Beruflich Dokumente
Kultur Dokumente
Structural Dynamics
CT 4140
Prof. Dr. Andrei V. Metrikine
Contents of Lecture 1
Meeting Times
Mondays and Fridays: Theatre D at 10.45-12.30 am
Wednesdays:
Theatre E at 10.45-12.30 am
February
March
week 6
week 7
week 8
week 9
week 10
week 11
week 12
Lecture 1
2 February
Lecture 4
9 February
Lecture 7
16 February
Lecture 10
23 February
Lecture 13
2 March
Lecture 16
9 March
Lecture 19
16 March
Lecture 2
4 February
Lecture 5
11 February
Lecture 8
18 February
Lecture 11
25 February
Lecture 14
4 March
Lecture 17
11 March
Lecture 20
18 March
Lecture 3
6 February
Lecture 6
13 February
Lecture 9
20 February
Lecture 12
27 February
Lecture 15
6 March
Lecture 18
13 March
Color Code:
Structural Vibrations (Part 1)
Waves in Structural Elements (Part 2)
Exercise
Lecture 1
Lecture 1
Blackboard Content
Required Pre-knowledge
Staff
Information
Contains my coordinates
Course
Documents
Assignments
Books
Links
Lecture 1
CT 2022
Dynamics of
Systems
CT 3110
Elastostatics
of Slender
Structures
CT 4145 Dynamics
of Mechanical
Systems and
Slender Structures
Lecture 1
Course Objectives
Cause
Result
Model
string
string
rigid
body
1-mass-spring
system
bar
bar
2-mass-spring
system
beam
beam
plate
plate
F(t)
n-mass-spring
system
Models to be considered
Lecture 1
Lecture 1
Lecture 1
Skyscrapers
Traffic-Induced Vibrations
Chimney
Wind-farm
Lecture 1
Lecture 1
10
Super-fast Train
Transatlantic Underwater Tunnel New-York London
Lecture 1
11
Lecture 1
12
Super-fast Train
Pile driving
13
Lecture 1
14
Human-Induced Vibrations
Lecture 1
Installation of a riser
Significance of dynamics for civil engineering
16
Cross-Flow-Induced Vibrations
Axial-Flow-Induced Vibrations
Guido 1.avi
Instability of a submerged
cantilever
Lecture 1
18
Ice-Induced Vibrations
Ice-Induced Vibrations
ice sheet
rigid
struct.
The Molikpaq
cracks
Lecture 1
IIV tests
ice
rubbles
19
Lecture 1
20
Machines
x(t)
Walking / Dancing
m
periodical
Waves
Wind
t
F(t)
Vortex / Galopping
random
Traffic
transient
Piling
Unloaded
static
position
m
t
Earthquakes
x(t)
pulse
Lecture 1
Explosions
F(t)
Collisions
21
Lecture 1
Model:
x(t)
&& kx = F ( t )
mx+
F(t)
x ( t ) = X k exp ( sk t ), X k , sk complex
&&
x+ x = 0
2
n
x ( 0 ) = x0 , x& ( 0 ) = v0
k =1
Characteristic Equation:
sk2 + n2 = 0
s1,2 = in eigenvalues
Free Vibrations
&& kx = 0
mx+
x ( 0 ) = x0
22
Begin Generalization
&&
x+ x = 0
2
n
n = k m
(N)
+ a1 x
( N 1)
+ ...aN 1 x + aN x = 0
(1)
Characteristic Equation:
(N )
( N 1)
x& ( 0 ) = v0
sk + a1sk
x ( t ) = X k exp ( sk t )
k =1
+ ...aN 1sk + aN = 0
End Generalization
Lecture 1
23
Lecture 1
24
Contents of Lecture 2
1. Recollection of knowledge regarding undamped 1 DOF
systems
vibrations under harmonic force, amplitude-frequency and phasefrequency characteristics, resonance, vibrations under general
