Vibrations Chapter 4 2013 Mod

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Chapter 4 Free Response Characteristics
1 ENME 361 Spring 2013
ENME 361
Vibrations, Control, and Optimization I
Spring 2012
Chapter 4
Free Response Characteristics
Acknowledgement: Professors B. Balachandran and E. B. Magrab
Assignment 5 (due on 3/12/13): 4.2, 4.4, 4.11, 4.17, 4.19
In Chapter 4, we shall show how to do the following:
Determine the solutions for a linear, single degree-of-
freedom system that is underdamped, critically damped,
over damped, and undamped
Determine the response of single degree-of-freedom
systems to initial conditions and use the results to study the
response to impact and collision
Determine when a system is stable and how to use the root-
locus diagram to obtain stability information
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x
e
k
e
c
e
m f(t)
2
2
( )
d x dx
m c kx f t
dt dt
+ + =
0 0
( ) x t t V = = For given initial conditions x(t=t
0
)=X
0
and
and forcing f(t),
( ) ( ) ( )
( )
2
2
n n
f t
x t x t x t
m
,e e + + =
What is the response x(t) ?
( ) ( ) ( )
( ) ( )
0
0
0
0
co
1
sin
s sin
n n n
d d
t
d
d
d
n
t t
V X
X e t
e f t
x t
d
m
e t
,
,
e ,e
e q
,e
e
e
e q q
e
e
q

=
+
+
+
}
Response
to
Initial
Conditions
Response to
Forcing
2
1
d n
e e , =
When 0<,<1, e
d
is all called Damped Natural
Frequency.
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3
Laplace Transform
( ) { } ( ) ( )
0
st
L g t G s g t e dt
= =
}
: Laplace Transform Variable (Complex Variable) s
2
, 1. s j j o e = + =
( ) { } ( ) ( )
1
1
2
j
st
j
L G s g t G s e ds
j
o e
o e
t
+
= =
}
Laplace Transform
( ) ( ) ( ) ( )
if g t h t G s H s = =
( )
g t
: is a one-to-one transformation L
L
1
L
s domain t domain
( )
G s
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Laplace Transform is a linear operator:
( ) ( ) { } ( ) ( )
( ) ( )
( ) ( )
( ) ( )
1 1 2 2
0
1 1 2 2
0 0
1 1 2 2
0 0
1 1 2 2
1 1 2 2
st
st st
st st
c f t c f t e dt
c f t e dt c f t e dt
c f t e dt c f
L c f t c f t
c F s c F
t d
s
e t

= + (

= +
= +
=
+
+
}
} }
} }
Convolution Integral:
( ) ( ) { } ( ) ( ) { }
if and , then F s L f t G s L g t = =
( ) ( ) ( ) ( ) { }
H s F s G s L h t = =
( ) ( ) ( ) ( ) ( )
0 0
.
t t
h t f t g d f g t d t t t t t t = =
} }
where, Convolution Integral
Convolution of f and g
( ) ( )( )
* h t f g t =
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( )( ) * f g t
L
1
L
s domain t domain
( ) ( ) F s G s
( )( ) ( ) ( ) ( ) ( )
0 0
* .
t t
f g t f t g d f g t d t t t t t t = =
} }
( ) ( ) { } ( ) ( ) { }
, F s L f t G s L g t = =
Example 1:
( ) ( ) ( )
0
0
st st
x t e x t e s dt

=
}
( ) ( ) { } ( )
Let ? ,
d
L x t X s L
dt
x t

=
`
)
=
( ) ( )
0
st
d
x t e dt
dt
d
L x t
dt
`
)
=
}
( ) ( )
0
0
st
x s x t e dt
= +
}
( ) ( )
0 x s X s = +
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Example 2:
( ) ( ) { } ( )
2
2
? , Let
d
L x t X L
dt
s x t

=
`
)
=
( ) ( )
( ) ( )( )
( ) ( ) ( )
( ) ( ) ( )
2
2
0
0 0
2
0
0 0
2
2
2
0 0
st
st st
st st st
d
x t e dt
dt
d d
d
L x t
dt
x s x s X
x t e x t s e dt
dt dt
d
x t e s x t e s x t e dt
dt
s

=
=

`
)

= + +
= +
}
}
}

( ) ( ) ( ) ( )
( )
( )
0
0
,
0 ,
0 .
mx t c x t k x t f t
x x
x x
+ + =

( ) ( ) ( ) ( )
( ) ( ) ( )
( )
2
2
2
, 2 ,
2 ,
2
n n
n n
n n
k
c m
m
mx t mx t m x t f t
f t
x t x t x t
m
e ,e
,e e
,e e
= =
+ + =
+ + =

