Professional Documents
Culture Documents
Meher Prasad
Department of Civil Engineering
Indian Institute of Technology Madras
email: prasadam@iitm.ac.in
Outline
Degrees of Freedom
Idealisation of SDOF System
Formulation of Equation of motion
Free vibration of undamped/damped systems
Forced vibration of systems
Steady state response to harmonic forces
Determination of natural frequency
Duhamels Integral and other methods of solution
Damping in structures
What is Dynamics ?
P(t)
Static
Dynamic
Unbalanced rotating
machine in building
(b)
Rotating propeller
at stem of ship
Bomb blast
pressure on
building
(d)
Earthquake on
water tank
(b) Complex
(c) Impulsive
Examples
1.
2.
Massless
spring
(a)
(b)
Spring
with
mass
(c)
Inextensible
Spring
Flexible and
massless
Finite
mass
Flexible and
massless
Point
mass
Massless
spring
(a)
4.
(b)
Flexible and
massless
Flexible beam
with distributed
mass
Point
mass
(a)
(c)
Flexible beam
with distributed
mass
(b)
(c)
Rigid deck
5.
Massless
columns
k
c
P(t)
Mass element ,m
Spring element ,k
Dashpot, c
d
dx
m
=
dt
dt
When mass is not varying with time,
..
..
x, x
P(t)
..
mx
mg
..
mx
kx
& k x 0
mx&
Equations of motion:
fs
Spring force
- fs x
..
Inertia Force
- fI x
External Forces
- P(t)
fD
c
1
Examples
k
c
fs = kx
..
P(t)
P(t)
f I = m .x
fd = cx
& cx& kx P (t )
mx&
(1)
dx
d 2x
x&
;&
x&
dt
dt 2
2.
..
. mx
Kx + w
0+ cx
P(t)
st = w/k
& cx& kx P (t )
mx&
(2)
(3a)
P(t)
Rigid ,massless
P(t)
..
mx
a
x
L
a
b
d
L
b
&
&
mx
c
L
b
x&
L
a
x& k
L
d
x
P (t )
L
(3)
(3b)
Rigid
massless
a
x
L
d
L
b
x&
L
P(t)
P(t)
..
mx
m
Stiffness term
b
a
&
&
&
mx c x k
L
L
W
L
W=mg
d
x
P (t )
L
(4)
..
(3c)
mx
x
P(t)
P(t)
b .
x&
L
c
L
a
x
L
Rigid
massless
Stiffness term
&
&
mx
c
a
x& k
L
W
L
d
x
P (t )
L
(5)
(4a)
(distributed mass)
P(t)
L
P(t)
&
x&
2
m
(2/3)L
..
x
a
x
L
fs k
a
b
b .
x&
L
mx
fd c
&
x&
c
x& k
d
x
P (t )
L
(4b)
a
b
d
a
x
L
fs k
b
x&
L
fd c
c
P(t)
(2/3)L
L
&
x&
2
P(t)
..
