Dynamics 2

Dynamics 2
• Forced oscillation, single d.o.f with damping

– We’ll focus on viscous damping, FD  cx

k
External
input Fin
m

x c
 Dynamics 2
• Forced oscillation, single d.o.f with damping
k
External
input Fin
m

x c

We can analyse this system as we did before,

with a sinusoidal forcing function - the main
difference being that the damper will produce a
phase shift. We need to be aware of this.
Dynamics 2 External k
input Fin
m
x c
– But first, let’s look at the behaviour ...
– Just like the undamped version, we end up with a
performance that is a function of frequency, both
in terms of amplitude and phase shift.
– The phase shift doesn’t just switch over by 180° at
the undamped natural frequency though...
– Let’s look at this using the phasor diagram method

mx  cx  kx  F0Cos(t   )

 Imag
cωx0 F0
real

mω2x0 ω
kx0 ω
= φ

Why is it this shape?

Assume the output displacement is of form x=X0ejωt
(We could also use x=X0Cosωt)
The spring force is kx = kX0ejωt reference direction, real
The force due to the damper
x  jisdependent
X 0 e jt on
velocity, and velocity is
Which is seen to be imaginary jt
The acceleration term becomes
x
    2
X 0 e
 cωx0 Imag
Dynamics 2
mω2x0 kx0 ω ω
real

So, it can be seen that the damper force and inertial

force are functions of forcing frequency.

Low frequency – Spring is dominant

Frequencies near ω0 - Spring and inertia cancel out,

damper is dominant (90° phase shift)

High frequencies – Inertial forces dominant, 180°shift

 cωX0 Imag
Dynamics 2
mω2X0 ω
kX0 real

The phasors represented above are rotating at a

frequency corresponding to ω.
Consider the addition of the phasors:

Fo cωX0
F0
 X0 
φ c 2 2  (k  m 2 ) 2
(k-mω2)X0
 cωX0 Imag
Dynamics 2
mω2X0 ω
kX0 real

Ok, let’s ask the usual questions...

What happens at resonance?
If we make   k then the solution becomes
m

F0 m
 X0   Fo 2
2 k kc
c
m
 cωX0 Imag
Dynamics 2
mω2X0 ω
kX0 real

Fin=F0Cos(ωt+φ)
Let’s use this to analyse the system shown:

If k= 100 N/m, m=0.5kg, c=1,4 Ns/m and

F0=25N
x m
Evaluate the displacement amplitude of
c k oscillation X0 (x=X0cosωt) and the phase
shift φ when the forcing frequency is 2 Hz
 Dynamics 2
If k= 100 N/m, m=0.5kg, c=1,4 Ns/m and
F0=25N

Fin=F0Cos(ωt+φ) ω=2πf=12.57 Rad/s

Spring force = kX0=100X0
Damper force = cωX0 =17.6X0
x m Inertia force = mω2X0 =79X0
17.6X0

c k
79X0 100X0 ω
 Dynamics 2
If k= 100 N/m, m=0.5kg, c=1,4 Ns/m and
F0=25N
Fo cωX0
Fin=F0Cos(ωt+φ)
φ
(k-mω2)X0
x m
F0
 X0 
c k c 2 2  (k  m 2 ) 2
25
  0.909m
17.6  21.1
2 2
 Dynamics 2
If k= 100 N/m, m=0.5kg, c=1,4 Ns/m and
F0=25N
Fo cωX0
Fin=F0Cos(ωt+φ)
φ
(k-mω2)X0
x m

c k 17.6
  tan 1
 39
21.1
 Dynamics 2
Summary

As before, we can analyse a single degree of freedom system under forced

oscillation conditions... Here’s one you’ve all seen before:

http://www.youtube.com/watch?v=mniN0L0Gq_0&feature=fvsr

How much damping do you think was present?

http://www.youtube.com/watch?v=CdUoFIZSuX0

http://www.youtube.com/watch?v=frI-7QY1vWA