Section 1 Review of Fundamentals: S1-1 NAS122, Section 1, January 2004 2004 MSC - Software Corporation

S1-1
NAS122, Section 1, January 2004

Copyright 2004 MSC.Software Corporation
SECTION 1

REVIEW OF FUNDAMENTALS
S1-2
TABLE OF CONTENTS
Page
SINGLE DOF SYSTEM 1-3
UNDAMPED FREE VIBRATIONS SDOF SYSTEM 1-6
SINGLE DOF SYSTEM - UNDAMPED FREE VIBRATIONS 1-8
DAMPED FREE VIBRATION SDOF 1-9
DAMPING WITH FORCED VIBRATION 1-13
MSC.NASTRAN DOCUMENTATION 1-23
TEXT REFERENCES ON DYNAMIC ANALYSIS 1-25
S1-3
This section will introduce the basics of Dynamic
Analysis by considering a Single Degree of Freedom
(SDOF) problem
Initially a free vibration model is used to describe the
natural frequency
Damping is then introduced and the concept of
critical damping and the undamped solution is shown
Finally a Forcing function is applied and the response
of the SDOF is explored in terms of time dependency
and frequency dependency and compared to the
terms found in the equations of motion

SINGLE DOF SYSTEM
S1-4
SINGLE DOF SYSTEM (Cont.)
Consider the System Shown

m = mass (inertia)
b = damping (energy dissipation)
k = stiffness (restoring force)
p = applied force
u = displacement of mass
= velocity of mass
= acceleration of mass

u, , and p are time varying in general.
m, b, and k are constants.

m
k b
p(t)
u(t)
u
u
u
u
S1-5
Some Theory:
The equation of motion is:

In undamped, free vibration analysis, the SDOF equation of
motion reduces to:

Has a solution of the form:

This form defines the response as being HARMONIC, with a resonant
frequency of:
) ( ) ( ) ( ) ( t p t ku t u b t u m = + +
0 ) ( ) ( = + t ku t u m
t B t A t u
n n
e e cos sin ) ( + =
n
e
SINGLE DOF SYSTEM (Cont.)
S1-6
UNDAMPED FREE VIBRATION SDOF
SYSTEM
For an SDOF system the resonant, or natural frequency, is
given by:

Solve for the constants:
m
k
n
= e
n
n n
n n n n
n
t u
A
t B t
t B t A t u
u(t B t t
e
e e
e e e e
e
) 0 (
thus 0 ) sin( , 0 When
sin cos ) (
: solution ating Differenti
) 0 thus 0 ) sin( , 0 When
=
=
= =
=
= = = =
t u t
u
t u
n n
n
e e
e
cos ) 0 ( sin
) 0 (
) ( + =

S1-7
UNDAMPED FREE VIBRATION SDOF
SYSTEM (Cont.)
The response of the Spring will be harmonic, but the actual form of the
response through time will be affected by the initial conditions:

If there is no response

If response is a sine function magnitude

If response is a cosine function (180
phase change), magnitude
If response is phase and magnitude
dependent on the initial values
0 ) 0 ( and 0 ) 0 ( = = u u

0 ) 0 ( and 0 ) 0 ( = = u u

n
u
e
0
0 ) 0 ( and 0 ) 0 ( = = u u

0
u
0 ) 0 ( and 0 ) 0 ( = = u u

S1-8
SINGLE DOF SYSTEM UNDAMPED
FREE VIBRATIONS
The graph is from a transient analysis of a spring mass system with Initial
velocity conditions only
Time
Disp.
k = 100
m = 1

T = 1/f = 0.63 secs

Hz 59 . 1 2 / f
rad/s 10
= =
= =
t e
e
n
n
m
k
1
0
= u
T
Amp
1 . 0 / Amp
0
= =
n
u e
S1-9
DAMPED FREE VIBRATION SDOF
If viscous damping is assumed, the equation of motion
becomes:

There are 3 types of solution to this, defined as:
Critically Damped
Overdamped
Underdamped

A swing door with a dashpot closing mechanism is a
good analogy
If the door oscillates through the closed position it is underdamped
If it creeps slowly to the closed position it is overdamped.
If it closes in the minimum possible time, with no overswing, it is
critically damped.
0 ) ( ) ( ) ( = + + t ku t u b t u m
S1-10
DAMPED FREE VIBRATION SDOF (Cont.)
For the critically damped case, there is no oscillation, just a
decay from the initial conditions:

The damping in this case is defined as:

A system is overdamped when b > b
cr

Generally only the final case is of interest - underdamped
n cr
m km b b e 2 2 = = =
m bt
e Bt A t u
2 /
) ( ) (

+ =
S1-11
For the underdamped case b < b
cr
and the solution is the form:

represents the Damped natural frequency of the system

is called the Critical damping ratio and is defined by:

In most analyses is less than .1 (10%) so

) cos sin ( ) (
2 /
t B t A e t u
d d
m bt
e e + =

d
e
2
1 , e e =
n d
cr
b
b
= ,
,
,
n d
e e ~
S1-12
The graph is from a transient analysis of the previous spring mass system with
damping applied
Frequency and
period as before

Amplitude is a
function of damping
2% Damping
5% Damping
Time
Disp.
S1-13
DAMPING WITH FORCED VIBRATION
Apply a harmonic forcing function:
note that is the DRIVING or INPUT frequency

The equation of motion becomes

The solution consists of two terms:
The initial response, due to initial conditions which decays rapidly in the presence of
damping
The steady-state response as shown:

This equation is described on the next page
t p e sin
t p t ku t u b t u m e sin ) ( ) ( ) ( = + +
2 2
2
2
) / 2 ( ) 1 (
) sin(
/ ) (
n
n
t
k p t u
e ,e
e
e
u e
+
+
=
e
S1-14
(Cont.)
This equation deserves inspection as it shows several important
dynamic characteristics:

