Civil Engineering Department

Structural Analysisspring 2013

(single degree of freedom Harmonic Loading)

Fawad Muzaffar
M.Sc. Structures (Stanford University) Ph.D. Structures (Stanford University)

SDOF Subjected to Harmonic Loading Undamped Case

Equation of Motion: In this case, a harmonically varying load () is applied to the structure. Suppose that the system is subjected to 0 Undamped Case: The equation of motion becomes ---Equation 1 Complementary solution of the above equation (already evaluated for free undamped case) is given by The particular solution of Equation 1 is given by Evaluating the value of and using the above equation and plugging this value in equation 1, we get
Fawad Muzaffar 2

SDOF Subjected to Harmonic Loading Undamped Case

After rearrangement, where The particular solution then becomes 0 1 () = 1 2 The general solution can then be obtained by adding complementary and particular solution The values of A and B are then obtained by observing 0 = 0 = 0

SDOF Subjected to Harmonic Loading Undamped Case

The response of the system then becomes 0

..

1 1 2

Steady State Response: Response that is directly related to applied loading. It is the component at the frequency of the applied load. Transient Response: Response at the natural vibrating frequency. It is the free vibrating effect controlled by initial Condition.
4

SDOF Subjected to Harmonic Loading Undamped Case

Response Ratio The ratio of dynamic displacement to static displacement is called response ratio. Note: i. Tendency of two components to Get in and out of phase beating

ii. The zero slope of total response at time t=0. Conclusion: Initial velocity of transient response cancels initial velocity of steady state response.
5

SDOF Subjected to Harmonic Loading Damped Case

For this case, the equation of motion becomes Dividing the above equation by m + From = 2 = 2 ; 2 = Equation 2 becomes The particular solution of Equation 2 is of the form where 1 and 2 are real constants. Plugging in the particular solution into EQ-2

----Equation 2

SDOF Subjected to Harmonic Loading Damped Case

For this equation to hold at all values of , the terms inside square brackets should be equal to zero, resulting in the following system of equations.

Solution of system of equation yield

The complimentary solution of equation of motion for this case was already derived for damped freely vibrating system

SDOF Subjected to Harmonic Loading Damped Case

The general solution for this case can then be obtained by adding particular and general solution.
Transient Solution

Steady State Response

SDOF Subjected to Harmonic Loading Damped Case

Steady State Response of Damped Structure Transient Response is not that important, steady state response is!

Alternate Representation

where

Solved Example Calculation of Dynamic Properties of Structure

0 1 1 0 1 1 = = 1 2 1 + 2 1 2 2 1 2 1 + tan2 0 1 cos -----Equation F 1 2

1/2

1/2

10

Solved Example Calculation of Dynamic Properties of Structure

1 2 = 0 = 0 Unknowns: and . Use two observations at known conditions
2

11

Solved Example Calculation of Dynamic Properties of Structure

From equation F,
cos = (1 2 ) 0

From
= 2 (1 2 ) = (1 2 ) 2 (1 2 ) 2 1 = 0 2 0 0 0 0 = = = 2 2 2 2 = 0

12

Solved Example Calculation of Dynamic Properties of Structure

13

SDOF Subjected to Harmonic Loading Damped Case

Dynamic Magnification Factor
The ratio of resultant harmonic response amplitude to the static displacement due to 0 is called dynamic magnification factor, D.

Variation of D and Phase Angle with =

14

SDOF Subjected to Harmonic Loading Damped Case

Resonant Response - From Steady State Response (Using Dynamic Magnification Factor): The dynamic magnification factor for damped-harmonically loaded structure is given by Evaluating dD/d and equating to zero, the value of resulting in peak D is obtained as Note: becomes imaginary if > 1/ 2 The value of corresponding to comes out to be

For small values of , the above equation can approximated as

15

SDOF Subjected to Harmonic Loading Damped Case

i. Amplitude of Undamped System tends towards infinity as approaches 1. ii. For low values of , max response occurs at < 1. Resonant Response - From Total Response (Using Response Ratio): For more complete understanding of resonant response, consider general response. At resonant frequency ( = 1) From initial values i.e.

