Forced Vibrations of Single-Degree-of-Freedom Systems

2.1 Objective: To analyze the forced vibration response of the system at different damping
ration and frequency ratio.
2.2 Basic Terminology:
2.2.1 Periodic Motion: A motion which repeats itself after equal intervals of time.
2.2.2 Frequency: The number of oscillations completed per unit time is known as
frequency of the system.
2.2.3 Amplitude: The maximum displacement of a vibrating body from its equilibrium
position.
2.2.4 Natural Frequency: The frequency of free vibration of a system is called Natural
Frequency of that particular system.
2.2.5 Damping: The resistance to the motion of a vibrating body is called Damping. In
actual practice there is always some damping (e.g., the internal molecular friction, viscous
damping, aero dynamical damping, etc.) present in the system which causes the gradual
dissipation of vibration energy and results in gradual decay of amplitude of the free vibration.
Damping has very little effect on natural frequency of the system, and hence the calculations for
natural frequencies are generally made on the basis of no damping. Damping is of great
importance in limiting the amplitude of oscillation at resonance.
2.2.6 Fundamental Mode of Vibration: The fundamental mode of vibration of a system
is the mode having the lowest natural frequency.
2.2.7 Degrees Of Freedom: The minimum number of independent coordinates needed to
describe the motion of a system completely, is called the degree-of-freedom of the system. If
only one coordinate is required, then the system is called as single degree-of-freedom system.
2.2.8 Mechanical System: The system consisting of mass, stiffness and damping are
known as mechanical system.
2.2.9 Forced vibration: When a dynamic system is subjected to a steady-state harmonic
excitation, it is forced to vibrate at the same frequency as that of the excitation. Harmonic
excitation is often encountered in engineering systems. It is commonly produced by the
unbalance in rotating machinery, forces produced by the reciprocating machines, or the motion
of machine itself. Although pure harmonic excitation is less likely to occur than the periodic or
other types of excitation, understanding the behavior of a system undergoing harmonic excitation
is essential in order to comprehend how the system will respond to more general types of
excitation. Harmonic excitation may be in the form of a force or displacement of some point in
the system. The harmonic excitation can be given in many ways like with constant frequency and
variable frequency or a swept-sine frequency, in which the frequency changes from the initial to
final values of frequencies with a given time-rate (i.e., ramp).
2.2.10 Resonance: If the frequency of excitation coincides with one of the natural
frequencies of the system, the amplitude of vibration becomes excessively large. This concept is
known as resonance.

2.3 Dierential equation for Forced vibration:
A single DOF system with viscous damping, excited by a harmonic force
0
sin F t e is
shown in Fig. 2.1.


Figure 2.1 Viscously damped system with harmonic excitation


Its differential equation of motion is:


0
mx cx kx F sin t e + + =

(2.1)

The general solution of this mathematical model consists of two parts, the complementary
function which is the solution of the homogenous equation, and the particular integral.
The particular solution to the preceding equation is a steady-state oscillation of same
frequency as that of excitation. We can assume particular solution to be of the form

( ) x Xsin t e | =
(2.2)

Where X is the amplitude of oscillation and | is the phase of the displacement with
respect to the exciting force.


0
2 2 2
( ) ( )
X
k
F
m c e e
=
+

(2.3)

And


1
2
tan
c
k m
e
|
e

| |
|
\ .

(2.4)

Now,
Dividing the numerator and denominator of equation (2.3) and (2.4) by k, we obtain


0
2
2
2
/
1
F k
X
m c
k k
e e
=
| |
| |
+
| |
\ .
\ .

(2.5)

And,

1
tan
2
1
c
k
m
k
e
|
e
| |
|
|
|

\ .

=
|

(2.6)



The above equations may be represented in terms of following quantities:
nf
k
m
e =
= natural frequency of un-damped oscillation
2
c nf
c me = = critical damping constant

c
c
c
, = = The critical damping ratio
2
c
c nf
c c c
k c k
e e e
,
e
= =
The non-dimensional expression for the amplitude and phase then become


2
2 2
0
2
1
1
nf nf
X
F
k
e e
,
e e
=
(
| | | |
(
+
| |
| |
(
\ . \ .


(2.7)


And


2
2
tan
1
nf
nf
e
,
e
|
e
e
=
| |

|
|
\ .

(2.8)

These equations indicate that the non-dimensional amplitude
0
/ Xk F , termed as Magnification
factor and the phase | are functions only of the frequency ratio /
nf
e e and the damping factor
, and can be plotted as shown in Fig. 2.2 & Fig. 2.3. These curve show that the damping factor
has a large influence on the amplitude and phase angle in the frequency region near resonance.
The curves show that as the damping ratio increases, the maximum value of Magnification factor
decreases. When there is no damping i.e. ( , =0), it reaches to infinity at the resonance i.e. when
/ 1
nf
e e = .

Fig. 2.2 Magnification factor versus frequency ratio for different values of damping ratio


Fig. 2.3 Phase angle versus frequency ratio for different values of damping ratio
2.4 Steps for operating virtual simulation:
Step 1. The VI screen as shown in Fig.2.4 will appear after opening the VI. The slider is used to
vary the desired damping ratio. The variation is showed by green color in the slider. User can
vary the damping ratio with the help of the slider to see the response of amplitude vs. frequency
ratio and phase angle vs. frequency ratio at different damping ratios.


Fig.2.4 Screen shot after opening the VI

Step 2. After opening the VI, press the continuous run button at the top left of the VI panel. The
screen shot of VI panel after pressing the run button is shown in Fig. 2.5. The screen shot is
showing the response at zero damping.


Fig.2.5 Screen shot of VI panel after running it.

Step 3. Give the inputs for damping ratio, as per requirement with the help of slider. As for
example, for damping ratio of , = 0.25, the response can be observed on the x-y graph display
panel. The response is obtained using the equation (2.7) and(2.8). The green color line in the x-y
graph is showing amplitude vs. frequency response and dark pink color line is showing phase
angle vs. frequency ratio response. The screen shot of VI panel for damping ratio of , = 0.25 is
shown in Fig. 2.6.

Fig.2.6 Screen shot of VI showing response at damping ratio of 0.25

Step 4. To stop the running VI, press the red stop button at the top left side of the panel.
Step 5. To run it again repeat the step 2.







References:
1. Thomson, W.T., 2007, Theory of vibration with application, third edition, CBS Publishers
and Distributors, Delhi.
2. S. Graham Kelly, 1993, Fundamental of mechanical vibrations, McGraw-Hill international
editions, Mechanical engineering series.
3. Meirovitch, L., 1967, Analytical methods in vibration, Ccollier-MacMillan Ltd., London.
4. V.P. Singh, 2009, Mechanical Vibrations, revised edition 09, Dhanapati Rai & Co. (P) Ltd,
Delhi.