mx
x
b
a
x& c x& k
m 3 L &
L
L
2
W 1
g
L 2
d
x
P (t )
L
Special cases:
(4c)
(4d)
(4e)
g
&
x& x 0
L
3 g
&
x&
x0
2 L
&
J &
k 0
ke
ce
me
Pe(t)
me &
x& ce x& ke x Pe (t )
me - equivalent or effective mass
Ce - equivalent or effective damping coefficient
Ke - equivalent or effective stiffness
Pe - equivalent or effective force
(6)
m/2
Rigid ,massless
Internal
hinge P(t)
N
x(t)
L/4
L/4
L/8
L/8
P(t)
x&
m
L &
&
x&
2
2
4
m &
x&
2 2
L/4
N
RL
o
x
k
2
x&
c
2
7
1
1
16 N
m&
x& c x& k 1
24
4
4
kL
3
P (t )
4
(5)
me
7
m
24
1
ce c
4
For N = - (1/16) k L
1
16 N
ke k 1
4
kL
ke = 0
3
Pe (t ) P(t )
4
(7)
Free Vibration
Undamped SDOF System
Damped SDOF systems
&
x& p 2 x 0
k
p
m
(9)
(10)
(11)
(12)
where,
C A B
2
2
m
2
natural period
p
k
p 1
f
natural frequency
2 T
(13)
(14)
(15)
Amplitude of motion
v
x02 0
p
x
vo
x0
t
v0
x(t ) x0 cos pt sin pt
p
where,
tan
x0
v0 p
or
2
p
v0
2
x(t ) x0
p
sin ( pt ) (16)
X 0 =initial displacement
V0 =initial velocity
(17)
(18)
p g L
2
k a
g
For system considered in (3b) , p
m L
L
For system considered in (5) , p
6 k
16 N
1
7 m
kL
For N=0 , p po
and for N
6 k
7m
1
kL , p 0
16
(19)
(20)
(21)
Condition of instability
N
1
kL N cr
16
p po 1
(22)
N
N cr
(23)
p2
Ncr
N
p k /m
Letting
(10)
= W/g
(24)
g
p
st
1
f
2
st is expressed in m,
(25)
g
st
T 2 st
(26)
(27)
g
st
Hence, st = L = 0.025 m
f 3.1 cps
st = L = 0.25 m
f 1.0 cps
st = L = 2.50 m
f 0.3 cps
g
L
ke
g
st
(28)
st = due to F = W
Examples
Rigid ,massless
(a)
F
k
F a
k
Therefore, e L
a
L
From Equilibrium,
st
From Compatibility,
L F
a k
or
L
F
a
L
a
F
k
W
k
(29)
(b)
(c)
Rigid bar
k2
k1
k3
Rigid bar
k1
k2
L
L
F
F = F1 + F2
k3
k1
k2
k1
k2
F
F
= 1 + 2 =
k3 a 2
k1 k 2
L
a
F k1 k 2
L
2
F a
k e k1 k 2
L
(30)
1
1
1
F ke a 2
k3
k
k
1
2
L
(31)
(d)
kn
k1
ke = k1 +k2 + + kn
(e)
(f)
ke
(32)
3EI
L3
k1
k2
..
.
ke
kn
12EI
L3
e = 1 + 2 + + n
F F
F
......
k1 k 2
kn
1
1
1
1
......
F k e k1 k 2
kn
ke
(33)
3EI
L3
(34)
(g)
(h)
k2
EI
L1
E1I1
E2I2
k1
L2
Lateral Stiffness :
E1 I1
E2 I 2
ke 12 3 3 3
L
L
kb
k2
k2
k1
kb+k1
1
1
1
1
1
ke k2 kb k1 k 2 3EI k
1
L3
(i)
EI
1 FL3 5 RL3
3 EI 48 EI
Eliminating R,
L/2
L/2
F
R
3
5 FL
1 RL R
a
48 EI 24 EI
k
where, R
5
EI
2 48 3
L
kL3
768 7
3
1
FL
EI
kL3 3 EI
768 32
EI
where,
kL3
768 32
F
EI
EI
ke
3 3
3
kL
L
768 7
EI
(l)
(j)
L/2
L/2
ke
L/2
48 EI
L3
L/2
768EI
ke
7 L3
(k)
(m)
L/2
L/2
ke
192 EI
L3
3EIL
ke 2 2
ab
(n)
(p)
L
2R
d
Gd 4
k
64nR 3
n number of turns
(0)
AE
L
EI
k
L
I - moment of inertia of cross sectional area
L - Total length
GJ
L
(i)
(iii)
(iv)
Columns are massless and can move only in the plane of paper
ke
2 AE
L
pv
2 AE
mL
(35)
ya 0
2
2 3
L
1 .. AE
ay
y0
6
L
1 .. AE
my
y0
6
L
pp
AE/L
(AE/L)y
6 AE
3 pv
mL
AE/L
(AE/L)y
(36)
12 EI
EI
AE r
ke 2 3 24 3 24
L
L
L L
r is the radius of gyration of cross section of each column
12 EI
EI
AE r
ke 2 3 24 3 24
L
L
L L
(37)
& cx& kx 0
mx&
c
k
x& x 0
m
m
&
& 2 p&x 2 0
xpx
&
x&
where,
(A)
k
m
c
c
(Dimensionless parameter)
2mp 2 km
(38)
ert r 2
pr
2
r2
pr
2
or
r1,2 p 2 1
rt
rt
x c1e c2e
r1t
r2t
(39)
2
p
p
1
where, d
(40)
A x0
v0
x0
2
pd
1
In other words, Eqn. 39 can also be written as,
x t e
pt
o
xo cos pd t
2
pd
xo sin pd t
(41)
Td = 2 / pd
2
pd xn
Td
2
pd
The equation shows that damping lowers the natural frequency of the
system, but for values of < 0.2 the reduction is for all practical purpose
negligible.