16

SDOF Subjected to Harmonic Loading Damped Case

Frequency Response Curve

17

SDOF Subjected to Harmonic Loading Damped Case

The equation becomes

For small values of , 1 2 1

For = 0, the equation is indeterminate. Using LHospitals rule

The Response becomes Steady State in a few Cycles Build up in amplitude is almost Linear because contribution of is negligible

18

SDOF Subjected to Harmonic Loading Damped Case Rate of increase of amplitude

is directly proportional to

19

Fundamental Principles used by Dynamic Measurement Instruments

Accelerometers Consists of viscously damped oscillator. The equation of motion (already derived) Considering a harmonic () becomes The steady state displacement response is given by (already derived)
= 1 2 2 + 2 = sin /
1 2 2 sin(

20

Vibration Isolation of Equipment

Notes: i. At = = 2, transmitted quantity is equal to source. For > 2, increasing increases transmission of quantity of interest. For < 2, increasing decreases transmission of quantity of interest. For rapidly moving systems, c is undesirable. Because TR is low for high values of , systems are operated at high for isolation of base

ii.

iii. iv. v.

21

Fundamental Principles used by Dynamic Measurement Instruments

Objective of Instrument Design To make and / independent of so that each harmonic component of acceleration will be recorded with the same modification factor and the same time lad to obtain response due to general loading. Plots of R d and against

Note: For small values of and 0.7, 1 and For = 0.6 Such an instrument can be used to measure acceleration.
22

Fundamental Principles used by Dynamic Measurement Instruments

Displacement Meters Consider the case when the support displacement is given by
The acceleration due to the above support displacement The steady state displacement response is given by (already derived)
1 2 2 2 2 = 1 + 2 sin( ) = 2 sin / = 2 sin /

Note: For all , and > 2

& . Hence
23

Vibration Isolation of Equipment

Vibration Isolation Objectives
Prevent Support Structure from Machine Vibrations Prevent Equipment from Vibrations in Support Structure

Force Transmitted to Structure from Machinery

In this case, the force produced by machinery is given by = 0

The displacement response of this system has been evaluated previously as Assuming deflection of supporting structure to be negligible, Force in spring => Force in Damper => Note: Spring and Damping forces at 900 phase out with each other.
24

Vibration Isolation of Equipment

The resultant of the two forces is given by The ratio of to then becomes Transmissibility = Displacement Transmitted to Machinery from Structure For this case, the equation of motion is given by + + = 0 or + + = + --Equation A Now = and = cos
25

Vibration Isolation of Equipment

Plugging back the values of and into equation A
+ + = 0 + 0 Combining force terms as before 0 = 0 2 + 0 = 0 1 + /
2 2

---Equation B
2

= 0 1 +

= 0 1 + /
2

0 = 0 1 + /
and = tan
1

= 0 1 + 2/
2

0 = 0 1 + 2 0 0

Equation B then becomes + + = 0 sin( )

26

Vibration Isolation of Equipment

The solution of the above equation has already been calculated as
0 1 + 2 0 = sin =
2

sin ----Equation C

or = 0 1 + 2
2

sin

Transmissibility is defined as the maximum amplitude of vibration of the equipment to the maximum amplitude of vibration of the supports. or
= 1 + 2 2

Note: Transmissibility of Acceleration is Equal to Transmissibility of displacement Exercise: Differentiate = twice. Then differentiate Equation C twice.

Calculate
27

Evaluation of Viscous Damping Ratio

Free-Vibration Decay Method: Procedure: Deflect the structure, remove force instantaneously, measure peaks m cycles apart. The damping ratio: where

Advantages: i. Simplest and most frequently used method. ii. Equipment and instrumentation requirements are minimal.
Disadvantages: i. Damping so obtained is often dependent on amplitude (because damping are not exactly proportional to velocity). ii. Generally, smaller amplitudes results in smaller values of damping.

28

 Resonant Amplification Method: Procedure: i. Select amplitude of applied dynamic loading. ii. Load structures at discrete frequencies, measure maximum amplitude of steady state response. iii. Plot these values to obtain frequencyresponse curve. iv. Calculate using 1 1 = = 0 2 2 1 2 Disadvantages: i. 0 is not always known since typical loading system cannot produce loading at zero load. ii. is dependent on amplitude of loading.

Evaluation of Viscous Damping Ratio

29

 Resonant Amplification Method: Procedure: Same as Resonant Amplification Method Derivation: 1 From Resonance Analysis: = 2 The Dynamic Mag. Fact: 1 + 2 The value of at which = 2
2 1 2 2

Evaluation of Viscous Damping Ratio

2 1/2

Squaring both sides, solving resulting quadratic Taking square root of the above expression and using Taylor series i.e. Subtracting the roots from each other -- Equation D

30

Evaluation of Viscous Damping Ratio

Adding both roots results in
--- Equation E From equations D & E

Advantage: i. 0 does not need to be calculated for this case. Disadvantage: i. The shape of the frequency response curve has to be determined carefully.

31