At e = e
n
this term = (2 )^2 and controls
the scaling of the response

From this is derived the Dynamic
Magnification Factor 1/2

2 2
2
2
) / 2 ( ) 1 (
) sin(
/ ) (
n
n
t
k p t u
e ,e
e
e
u e
+
+
=
This is the static loading
and dominates as e tends
to 0.0
At e = e
n
this term = 0.0
With no damping present this
results in an infinite response
Phase lead of the response relative to the input
(see next page)
At e >> e
n
both terms drive the
response to 0.0

,
,
S1-15
u is defined as a phase lead in Nastran :

2
2
1
1
/ 2
tan
n
n
e
e
e ,e
u
=

(Cont.)
S1-16
Summary:
For

Magnification factor 1 (static solution)
Phase angle 360
(response is in phase with the force)

For

Magnification factor 0 (no response)
Phase angle 180
(response has opposite sign of force)

For

Magnification factor 1/2
Phase angle 270
n
<<
1
n
>>
1
n
~
(Cont.)
S1-17
A Frequency Response Analysis can be used to explore the
response of our spring mass system to the forcing function.
This method allows us to compare the response of the
spring with the input force applied to the spring over a wide
range of input frequencies
It is more convenient in this case than running multiple
Transient Analyses, each with different input frequencies
Apply the input load as 1 unit of force over a frequency
range from .1 Hz to 5 Hz
Damping is 1% of Critical
(Cont.)
S1-18
Magnification Factor = 1/2 = 1/G = 50
Static Response = p/k = .01
Peak Response = .5 at 1.59 Hz

Note:
Use of a Log scale helps identify low
order response
Displacement
Frequency (Hz)
(Cont.)
S1-19
There are many important factors in setting up a Frequency Response Analysis
that will be covered in a later section

For now, note the response is as predicted by the equation of motion
At 0 Hz result is p/k
At 1.59 Hz result is p/k factored by Dynamic Magnification
At 5 Hz result is low and becoming insignificant

The Phase change is shown here:
In phase up to 1.59 Hz
Out of phase180 Degrees after 1 .59 Hz

(Cont.)
S1-20
Try a Transient analysis with a unit force applied to the spring at 1.59 Hz
Again damping of 1% Critical is applied
The result is shown on the next page:
The response takes around 32 seconds to reach a steady-state solution
After this time the displacement response magnitude stays constant at .45
units
The theoretical value of .5 is not reached due to numerical inaccuracy (see
later) and the difficulty of hitting the sharp peak
(Cont.)
S1-21
Transient analysis with a unit force applied to the spring at 1.59 Hz
Displacement
Time
(Cont.)
S1-22
When plotting a input and output at the steady-state period, the input signal is not very
accurate hence our problem finding the exact magnification factor
It is also visible that the phasing between input and output is around 90 degrees as
expected at resonance
Lead = 0.18 sec (approx)
=103 degrees (approx 90)
T input = 1/1.59 = 0.629 sec
input
output
(Cont.)
S1-23
MSC.NASTRAN DOCUMENTATION
Manuals
MSC.NASTRAN Quick Reference Guide
MSC.NASTRAN Reference Manuals
Users Guides
Getting Started with MSC.NASTRAN
MSC.NASTRAN Linear Static Analysis
MSC.NASTRAN Basic Dynamic Analysis
MSC.NASTRAN Advanced Dynamic Analysis
MSC.NASTRAN Design Sensitivity and Optimization
MSC.NASTRAN DMAP Module Dictionary
MSC.NASTRAN Numerical Methods
MSC.NASTRAN Aeroelastic Analysis
MSC.NASTRAN Thermal Analysis
S1-24
MSC.NASTRAN DOCUMENTATION (Cont.)
Other Documentation
MSC.NASTRAN Common Questions and Answers
MSC.NASTRAN Bibliography
Documentation available in online form for
workstations and PCs
S1-25
TEXT REFERENCES ON DYNAMIC
ANALYSIS
1. W. C. Hurty and M. F. Rubinstein, Dynamics of Structures, Prentice-Hall, 1964.
2. R. W. Clough and J. Penzien, Dynamics of Structures, McGraw-Hill, 1975.
3. S. Timoshenko, D. H. Young, and W. Weaver, Jr., Vibration Problems in Engineering,
4th Ed., John Wiley & Sons, 1974.
4. K. J. Bathe and E. L. Wilson, Numerical Methods in Finite Element Analysis, Prentice-
Hall, 1976.
5. J. S. Przemieniecki, Theory of Matrix Structural Analysis, McGraw-Hill, 1968.
6. C. M. Harris and C. E. Crede, Shock and Vibration Handbook, 2nd Ed., McGraw-Hill,
1976.
7. L. Meirovitch, Analytical Methods in Vibrations, MacMillan, 1967.
8. L. Meirovitch, Elements of Vibration Analysis, McGraw-Hill, 1975.
9. M. Paz, Structural Dynamics Theory and Computation, Prentice-Hall, 1981.
10. W. T. Thomson, Theory of Vibrations with Applications, Prentice-Hall, 1981.
11. R. R. Craig, Structural Dynamics: An Introduction to Computer Methods, John Wiley
& Sons, 1981.
12. S. H. Crandall and W. D. Mark, Random Vibration in Mechanical Systems, Academic
Press, 1963.
13. J. S. Bendat and A. G. Piersel, Random Data Analysis and Measurement Techniques,
2nd Ed., John Wiley & Sons, 1986.
S1-26

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NAS122, Section 1, January 2004

(response is in phase with the force)

(response has opposite sign of force)

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