Unless otherwise indicated the term natural frequency will refer to the
frequency of the undamped system
xn 1
e
xn
2
pd
exp 2
2
1
(42)
xn 1
xn
Logarithmic decrement
Defined as
xn
ln
xn 1
(43)
; 2
by
(44)
x n
2
xn
(45)
1
xn
ln
N xn N
(46)
For 1
Such system is said to be critically damped.
x (t ) C1e pt C2te pt
With initial conditions,
x (t ) x0 1 pt v0t e pt
The value of c for which
of damping
Ccr 2mp 2 km
Therefore,
C
Ccr
(47)
(48)
Po
P(t)
t1 << T
where ,
(49)
1
for a rectangular pulse
2 / for a half-sine wave
1 / 2 for a triangular pulse
Pt
m
0 1
Therefore, V0 =
(50)
P0 t1 P0 kt1 ( x ) pt
st 0
1
p m p
k mp
xmax V
0
Therefore,
or
t1
xmax
2 ft1 2
( xst ) 0
T
(51)
P (t )
&
x& 2 px& p x
m
2
P(t)
(52)
or
&
x& 2 px& p 2 x p 2 xst (t )
t
(53)
P (t )
where, xst (t )
k
P (t )
= Static displacement induced by
kexciting force at time, t
(54)
Po
where (xst)o = k
Po
At t = 0 , x = 0 and v = 0
A = - (xst)o and B = 0
t
x(t) = (xst)o [1 cos pt] = [ 1 cos 2 T ]
(55)
x (t ) 2
( xst )o
1
0
(t / T)
For damped systems it can be shown that:
x(t ) ( xst )0 1 e
xmax
1 e
( xst )0
pt
1 2
cos pd t
sin pd t
2
(56)
(55)
where,
tan x
Vi /
xi xst 1 cos pt
0
Vi p sin pt1
P(t)
Po
t1
pt1
pt1 tan 2
sin pt1
2sin
cos
2
2
pt
hence,
1
2
t1
So, x(t ) (1cos pt1) sin pt1 ( xst )0 sin p(t t1) p
2
t
pt
t
x(t ) ( xst )0 2(1 cos pt1 ) sin p t 1 2 xst 0 sin 1 sin p t 1
2
2
2
(Amplitude of motion)
(57(a))
(57(b))
x(t)/(xst)0
0
x(t)/(xst)0
t1/T=2
1.68
t/T
t1/T=1.5
t/T
t1/T=1/
t1/T=1 1/6
t/T
t/T
(a)
Forced response
Free response
(b)
Overall maximum
Impulsive solution, 2 f t1
xmax 2
xst 0
1
f t1 = t 1/T
This diagram Is known as the response spectrum of the
system for the particular forcing function considered.
Note that with xmax determined, the maximum spring force
Fmax = k xmax
In fact,
P
Fst
xst
0
0
(58)
for t
P(t)
POsin t
t1
for t
=0
for t
t1
( xst )0
sin pt ]
x
(
t
)
[sin
t1,
p
1
p
or
x(t )
for t
t1
t1
xst
1 1 T
4 t1
sin
t 1T
sin 2 t
t1 2 t1
T
(59)
2
p
t cos t
T ( x ) sin 2 t 1 t
x(t ) T
st 0
or
0.25 t
T
2 T
(60)
Response to half cycle sine pulse force (a) response maxima during
forced vibration phase; (b) maximum responses during each of
forced vibration and free vibration phases; (c) shock spectrum
2ft1 4ft
1
ft1
t1
t1
t1
ft1
At high values of ft1, rate of application of load controls the AF. The rise
time for the rectangular pulse, t r, is zero, whereas for the half-sine pulse
it is finite. For all continuous inputs, the high-frequency limit of AF is
unity.