Example 3:
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( ) ( ) ( ) { }
( )
( ) { } ( ) { } ( ) { }
( )
( ) { } ( ) { } ( ) { } ( ) { }
2
2
2
2 ,
2 ,
1
2 ,
n n
n n
n n
f t
L x t x t x t L
m
f t
L x t L x t L x t L
m
L x t L x t L x t L f t
m
,e e
,e e
,e e

+ + =
`
)

+ + =
`
)
+ + =

( ) { } ( )
( ) { } ( )
( ) { } ( )
( ) { } ( )
0
2
0 0
,
,
,
.
x t X s
x t x s X s
x t x s x s X s
f t F
L
L
L s
L
=
=
=
+
+ =

( )
2 2
2
n n
D s s s ,e e ( = + +

( ) ( ) ( ) ( )
( ) | | | | ( )
2 2
2 2
0 0 0
0 0 0
1
2 ,
1
2 , 2
n n n
n n
x s x s X s x s X s X s F s
m
X s s x x x F s s
m
s
,e e
,e ,e e (
( + + + + = (

+ + + = +

( ) ( ) | | | | ( )
( )
( ) ( )
( )
( )
0 0 0
0 0 0
1
2 ,
2 1
n
n
X s s x x x F s
m
F s s x x x
X
D s
D s D s D
s
m s
,e
,e
+ + =
+
= + +
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( )
2 2
1 1
sin
2
n
d
n n d
t
e t
s s
,e
e
,e e e

+ +
( ) ( ) ( ) ( ) ( ) ( )
0 0
t t
G s H s g h t d g t h d q q q q q q =
} }
( )
2 2
sin
2
n n
d
n n d
t
s
e t
s s
,e
e
e
,e e e

+ +
2 1
1 , cos
d n
e e , ,
= =
Pair 14:
Pair 16:
Pair 4:
Table A in Appendix A
( )
( )
( ) ( )
1
0
0 0
0
0
1
2 2
0
1
2
2
1
2 sin
2
n
n n
n
n
n
d
d
t
x x L
s s
x x
x x
L
D
e
s
t
,e
,e
,e e
,e
e
e
e
,

+
`

= +
`

)
+ +
)
(
= +
(

( )
( )
1
0 2 2
0
1 0
2
sin
n n
n n
d
d
t
s
x L
s s
x e t
s x
L
D s
,e
,e e
e
e
e

=
`
+ +
)

`

)
(
=
(

Pair 16
Pair 14
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( )
( )
( )
( )
( ) ( ) { } ( )
( )
( )( )
( ) ( )
( ) ( )
1
1
1
0
0
1
1
,
1
*
1 1
sin
1
n
1
si
t
n
d
d
t
n
d
d
F s
L
m D s
L F s
m
h f t
m
e f t d
m
F s
L
mD s
H
e f
s H s
D
m
s
t d
,e q
,e q
e q q q
e
e q q q
e

=
`

)
=
=
=
=
=

`
}
}
Pair 4
( ) ( ) ( )
( ) ( )
0
0
0
0
cos si
n
n
1
si
n n n
d d
d
t
n
d
d
t t
x x
x e t e t x
e f t d
m
t
,
,e q
e ,e
,e
e e
e
e q q q
e

=
+
+
+
}
Response
to
Initial
Conditions
Response to
Forcing
2
1
d n
e e , =
When 0<,<1, e
d
Frequency.
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Underdamped System: 0 < < 1
( ) ( )
( ) ( )
0
0
1
in
s
s
in
n
d
d
t
n
d
d
t
e f t d
t
m
x t A e
,e
e
q
,
e q q q
e
e
=
+
}
2
2 0 0
0 0
1
0
0 0
tan
n
d
d
d
n
x x
A x
x
x x
,e
e
e
,e
| | +
= +
|
\ .
Response to initial conditions

Response to
Forcing
where,
Phase
Amplitude
( ) ( ) ( )
( ) ( )
0
0
0
0
co
1
sin
s sin
n n n
d d
t
d
d
d
n
t t
V X
X e t
e f t
x t
d
m
e t
,
,
e ,e
e q
,e
e
e
e q q
e
e
q

=
+
+
+
}
Response
to
Initial
Conditions
Response to
Forcing
2
1
d n
e e , =
When 0<,<1, e
d
Frequency.
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4.2 Free Responses of Undamped and Damped Systems
Introduction
The responses of undamped and damped single
degree-of-freedom systems in the absence of forcing;
that is, f(t) = 0, are referred to as free responses.
When the system is undamped or underdamped, the
responses are referred to as free oscillations.
In the absence of forcing, the equation of motion for a
single degree-of-freedom reduces to
2
2
2 0
d x dx
x
d d
,
t t
+ + =
where t = e
n
t.
k
c
m x
y
i
j
g
Solutions for Free Response
0 1 , < <
( ) cos( ) sin( )
n n
t t o n o
o d d
d
V X
x t X e t e t
,e ,e
,e
e e
e

