General forced response

Impulse response
Dirac delta function
Unit impulse response
arbitrary response
Convolution integral
F(t)
t
cam
Material being
compacted
Follower
Cam
motion
Platform
x(t)
m
F(t)
t
The principle of Superposition
0
2
= + x x
n
e
Linear equations
2 1
, x x
are both solutions
2 2 1 1
x a x a x + =
is also a solution
1
2
f x x
n
= +e
1
x
solution
2
2
f x x
n
= +e
2
x
solution
2 1
2
f f x x
n
+ = +e
2 1
x x +
solution
2 1
, a a
are constants
Impact excitation
Impact is a force applied for a very short
period of time
Impulse due to F(t):
}
= dt t F I ) (
= area under F-t curve
Dirac delta function
Dirac delta function is a unit impulse function
Properties of dirac delta function
0 ) ( = t o t
1 ) ( = t o
}

dt t
) ( ) ( ) ( t = t o
}

g dt t t g
F(t)
t
t
t = t
for
) ( ) ( t o = t I t F
Impulse
Linear impulse-momentum equation
ma F = dt ma dt F
} }
= ) (
v m v v m I A = = ) (
1 2
A mass m initially at rest subject to an impact of size I N.s
impact
0
mv I dt F = =
}
m I v /
0
=
An impact causes initial velocity change of v
0
= I/m while
keeping initial displacement unchanged
Unit impulse response (1)
EOM
) (t kx x c x m o = + +
Initial conditions
0 ) 0 ( ) 0 ( = = x x
Just after subject to a unit impact (t = 0
+
)
Time response of a system initially at
rest but subject to a unit impact (I = 1)
EOM
0 = + + kx x c x m
Initial conditions
m x x / 1 ) 0 ( ; 0 ) 0 ( = =
m
c k
x
Impact response is just free vibration of a system with
initial velocity 1/m
Unit impulse response (2)
EOM
0 = + + kx x c x m
Initial conditions
m x x / 1 ) 0 ( ; 0 ) 0 ( = =
Unit impulse response is just free vibration of a system
with initial velocity 1 / m
t e
m
t x t h
d
t
d
n
e
e
= =
,e
sin
1
) ( ) (
For impact applied at time t = t
) ( sin
1
) (
t e
e
t ,e
t e
m
d
t
d
n
0
h(t) =
for 0 < t < t
for t > t
Before impact
After impact
underdamped
Unit impulse response (3)
EOM
0 = + + kx x c x m
Initial conditions
m x x / 1 ) 0 ( ; 0 ) 0 ( = =
t e
m
t x t h
d
t
d
n
e
e
= =
,e
sin
1
) ( ) ( underdamped
Impulse response
EOM
o = + + I kx x c x m
Initial cond.
0 ) 0 ( ; 0 ) 0 ( = = x x
Unit impulse response is just free vibration of a system
with initial velocity I / m
) ( sin ) ( t h I t e
m
I
t x
d
t
d
n
= e
e
=
,e
For impact applied at time t = t
) ( sin
) (
t e
e
t ,e
t e
m
I
d
t
d
n
0
h(t) =
for 0 < t < t
for t > t
Before impact
After impact
underdamped
0 = + + kx x c x m
m I x x / ) 0 ( ; 0 ) 0 ( = =
Example 1-1
Given: m = 1 kg, c = 0.5 kg/s, k = 4 N/m
) ( 1 . 0 ) ( 2 . 0 ) ( t o + o = t t t F
2 4 = = e
n
125 . 0 ) 2 /( = e = ,
n
m c
) ( 2 . 0 ) ( t t F o = For
t e t x
t

