ccr is called the critical damping coefficient because it is the smallest value of
c that inhibits oscillation completely.
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• Underdamped Free Vibration

The time
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• Typical Damping
Underdamped FreeRatios
Vibration
The time ratios tabulated here are only provided to illustrate that real structures do not possess
Damping
inherent damping >15%. From the given data, it should also be clear that the damping ratio depends
on the type of building construction.
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• Comparison between Underdamped and Damped Free Vibration

The time required for the undamped system to complete one cycle of free vibration is changed
because the natural circular frequency of vibration, ωn, is affected by the damping.
k
D = n 1 −  2 where n =
m
This is the natural frequency of damped vibration. The natural period of damped vibration or the
natural frequency of damped vibration, is related to the one without damping by
2 Tn D 1− 2
TD = = or fD = =
D 1− 2 2 fn
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• Attenuation of Motion
Ratio between displacement at an arbitrary time, t, and the one after a period, TD, is independent
of time
 u (0) + nu (0)  u (t )
u (t ) = e −nt u (0)cos Dt + sin Dt   = enTD
 D  u (t + TD )
and
2 2
u (t ) 2 Tn ui
= enTD = e 1− 1− 2
2
where Tn = and TD =  =e
u (t + TD ) n 1− 2 ui +1
Hence, the natural logarithm of the above ratio is called logarithmic decrement.
u 2
 = ln i =   = 2 where 1 −  2  1
ui +1 1− 2
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Matlab Demonstration (Demo_1_3_A.m)
mu (t ) + cu (t ) + ku (t ) = 0 
 u (0) + nu (0) 
u (t ) = e −nt u (0)cos Dt + sin Dt  where   1
 D 
 D = n 1 −  2
Shieh-Kung 37
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Thanks for your attention!
See you next week!
Shieh-Kung 38
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STRUCTURAL

• Damping in Real Structures

• Sources of Damping Mechanisms

Courtesy of Elnashai and Sarno, 2015

• Linear Elastic System:

• Solution of A Linear SDOF System

ode45 is the anchor of the

• Undamped Free Vibration

• Viscously Damped Free Vibration

where ζ is the damping ratio or fraction of critical damping as:

• Underdamped Free Vibration

• Comparison between Underdamped and Damped Free Vibration

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