+
= +
Underdamped System:
1 , =
| |
( )
n n
t t
o o n o
x t X e V X te
e e
e

= + +
Critically Damped System:
Overdamped System:
1 , >
( ) cosh( ) sinh( )

n n
t t o n o
o d d
d
V X
x t X e t e t
,e ,e
,e
e e
e

+
' ' = +
'
0 , =
( ) cos( ) sin( )

o
o n n
n
V
x t X t t e e
e
= +
Undamped System:
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( ) x t
t
0
x
0
x
0
A
0
A
( ) ( )
0
Response to Initial Conditions
sin
n
d d
t
x t A e t
,e
e
= +
0
n
t
A e
,e
0
n
t
A e
,e
2
2 0 0
0 0
1
0
0 0
tan
n
d
d
d
n
x x
A x
x
x x
,e
e
e
,e
| | +
= +
|
\ .
0 1 , < <
( ) x t
t
0
x
0
x
0
A
0
A
( ) ( )
0
Response to Initial Conditions
sin
n
d d
t
x t A e t
,e
e
= +
0
n
t
A e
,e
0
n
t
A e
,e
2
2 0 0
0 0
1
0
0 0
tan
n
d
d
d
n
x x
A x
x
x x
,e
e
e
,e
| | +
= +
|
\ .
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0
x
0
x
0
A
0
A
( ) ( )
0
sin
n
d d
t
x t A e t
,e
e
= +
2
Period of the Damped Free Oscillations
2
2 2
1
d
d
d d
n
T T
t t
e
e t
e ,
= =
=
d
T
t
( ) x t
0
n
t
A e
,e
0
n
t
A e
,e
0 1 , < <
Critically Damped System: , = 1
x t
( )
= lim
, 1
x
0
e
,e
n
t
cos e
d
t
( )
+
x
0
+,e
n
x
0
e
d
e
,e
n
t
sin e
d
t
( )
}
( )
{ } { }
2
0 0
0
1 1
lim cos lim cos 1
n
n n
d n
t
t t
x e t x e t
x e
,e ,e
, ,
e
e e ,

(
=

=
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Critically Damped System:,= 1
( )
( )
( )
( )
( )
( )
( )
( )
0 0
0 0
0 0
0 0
0 0
1
1
1
1
lim sin
sin
lim
sin
lim
sin
lim
n n
d
d
d
n
n
d
d
n
n
d
d
n
n
n
d
n
t
t
t
t
t
x x
e t
t
x x e
t
x x e
t
t x x e
t
x x e
t
t
t
,e
,
,e
,
,e
,
e
,e
,
,e
e
e
e
,e
e
e
,e
e
e
,e
e
e
+
=
`
)

= +
`
)

= +
`
)

= +
`
)
= +
2
1
d n
e e , =
x t
( )
= x
0
+ x
0
+e
n
x
0
( )
t
e
e
n
t
Free Response: The motion of the critically damped system
is not oscillatory.
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( ) x t
0
x
( ) ( )
0 0 0
n
n
t
x t x x x t e
e
e

= + + (

t
0
x
1 , =
Overdamped System: , > 1
x t
( )
= x
0
e
,e
n
t
cosh e
d
'
t
( )
+
x
0
+,e
n
x
0
e
d
'
e
,e
n
t
sinh e
d
'
t
( )
' 2
1
d n
e e , =
where,
sinh , cosh
2 2
z z z z
e e e e
z z

+
= =
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( ) x t
0
x
( ) ( ) ( )
' '
0 0
0 '
cosh sinh
n n
d d
d
t
x x
x t x t t e
,e
,e
e e
e

( +
= +
(

t
0
x
1 , >
Undamped System: , = 0
( ) ( ) ( )
( ) ( )
0 0
0
0
0
lim cos sin
1
sin
n n n
d d
d
t
n
d
d
t t
x x
x t x e t e t
e f t d
m
,e ,e
,
,e q
,e
e e
e
e q q q
e

+
= +
+
`
)
}
( )
{ } { }
( )
2
0 0
0
0 0
lim cos lim cos 1
cos
n n
d n
n
t t
x e t x e t
x t
,e ,e
, ,
e e
e
,

(
=

=
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Undamped System: ,= 0
x t
( )
= x
0
cos e
n
t
( )
+
x
0
e
n
sin e
n
t
( )
An alternative form is,
x t
( )
= A
0
sin e
n
t +
d
( )
,
A
0
= x
0
2
+
x
0
e
n
|
\
|
.
|
2
,
d
= tan
1
e
n
x
0
x
0

