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Undamped systems
Response = harmonic wave with
frequency n +harmonic wave with
frequency of excitation
The first component is due to initial
conditions plus the force.
The second component is due to the force
] sin( nt )
n m n ( n2 2 )
P
m( n2 2 )
sin(t )
x( t)
xd ( t)
0.1
0
10
20
t
30
40
.
2
x( t)
50
100
150
t
200
250
t 0 0.01 500
.
50
x( t)
50
100
200
300
t
400
500
x( t)
6
t
10
Observations
Response=harmonic wave with frequency n
+harmonic wave with frequency of excitation
When excitation frequency is almost equal to
natural frequency, vibration amplitude is very large.
Rapid oscillation with slowly varying amplitude.
When excitation frequency is equal to the systems
natural frequency, vibration amplitude= . This
condition is called resonance.
When excitation frequency>>natural frequency,
vibration amplitude is very small. The reason is that
the system is too slow to follow the excitation.
Damped systems
x (t ) xc (t )
Free vibration
response (also called
transient response)
x p (t )
Particular response
(steady-state
response)
Steady-state response
We often ignore transient response and focus
on steady-state response.
Steady-state is response is solution of
equation of motion:
F
2
x 2 n x n x sin(t )
m
x (t ) A sin(t )
F
k
A
2 2
2
2
(1 ( ) ) 4 ( )
n
n
2
n
1
tan (
)
1 ( )2
n
1.5
1
0.5
x ( t 1)
p ( t 1)
0
0.5
1
1.041 1.5
0
0
6
t
10
10
6
4
2
x ( t 5)
p ( t 5)
0
2
4
0
0
6
t
10
10
0.5
x ( t 20)
p ( t 20)
0.5
0
0
0.5
1
t
1.5
2
2
5.001
A 0.1
A 0.5
A 2
=0.1
=0.5
=0.5
0.046
0
0
10
15
20
20
0.1
0.5 1.57
2
3.14 3.14
0
0
10
15
20
20
Observations
Observations (continued)
Phase angle is always negative.
For small /n, phase angle is almost
zero.
For /n =1, phase angle is -900.
For large /n phase angle tends to
-1800.