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M Y+c Y+ky M
M Y+c Y+ky M
fs + fd + I = P(t)
m ÿ+ c ẏ + ky = P(t)
; =
√ k
m
m ÿ+ c ẏ + ky = 0
m ÿ +c ẏ +ky
=0
m
m ÿ ( 2ζm ω n ) ẏ ky = 0
+ +
m m m
2
ÿ + ( 2 ζωn ) ẏ +ω n y =0
2 2 st st 2 st
ÿ + ( 2 ζωn ) ẏ +ω n y =0 s . c . e + ( 2 ζ ω n ) s . c .e + ωn . c . e =0
st
c .e ¿ =0
c . e st ( s 2 + ( 2 ζ ωn ) s+ω 2n ) =0
A B
( s 2+ ( 2 ζ ωn ) s +ω 2n ) = 0
( s 2+ ( 2 ζ ωn ) s +ω 2n ) = 0
−b ± √ b 2−4 ac
S1, S2 =
2a
= √ 2
−( 2 ζ ωn ) ± ( 2 ζ ωn ) −4.1 .ω n
2
√
= −( ζ ωn ) ± ( ζ ωn ) −ω2n
2
S1, S2 = −( ζ ωn ) ± ( ωn ) √ ζ −1
2
1. Underdamped √ 1−ζ 2
2. Damped 1
3. Overdamped √ ζ 2−1
S1, S2 = −( ζ ωn ) ± ( ωn ) √ ζ −1
2
= −( ζ ωn ) ±i ( ω n ) √ ζ −1
2
= −( ζ ωn ) ±i ( ω d )
y ( t ) =a . b y ˙( t ) =ȧ . b+a . ḃ
˙ )=(−ζ ω e−ζ ω t ( A cos ω t+ B sin ω t ) ) + ( e−ζ ω t ( A ω sin ω t+ ω Bcos ω t ) )
y (t n n
n d d d d d d
−ζ ωnt
ȧ=−ζ ω n e ḃ= A ω d sin ωd t +ω d Bcos ω d t
t = 0 y = y0
t = 0 ẏ= ẏ 0
ζ = 100% = 1
S1, S2 = −( ζ ωn ) ± ( ωn ) √ ζ −1
2
= −( ζ ωn ) ± ( ωn ) √ 1 −1
2
= −( ζ ωn )
y ˙( t ) = ȧ . b+ a . ḃ
t=0 y0 = (A + B.0) 1
y0 =A
t=0 ẏ 0 = (B.1) + (A + B.0)(-ζωn.1)
ẏ 0 = B + A (-ζωn)
B = ẏ 0 + y0 ζωn
ẏ 0 = - ζωn y0 + ωd B
˙ y )
( y 0 ¿ + ζωn 0
B = ¿
ωd
S1, S2 = −( ζ ωn ) ± ( ωn ) √ ζ −1
2
−ζ ω n .1 ( A .1+B .0 )+ ¿
˙ )=(−ζ ω e−ζ ω t ( Acos ω t + Bsin ω t ) ) + ( e−ζ ω t ( A ω sin ω t+ ω Bcos ω t ) )
y (t n n
n d d d d d d
˙ y )
( y 0 ¿ + ζωn
-ζωnt 0
y(t) =e (y0 cosh ω*t + ¿ sinh ω*t)
ωd
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