0
x
0
x
0
A
0
A
( ) ( )
0
sin
n d
x t A t e = +
Period of the Undamped Free Oscillations
2
2
n n n
n
T T
t
t
e
e = =
n
T
t
( ) x t
0 , =
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Solutions for Free Response
0 1 , < <
( ) cos( ) sin( )
n n
t t o n o
o d d
d
V X
x t X e t e t
,e ,e
,e
e e
e

+
= +
Underdamped System:
1 , =
| |
( )
n n
t t
o o n o
x t X e V X te
e e
e

= + +
Critically Damped System:
Overdamped System:
1 , >
( ) cosh( ) sinh( )

n n
t t o n o
o d d
d
V X
x t X e t e t
,e ,e
,e
e e
e

+
' ' = +
'
0 , =
( ) cos( ) sin( )

o
o n n
n
V
x t X t t e e
e
= +
Undamped System:
0 0
x X =
0 0
x V =
| | ( )
o o n o
x X e V X e
t t
t e t

= + +
m
Overdamped System: , > 1
( ) ( )
( )
2 2
2
2
2
( ) sinh 1 cosh 1
1
sinh 1
1
o
o
n
x X e
V e
,t
,t
,
t t , t ,
,
t ,
e
,
(
= + (
(

+
m
Undamped System: , = 0
( ) cos sin
o
o
n
V
x X t t t
e
= +
m
Underdamped System: 0 < , < 1
2 2
2
( ) cos( 1 ) sin( 1 )
1
o n o
o
V X
x X e e
,t ,t
e ,
t t , t ,
,

+
= +
m
n
t t e =
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0 5 10 15
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
t
x
(
t
)
/
(
V
o
/
e
n
)
, <1
, =1
, >1
, =0
When , the response is not oscillatory and the
displacement decays to its equilibrium position in the
shortest time.
When , the response is oscillatory.
When , the response is oscillatory.
When , the response is not oscillatory.
For Free Responses
1 , =
0 1 , < <
0 , =
1 , >
Design Guideline
The free response of a critically damped system reaches
its equilibrium or rest position in the shortest possible
time.
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Free Responses of Undamped Systems
0 , =
Responseto initial conditions
( ) cos( ) sin( )

o
o n n
n
V
x t X t t e e
e
= +
Undamped System:
Example 4.1: Free response of a microelectromechanical
system
A MEMs system has the following properties and IC:
m = 0.40 g, k = 0.08 N/m, c = 0, X
o
= 2 m, V
o
= 0
Then, the displacement response
k
c
m x
y
i
j
g
The natural frequency and period are
8
-9
4
0.08N/m
2 10 14142.1rad/s
0.40 10 kg
2250.8 Hz
2
1 1
4.443 10 0.4443 ms
2250.8
n
n
n
n
k
m
f
T
f
e
e
t
= = = =
= =
= = = =
and the displacement response is
( ) ( ) 2cos 14142.1 m x t t =
Notice that at t = 0, x(0) = 2 m.
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Example 4.3: Free response of a door
We assume that
J
door
= 20 kgm
2
, c
t
= 48 Nms/rad,
k
t
= 28.8 Nm/rad, V
o
= 4 rad/s, u
o
= 0
The damping factor and the natural
frequency of the system are
2
2
48Nms/rad
1.0
2 2 20kg m 1.2rad/s
28.8N m/rad
1.2 rad/s
20kg m
t
door n
t
n
door
c
J
k
J
,
e
e
= = =

= = =
Hence, the system is critically damped and the

response, therefore, is given by (with u replacing x)
k
Door
| | ( )
n n
t t
o o n o
x t X e V X te
e e
e

= + +
1.2
( ) 4 rad
n
t t
o
t V te te
e
u

= =
Maximum/minimum value occurs at the time t = t
max
that
satisfies
max max
max
1.2 1.2
max
( )
4 4(1.2) 0
t t
t t
d t
e t e
dt
u

=
= =
which yields t
max
= 1/1.2 = 0.833 s.
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0 1 2 3 4 5 6 7 8
0
0.2
0.4
0.6
0.8
1
1.2
1.4
t (s)

(
r
a
d
)
( ) ( ) ( )
0 0
0
cos sin
n n n
d d
d
t t
V
t e x t
X
X e t
,e ,e
,e
e e
e

+
+ =
For free responses,
0 0
0 assume and 0. V X = =
( ) ( )
0
sin
n
d
d
t
V
x t e t
,e
e
e

=
2
1
Damped Natural Frequency.
d n
e e , =
Underdamped 0 < < 1
( )
( )
2
2
0
1
sin 1
1
n
x
e
V
,t
t
t ,
,
e
Introduce the non-dimensional time ,

n
t t e =
( ) 0 1 , < <
4.2.2: Response to Initial Velocity
3/4/2013
23
Initial Velocity: Undamped , = 0
( ) ( ) ( )
0
0
cos sin
n n
n
V
X t x t t e e
e
+ =
0 0
0 assume and 0. V X = =
( )
( )
0
sin
n
x
V
t
t
e
=
( ) ( )
0
sin
n
n
V
x t t e
e
=
n
t t e =
( ) 0 , =
For free responses,
( ) ( )
0 0 0
n
n
t
X V X t e x t
e
e