=
2 ) 2 )( 125 . 0 (
2
1
125 . 0 1 2 sin
) 125 . 0 1 2 )( 1 (
2 . 0
) (
;
) ( 1 . 0 ) ( t o = t t F
) 984 . 1 sin( 1008 . 0 ) (
25 . 0
1
t e t x
t
=
) ( 984 . 1 sin 0504 . 0 ) (
) ( 25 . 0
2
t =
t
t e t x
t
For t > t
Example 1-2
) 984 . 1 sin( 1008 . 0
25 . 0
t e
t
) ( 984 . 1 sin 0504 . 0 ) 984 . 1 sin( 1008 . 0
) ( 25 . 0 25 . 0
t +
t
t e t e
t t
t > t
) ( ) ( ) (
2 1
t x t x t x + =
=
t < < t 0
| | ) ( ) ( 984 . 1 sin 0504 . 0 ) 984 . 1 sin( 1008 . 0 ) (
) ( 25 . 0 25 . 0
t t
t
u + =

t t e t e t x
t t
Heaviside step function
= u ) ( t t
t < t , 0
t > t , 1
) ( t t H or
Example 1-3
) 984 . 1 sin( 1008 . 0
25 . 0
t e
t
) ( 984 . 1 sin 0504 . 0 ) 984 . 1 sin( 1008 . 0
) ( 25 . 0 25 . 0
t +
t
t e t e
t t
t > t
) ( ) ( ) (
2 1
t x t x t x + =
=
t < < t 0
Impact forces
5 . 0 = t
Response
) ( ) ( ) (
2 1
t x t x t x + =
0.5
) ( ) (
1
t x t x =
Example 2-1
) 4 ( ) ( ) ( 4 ) ( 2 ) ( o o = + + t t t x t x t x
mm/s 1 ; mm 1
0 0
= = v x
Compute and plot the response
Arbitrary input
Vibration of systems subject to arbitrary nonperiodic inputs.
Analysis tools:
Impulse response function
Super position
Convolution integral
Convolution integral (1)
Excitation Response
Convolution integral (2)
+ + + =
3 2 1
) ( x x x t x
+ +
+ =
) (
) ( ) ( ) (
3 3
2 2 1 1
t t h I
t t h I t t h I t x
+ A +
A + A =
) (
) ( ) ( ) (
3 3
2 2 1 1
t t h t F
t t h t F t t h t F t x
0 At
t t t =
}
d t h F t x
t
0
) ( ) ( ) (
Excitation Response
Convolution integral (3)
= + + kx x c x m
1 1
0 ), ( t t t F < s
1 2
), ( t t t F >
For the non-continuous function,
t t t
}
d t h F
t
1
0
1
) ( ) (
t t t + t t t
} }
d t h F d t h F
t
t
t
1
1
) ( ) ( ) ( ) (
2
0
1
= ) (t x
1
0 t t < s
1
t t >
when
when
Example 3-1
= + + kx x c x m
0
0 , 0 t t < <
0 0
, t t F >
0
0 0
= = v x
1 0 < , <
(underdamped)
t t t =
}
d t h F t x
t
0
) ( ) ( ) (
t e
m
t x t h
d
t
d
n
e
e
= =
,e
sin
1
) ( ) (
t t e
e
=
}
t ,e
d t e
m
F t x
t
t
d
t
d
n
0
) ( sin
1
) (
) (
0
t t e
e
=
}
t ,e ,e
d t e e
m
F
t x
t
t
d
t
d
n n
0
) ( sin ) (
0
Example 3-2
0 0
) (
2
0 0
]; ) ( cos[
1
) (
0
t t t t e
k
F
k
F
t x
d
t t
n
> u e
,
=
,e
2
1
1
tan
,
,
= u

Static displacement
1 . 0 = ,
16 . 3 = e
n
30
0
= F
1000 = k
0
0
= t
rad/s
N
N/m
Example
Example 4-1
= + + kx x c x m
1 0
0 , t t F s <
1
, 0 t t >
0
0 0
= = v x
1 0 < , <
(underdamped)
Homework
Calculate and plot the response of an undamped system to a step
function with a finite rise time of t
1
for the case m = 1 kg, k = 1 N/m,
t
1
= 4 s, and F
0
= 20 N. This function is described by
= ) (t F
1
1
0
0 , t t
t
t F
s s
1 0
, t t F >
0
F
1
t