ftr = 2
(61)
t
x(t ) ( xst ) 0
tr
sin pt
pt r
For t tr
t
1 T
2 t
( xst ) 0
sin
t
2
t
T
r
r
P(t)
Po
t
tr
sin pt
1
x(t ) ( xst ) 0 1
sin p (t tr )
ptr
ptr
(t tr )
1 T
t
1 T
( xst ) 0 1
sin 2
sin 2
t
T
2
t
T
r
r
tr
P0
1 cos ptr
tan ptr
sin ptr
P0
tr
(tr t )
tr
Substituting these quantities into x(t), the peak amplitude is found as:
xmax
1
1
( xst )0
ptr
[1
pt
2
sin r
ptr
2
t
1T
sin r
tr
T
xmax
( xst )0
f tr
pt1
t1
( xst ) 0 2 sin sin p t
2
for t
t1
P(t)
Po
for t t1
t
Half-Sine Pulse:
x(t )
( xst )0
2
1 T
1
4 t1
sin
t 1 T
t
sin 2 for t t1
t1 2 t1
T
P(t)
POsint
( xst )0
( ft1 ) cos ft1 f sin 2 ft - ft1
2
0.25 ( ft1 )
t1
xmax
(x xt )0
ft1=0.6
ft1= 2
ft1
Line OA defined by equation.51 (i.e
xmax
= 2 f t1 = 2
( xst )0
t1 )
T
The characteristics of the spectrum in the left-handed, lowfrequency limit cannot be determined in this case by application
of the impulse-momentum relationship. However, the concepts
may be used, which will be discussed later.
(62)
(63)
x(t)
x(t)
I/mp
I/mp
Effect of second pulse
x(t)
2I/mp
t
For n equal impulses of the same sign, the above equation holds
when the pulses are spaced at interval t1 = T
(65)
P(t)
Solution:
(a)
Substituting Eq.(a) into Eq.52, and combining all terms involving sint
and cos t, we obtain
This leads to
(p2-2)M - 2 pN = p2(xst)0
(c)
2 pM+ (p2-2)N = 0
Where
M=
1-
p
1-
p
+4 2
p
(x st )0
p 2ft1
tan
2
(1- 2 )
N= -
1-
p
(x st )0
(1- ) +4
2 2
2 2
+4 2
p
sin (t )
(x st )0
(66)
(67)
(68)
P(t)
x(t)
x(t)
(x st ) 0
AF
1
(1- ) 4
2
x max
(x st ) 0
Note that at
sin(t - )
1
(1- 2 ) 2 4 2 2
1
1, AF
p
2
(69)
(70)
(71)
AF
Effect of damping
1
2 1- 2
For values of
(72)
2
(73)
1
2
1
< 1
2
res = 0
(A.F.)max = 1
(74)
Transmissibility of system
The dynamic force transmitted to the base of the SDOF system is
&
cx
& k x
F kx cx
k
(75)
F k
P0
k
Noting that
1
(1- 2 ) 2 4 2 2
[sin(t - )
c
cos(t - )]
k
c
c
P0
1 4 2 2
(1- 2 ) 2 4 2 2
sin(t - )
(76)
(77)
Transmissibility of system
The ratio of the amplitudes of the transmitted force and the applied
force is defined as the transmissibility of the system, TR, and is
given by
F
TR 0
P0
1 4 2 2
(1- ) 4
2
1
(1- 2 )
(78)
Transmissibility of system
TR
f e f e st
Noting that
2
p f
4.98
st
in
cms
0.1
10
fe
40
50
fe2
(79)
TR
-1
(80a)
1 2
st ; 1
TR f e 2
(in)
or
1 25
st ; 1
TR
fe2
(cm)
(80b)
Application
Consider a reciprocating or rotating machine which, due to unbalance
of its moving parts, is acted upon by a force P0 sint.
If the machine were attached rigidly to a supporting structure as
shown in Fig.(a), the amplitude of the force transmitted to the
structure would be P0 (i.e., TR=1).
If P0 is large, it may induce undesirable vibrations in the structure, and
it may be necessary to reduce the magnitude of the transmitted force.