+ + (
=

Initial Velocity: Critically Damped , = 1
0 0
0 Assume and 0. V X = =
( )
0
n
t
x t V t e
e
=
( )
0
n
x
e
V
t
t
t
e
=
n
t t e =
( ) 1 , =
3/4/2013
24
( ) ( ) ( )
' ' 0 0
0 '
cosh sinh
n n n
d d
d
t t
x t
V X
X e t e t
,e ,e
,e
e e
e

+
+ =
Initial Velocity: Overdamped , > 1
' 2
1
d n
e e , =
( ) ( )
' 0
'
sinh
n
d
d
t
V
x t e t
,e
e
e

=
( )
( )
2
2
0
1
sinh 1
1
n
x
e
V
,t
t
t ,
,
e

n
t t e =
( ) 1 , >
0
V
0 , =
t
1 , >
( )
0
n
x
V
t
e
0 1 , < <
1 , =
3/4/2013
25
0
V
t
1 , >
( )
0
n
x
V
t
e
0 1 , < <
1 , =
Free response of a SDOF system with a prescribed initial
velocity.
Underdamped SDOF system:
( ) ( )
0
sin
n
d
d
t
V
x t e t
,e
e
e

=
0 1 , < <
The velocity and acceleration of the mass
( ) ( ) ( )
( ) ( ) ( )
0
2
2
1 0
2
sin
1
1
sin 2 tan
1
n
d
n n
d
t
t
V
v t x t e t
V
a t x t e t
,e
,e
e
,
, e
e
,
,

= =
= = =
3/4/2013
26
Extrema of Displacement Response
The displacement has an extremum (max or min) at those
times for which,
dm
t
( ) ( )
0
2
sin 0
1
dm
dm dm
n
d
t
t t
V
x e
,e
e
,

= =
( ) sin 0
, 0,1,2,
, 0,1,2,
d
d dm
d d
dm
m
t p p
t
t p p
e
e t
e
t
=

= + =
= =
Solution:
3/4/2013
27
Extrema of Displacement Response
Therefore,
( )
( )
0
max/ min
tan
1 , 0,1,2,
p
n
p V
x e p
t
e
+
= =
2
1
dm
d
n
t

e
e ,
= =
The largest displacements occur when 0 or at, p =

0 5 10 15 20 25 30
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
2
1
n dm
t

e
,
=
n
t t e =
n
t
e
,e
( )
0 d
x t
V e
3/4/2013
28
Extrema of Velocity Response
The velocity has an extremum (max or min) at those
times for which,
vm
t
( ) sin 2 0 2 , 0,1,2,
2 , 0,1,2,
d v
d vm
m d vm
t t
p
p
t p
p e e t
e t
= =
= + =
=
Solution:
( ) ( )
0
2
sin 2 0
1
vm
vm vm
n n
d
t
x t
V
e t
,e
e
e
,

= =
Therefore,
( ) ( )
( )
1
0
2 tan
1 , 0,1,2,
p
vm
p
x t V e p
t + +
= =
0 5 10 15 20 25 30
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Displacement
Velocity
Acceleration
2
1
n dm
t

e
,
=
( )
2
sin 2
1

,
2
2
1
n vm
t

e
,
=
( )
0 n
x t
V e
n
t t e =
n
t
e
,e
( )
0 d
x t
V e
( )
0
x t
V
3/4/2013
29
Force Transmitted to a Fixed Surface
We had previously obtained the following relation for
the force at a fixed surface:
( ) ( ) 2 ( ) ( )
R
F cx kx k x x t , t t = + = +
( ) ( ) ( )
2 2
2
( )
2 sin 1 sin 1
1
R
o n
F e
kV
,t
t
, t , t ,
e
,
= +
which yields
At t = 0, we see that
2
(0) 2 sin
2
1
R
o n
F
kV
,
,
e
,
= =
an unrealistic result, which is caused by the viscous

damper.
Example 4.4: Impact of a vehicle bumper
Consider a vehicle of mass m that is travelling at a constant
velocity V
o
. The bumper is modeled as a spring k and
viscous damper c combination in parallel. If the vehicles
bumper hits a stationary barrier, then, after the impact, the
displacement and velocity of the mass are those given by
the following Eqs. Determine the coefficient of restitution of
the system.
( ) ( )
( ) ( ) ( )
0
2
1 0
2
sin
1
sin , tan
1
n
d
d
n
d
t
t
V
x t e t
V
v t x t e t
,e
,e
e
e
,
e
,
,

= = =
( )
( )
( )
( )

vehicle barrier vehicle
after impact after impact
vehicle barrier vehicle
before impact before impact
v v v
v v v
c

= =
Coefficient of Restitution:
3/4/2013
30
3/4/2013
31
0 0
In our case: 0 and . 0 X V = =
( ) ( )
0
2
sin
1
n
d
t
X
x t e t
,e
e
,

= +
( ) ( )
2
2 0
0 0
0
0
2
0
2
1
0
1
0
0
= : Amplitud
sin
1
1
ta
e
tan : Ph = a e n s
n
d
d
d
n
n
d d
t
A e t
V
x t
X
A X
X
X V
X
,e
e
,
,

,
,e
e
e
,e

| | +
= +
|
\
| |
|
|
\
.
= =
+
.
4.2.3: Initial Displacement
0 5 10 15 20 25 30
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
n
t t e =
n
t
e
,e
( )
0
x t
X
3/4/2013
32
( ) ( ) ( )
( ) ( ) ( )
0
2
2
0
2
sin
1
sin
1
n n
d
n n
d
t
t
X
x t v t e t
X
x t a t e t
,e
,e
e
e
,
e
e
,
= =
= =
Velocity:
Acceleration:
( ) ( )
0
2
sin
1
n
d
t
X
x t e t
,e
e
,

= +
Displacement:
0 5 10 15 20 25 30
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Displacement
Velocity
Acceleration
n
t t e =
n
t
e
,e
( )
0 n
x t
X e
( )
2
0 n
x t
X e
( )
0
x t
X
3/4/2013
33
( )
( )
ln
d
x t
x t T
o
(
=
(
+

The logarithmic decrement is defined
as the natural logarithm of the ratio of any
two (nonzero) successive amplitudes of
the response that occur a period apart:
Logarithmic Decrement
d
T
o
0 5 10 15 20 25 30
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Quantities used in the definition of the Logarithmic Decrement
n
t t e =
n
t
e
,e
( )
0
d
x t T
X
+
2
2
1
n d
T
t
e
,
=
( )
0
x t
X
( )
0
x t
X
n d
T e
3/4/2013
34
1
0 1
1 2
p
p
x
x x
e
x x x
o
= = = =
From these two amplitudes, it is possible
to determine the damping ratio .
Logarithmic Decrement
,
( ), 0,1,2,
p d
x x t pT p = + =
Let,
then, by definition:
Furthermore, we notice that
therefore, in terms of two aplitudes measured -cyclesaparts p
2 1
0 1 2
1 2 3 1
0
p p
p p p
p
x x
x x x
e e e e e
x
x x x x x
e
x
o o o o o o
= = =
0 0 0
1
ln ln
p p p
p
x x x
e p
x x p x
o
o o
| | | |
= = =
| |
| |
\ . \ .
( )
( )
0
1 1
ln ln , 1,2,
p d
x t x
p
p x p x t pT
o
| | (
= = =
|
(
|
+
\ .

p-times
3/4/2013
35
Now,
we have,
( ) ( )
0
2
2
sin
1
2 2
1
n
d
d
d
n
t
X
x t e t
T
,e
e
,
t t
e
e ,

= +
= =
( ) ( )
( )
( )
( )
0
2
0
2
sin
1
sin
1
n
d
n d
d d d
t
t pT
X
x t e t
X
x t pT e t pT
,e
,e
e
,
e
,
= +
+ = + + (


( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
0
2
2
0
sin
1
1
sin
sin
sin
sin
,
s 2 in
2
n
d
n d
d d
n n n d
d
d
d
n d
d
d
n
d d
d d
d
t
t pT
t t
pT
pT
pT
x X
e t
X e t pT
e e e t
t p
t
x t pT
T
T
p t
e
t
e
,e
,e
,e ,e ,e
,e
,e
e
,
,
e
e
e e
e t
e
e t
= +
+ + (

+
=
+ +
=
=
+
+
=
+ +
3/4/2013
36
( )
( )
n d
d
pT
x t
e
x t pT
,e
=
+
( )
( )
ln
n d
d
x t
pT
x t pT
,e
(
=
(
+