This can be done by the use of an approximately designed springdashpot support system, as shown in Fig (b) and (c).
P0 sint
P0 sint
m
P0 sint
m
(a)
k
(b)
mb
k
(c)
If the support flexibility is such that is less than the value defined
by Eq.(79), the transmitted force will be greater than applied, and
the insertion of the flexible support will have an adverse effect.
x(t)
of st
required to limit the transmissibility TR = xmax/y0 to a
specified value may be determined from Eq.(80b).
Rotating Unbalance
m
e t
k/2
k/2
d2
( M m) &
x& m 2 ( x e sin t ) cx& kx 0
dt
Reciprocating unbalance
m
L
F me sin t sin 2t
L
Evaluate
In this method is determined from the part of the spectrum near the
peak steps involved are as follows,
f
3. Evaluate the bandwidth, defined as f
(xo)max
xo
1
2
(xo)st
f
f
(xo)max
fe
2 f
Limitations:
Unless the peaked portion of the spectrum is determine accurately,
it would be impossible to evaluate reliably the damping factor.
f = 2(0.01)5 = 0.1cps
with the Cal Tech vibrator it is possible to change the frequency to
a value that differs by one tenth of a percent from its previous
value.
(81)
Derivation
1 1
1
2
2
2 2 (1 ) (2 )
1
1
2
2 2
8
1 4 2 2
2 1 2 2 2 1 2
12 1 2 2 2 1 2 1 1 2
22 1 2 2 2 1 2 2 1 2
1
1 ( f1 f 2 )
(1 2 )
2
2
f
( f 2 f1 )
( f1 f 2 )
( f1 f 2 )
x(t)
d
P ( )d
x
sin p (t - )
mp
(82)
1 t
x(t )
P ( ) sin p t d
mp 0
t
or
x (t ) p xst ( ) sin p t d
0
(83)
(84)
Implicit in this derivation is the assumption that the system is initially (at
t=0) at rest. For arbitrary initial conditions, Eqn 84 should be augmented
by the free vibration terms as follows
t
V0
x t x0 cos pt sin pt p xst sin p t d
0
p
P d p t
x(t )
e
sin pd t
mpd
Leading to the following counterpart of Eqn.84
x t
p
1 2
xst e p t sin pd t d
t t1
x0 v0 0
P(t)
For
t t1
t1
t
0
xst o 1 cos pt
Po
t1
m*
generalised mass
c*
k*
generalised stiffness
p*
generalised force
y x, t x q t
(a)
(b)
m(x)
m1,j1
m2, j2
x1
l
m* m( x ) ( x ) 2 dx mi i2 ji i2
0
c1
c(x)
(c)
c2
a1(x)
(d)
k1
k2
k(x)
(e)
P(x,t)
Pi(t)
p* p( x, t ) ( x )dx pi (t ) i ( x )
0
Effect of damping
Viscous damping
Coulomb damping
Hysteretic damping
Effect of damping
Effect of damping
Wd
Fd dx
Fd cx&
& cx&dt c X
Wd c X
cxdx
2
cos 2 (t )dt c X 2
x&
coefficient of damping
2
c
X
Wviscous - work done for one full cycle =
Fd
cX
-X
X(t)
Ceq X 2 Wd
Wd
Ceq
X 2
2Ws
2k
Cc
where k
, Ws strain energy
X2
Wd
C
Cc 4 Ws
Fd+kx
ellipse
Fd
Wcoulomb 4 F X
-X
X(t)
4Fd/k
x1
x2
x-1
Frequency of oscillation
k
m
1
k ( X 12 X 21 ) Fd ( X 1 X 1 ) 0
2
1
k ( X 1 X 1 ) Fd
2
X1 X 2
4 Fd
k
x
xy
WD 2 kX 2 X 2
Energy dissipated is frequency independent.
-x
xy
Kh=elastic
damper
stiffness
a) Coulomb Ceq=
b)
4F
WX
4 Fy 1
Hysteretic Ceq=
X
c) Structural Ceq=
2k s
Reference
Dynamics of Structures: Theory and Application to
Earthquake Engineering Anil K. Chopra, Prentice Hall
India
Reading Assignment
Course notes & Reading material