hence,
or,
( )
( )
1
ln
n d
d
x t
T
p x t pT
o ,e
(
= =
(
+

but,
2 2
2 2
1 1
d n d
n
T T
t t
e
e , ,
= =

hence,
( )
( )
2
1 2
ln
1 d
x t
p x t pT
t,
o
,
(
= =
(
+

2
1
2
1
,
t
o
=
| |
+
|
\ .
3/4/2013
37
0 2 4 6 8 10 12 14 16 18 20
-8
-6
-4
-2
0
2
4
6
8
10
4.395
0.88024
5.6485
3.3048
, = 0.085, T
d
= 3.153
Example: determination of , using the concept of Logarithmic Decrement
x
(
t
)
t
0
t
State-Space Plot Is a graph of the displacement versus
the velocity at each instant of time.
( ) x t
( ) x t
4
t
1
t
3
t
2
t
5
t
0 1 2 3 4 5
t t t t t t < < < < < <
3/4/2013
38
State-space plot of single
degree-of-freedom system with
prescribed initial displacement
and initial velocity.
-10 -5 0 5 10
0
5
10
15
t
x(t)
-10 -5 0 5 10
-5
0
5
x(t)
v
(
t
)
0 5 10 15
-5
0
5
t
v
(
t
)
-10 -5 0 5 10
0
5
10
15
t
x(t)
-10 -5 0 5 10
-5
0
5
x(t)
v
(
t
)
0 5 10 15
-5
0
5
t
v
(
t
)
-5 0 5 10
0
5
10
15
20
25
30
( 0, 2 )
( 1.49, 6.4016 )
( 4.99, -3.9775 )
( 9.99, 3.7596 )
( 15.24, -2.1091 )
( 23.74, -1.1562 )
t
x(t)
-5 0 5 10
-5
0
5 ( 2, 5 )
( 6.4016, 0.43139 )
( -3.9775, -2.249 )
( 3.7596, 0.056337 )
( -2.1091, 1.4003 )
( -1.1562, 0.87125 )
x(t)
v
(
t
)
0 10 20 30
-5
0
5 ( 0, 5 )
( 1.49, 0.43139 )
( 4.99, -2.249 )
( 9.99, 0.056337 )
( 15.24, 1.4003 )
( 23.74, 0.87125 )
t
v
(
t
)
X
0
= 2
V
0
= 5
, = 0.085
3/4/2013
39
-2 -1 0 1 2
0
5
10
15
20
25
30
( 0, 2 )
( 4.99, -1.28 )
( 15.24, 0.23029 ) t
x(t)
-2 -1 0 1 2
-1.5
-1
-0.5
0
0.5
1
1.5
( 2, -1.1102e-016 )
( -1.28, 0.60695 )
( 0.23029, 0.52635 )
x(t)
v
(
t
)
0 10 20 30
-1.5
-1
-0.5
0
0.5
1
1.5
( 0, -1.1102e-016 )
( 4.99, 0.60695 )
( 15.24, 0.52635 )
t
v
(
t
)
X
0
= 2
V
0
= 0
, = 0.085
-5 0 5 10
0
5
10
15
20
25
30
( 0, 0 )
( 4.99, -2.6976 )
( 15.24, -2.3393 ) t
x(t)
-5 0 5 10
-4
-2
0
2
4
6
( 0, 5 )
( -2.6976, -2.856 )
( -2.3393, 0.87399 )
x(t)
v
(
t
)
0 10 20 30
-4
-2
0
2
4
6
( 0, 5 )
( 4.99, -2.856 )
( 15.24, 0.87399 )
t
v
(
t
)
X
0
= 0
V
0
= 5
, = 0.085
3/4/2013
40
-10 -5 0 5 10
0
5
10
15
20
25
30
( 0, 0 )
( 4.99, -3.7693 )
( 15.24, -6.0474 ) t
x(t)
-10 -5 0 5 10
-5
0
5 ( 0, 5 )
( -3.7693, -4.1241 )
( -6.0474, 2.1044 )
x(t)
v
(
t
)
0 10 20 30
-5
0
5 ( 0, 5 )
( 4.99, -4.1241 )
( 15.24, 2.1044 )
t
v
(
t
)
X
0
= 0
V
0
= 5
, = 0
0 1 2 3 4
0
5
10
15
( 0, 2 )
t
x(t)
0 1 2 3 4
-1
0
1
2
3
4
5 ( 2, 5 )
x(t)
v
(
t
)
0 5 10 15
-1
0
1
2
3
4
5 ( 0, 5 )
t
v
(
t
)
X
0
= 2
V
0
= 5
, = 1.5
3/4/2013
41
0 1 2 3 4 5
0
5
10
15
( 0, 2 )
t
x(t)
0 1 2 3 4 5
-2
-1
0
1
2
3
4
5 ( 2, 5 )
x(t)
v
(
t
)
0 5 10 15
-2
-1
0
1
2
3
4
5 ( 0, 5 )
t
v
(
t
)
X
0
= 2
V
0
= 5
, = 1
A linear SDOF system is considered stable if,
for all selections of finite initial conditions and
finite forcing functions,
where A has a finite value.
If this is not the case, then the system is
considered unstable.
( )
0 (Boundedness Condition) x t A t s >
4.3 Stability of a single degree-of-freedom system
3/4/2013
42
( ) ( ) ( ) ( )
( )
( )
0
0
,
0 0,
0 0.
e e e
m x t c x t k x t f t
x x
x x
+ + =
= =
= =

( )
( ) ( ) ( )
2
2
0, , 2 ,
2 0
e
n e n e
e
n n
k
f t c m
m
x t x t x t
e ,e
,e e
= = =
+ + =
( ) ( ) ( )
( )
( ) ( )
( )
( )
( ) ( )
2 2
0 0 0
2 2
0 0 0
0 0 0
0 0 0
2 2
2 0
2 2
2
2
2
n n
n n n
n
n n
n
D
s X s x s x s X s x X s
X s s s x x s x
X s x x s x
s x x x
X s
D s D
s
D s s
s
s
,e e
,e e ,e
,e
,e
,e e
+ + = (

( + + = + +

= +
= + +
+
+
= +
3/4/2013
43
( )
( )( )
2
2
2
2
2
1
2
2
2
n
e
e
n
n
e e
e e
e
e n
D s s s
s s
c k
s s
m m
s s s s
m
c k
m
,
e
e e
e
= + +
= + +
= + +
=
2
2
1,2
1 1
4 4
2 2
e e e
e e e e
e e e e
c c k
s c c m k
m m m m
(
| |
( (
= =
|

(
\ .

( ) ( )( ) ( )
( ) ( )( ) ( )
1 2 1 2 1 2
2 1
1 2 1 2 1 2
1 1 1 1 1
1
D s s s s s s s s s s s
s s s s
D s s s s s s s s s s s
(
= =
(

(
= =
(

( )
1,2
1,2
remains finite for all 0 iff
0
Re 0
0
e
e
s t
e t
c
s
k
>
>
s

>
( ) ( ) { }
1 1,2
1,2
1
1 s t
L e
s s
x t L X s

=
`
)
Since,
Pair 16
3/4/2013
44
Note:
2
1,2
1
4
2
e e e e
e
s c c m k
m
(
=

2 2
, 2
e
n n e e n
e
e e
k
m k
m
c m ,e e e = = =
2 2 2 2 2
1,2
2
1
2 4 4
2
1
2 2 1
2
n e n e e n
e
n e n e
e
s m m m
m
m m
m
,e , e e
,e e ,
(
=

(
=

2
1,2
1
n
s e , ,
(
=

-2 -1.5 -1 -0.5 0 0.5
-1
-0.5
0
0.5
1
1.5
s
1
(, = 0)
s
2
(, = 0)
s
1
(0 < , < 1)
s
2
(0 < , < 1)
s
1
(, > 1) s
2
(, > 1)
s
1
(, = 1) = s
2
(, = 1)
s
1,2
(,) = e
n
[-, (,
2
- 1)
1/2
]
Root locus diagram
I
m
a
g
(
s
)
Real(s)
Unstable Region Stable Region
0 and 0
e e
k c > > 0 and/or 0
e e
k c s <
-2 -1.5 -1 -0.5 0 0.5
-1
-0.5
0
0.5
1
1.5
s
1
(, = 0)
s
2
(, = 0)
s
1
(0 < , < 1)
s
2
(0 < , < 1)
s
1
(, > 1) s
2
(, > 1)
s
1
(, = 1) = s
2
(, = 1)
s
1,2
(,) = e
n
[-, (,
2
- 1)
1/2
]
Root locus diagram
I
m
a
g
(
s
)
Real(s)
Unstable Region Stable Region
0 and 0
e e
k c > > 0 and/or 0
e e
k c s <
3/4/2013
45
The equilibrium position x = 0 of the system
is said to be asymptotically stable if:
Asymptotic Stability
( )
lim 0
t
x t
=
( ) ( ) ( )
0
e e e
m x t c x t k x t + + =
{ }
1,2
Re 0 s <
Glossary Chapter 4
Free response motion of a system in the absence of an
externally applied force; that is, a system subject only to
initial conditions
Initial conditions the state of a system at time equal to
zero
Logarithmic decrement the natural logarithm of the ratio
of any two successive amplitudes of the response of a
linear system that occur one period apart
Stable system a system whose response is finite for all
time, when all initial conditions and externally applied
forces and moments have finite magnitudes
Unstable system a system whose response to an input of
finite magnitude grows in an unbounded manner with time

Vibrations Chapter 4 2013 Mod

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Chapter 4 Free Response Characteristics

Response to initial conditions

Chapter 4 Free Response Characteristics

Hence, the system is critically damped and the

Introduce the non-dimensional time ,

Introduce the non-dimensional time ,

The largest displacements occur when 0 or at, p =

an unrealistic result, which is caused by the viscous

Chapter 4 Free Response Characteristics

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