disturbing force
2/n
Free Vibration:
x ( t ) = x0 cos (nt ) +
A0 = x02 + ( v0 n ) amplitude
v0
x0n
0 = tan 1
Lecture 1
initial phase
25
Lecture 2
Beating:
mx&& + kx = F0 cos (t )
30
x ( 0 ) = x0 , x& ( 0 ) = v0
x (t ) =
20
10
sin (nt )
x (t ) =
-10
A=
F0
1
k 1 2 n2
n < 1
0,
=
,
90
n > 1
-30
0
50
100
150
time t [s]
200
250
1
F0
1
cos (t )
k 1 2 n2
-20
F
1
+ 0
( cos (t ) cos (nt ) )
k 1 2 n2
F0
1
cos (t )
k 1 2 n2
A/x static
x(t)k/F 0
Lecture 2
26
v0
x ( t ) = x0 cos (nt ) +
A0
x0
viscous damping
v0
v0
/n
Amplitude-Frequency Characteristic
(Magnification Factor)
27
Lecture 2
/n
Phase-Frequency Characteristic
28
Time-domain representation
of resonance
&& kx = F ( t )
mx+
x ( 0 ) = x0 , x& ( 0 ) = v0
20
x(t)k/F0
A/x static
10
x ( t ) = x0 cos (nt ) +
2
-10
/n
Lecture 2
10
15
20
t
t
29
0, t t
lim F = ( t t ) =
dt 0
, t = t
Dirac Delta-Function
I = F t =
I
2dt = I
2dt
30
( t t ) dt = 1
mx&&p + kx p = I ( t )
x p ( 0 ) = 0, x& p ( 0 ) = 0
xp (t ) =
mx&&p + kx p = 0
x p ( 0 ) = 0, x& p ( 0 ) = I m
I = 1N s
1
1
sin (n t ) , t 0 x p ( t t ) =
sin (n ( t t ) ) , t t 0
mn
mn
x p ( t ) = F ( t ) x p ( t t ) dt =
F ( t ) ( t t ) dt = F ( t )
( t ) = 1
s
&& kx = F ( t ) = F ( t ) ( t t ) dt = F ( t t ) ( t ) dt
mx+
Lecture 2
dt
1
F ( t ) sin (n ( t t ) ) dt , t > t
mn
xp (t ) =
F
x ( t ) = 0 t sin (t )
2k
I
2dt
1
F ( t ) sin (n ( t t ) ) dt
mn 0
25
t [s]
F
1
A= 0
k 1 2 n2
sin (nt ) +
-20
0
0
v0
1
F ( t ) sin (n ( t t ) ) dt
mn 0
t
Lecture 2
31
Lecture 2
32
10
Model:
x(t)
&& & kx = F ( t )
mx+cx+
x ( 0 ) = x0 , x& ( 0 ) = v0
Critical Damping:
c
x
Free Motion
ccrit = 2 km ( c = ccrit n2 = n2 )
Aperiodic Motion:
&&
x + 2nx& + x = 0,
x0
x (t ) =
2
n
damping factor
c m = 2n
s1 = n + n 2 n2 , s2 = n n2 n2
2
n
F(t)
Eigenvalues:
s + 2ns + = 0
2
Damped Vibration:
x0
( s1 exp ( s2 t ) s2 exp ( s1 t ) )
s1 s2
1 = n2 n 2
))
t
Lecture 1
33
Damped Vibration:
1 = n2 n 2
v nx
v + nx0
A0 = x + 0 + 0 , 0 = arctan 0
1 1
x01
A0exp(-nt)
2
1
0
1
Lecture 2
Amplitude:
A0 exp ( nt )
Period:
T1 = 2 1 =
x ( 0 ) = x0 , x& ( 0 ) = v0
n
2
n
Phase angle: 0
-A0 exp(-nt)
2
0
T1 =
34
Equation of motion
x0
A0
Lecture 2
35
Lecture 2
(n2 2 ) ,
F0
2
m ( 2 )2 + 4n 2 2
n
Xs =
F0
2n
m ( 2 2 )2 + 4n 2 2
n
36
11
Equation of motion
x% part = X exp ( it )
X=
substitution
2
2
= 1 2 + 2 2
n
n
xstatic
2n 2c
=
=
n ccrit
2
F = F0 cos (t )
F = F0 sin (t )
End Generalization
Lecture 2
Lecture 2
37
= 0.2
3.5
1/ 2
3.0
= 0.3
2.5
2.0
1.5
1.0
0.5
= 0.5
=1
=2
0.0
0.0
0.5
1.0
/n
1.5
2.0
2.5
38
Main idea: represent the external force as the superposition of harmonic vibrations.
&& & kx = F ( t )
mx+cx+
x ( 0 ) = x0 , x& ( 0 ) = v0
v
nx
x ( t ) = exp ( nt ) x0 cos (1t ) + 0 + 0 sin (1t )
1
1
Equation of motion:
&& & kx = F ( t )
mx+cx+
F ( t ) 1
=
x ( t ) 2
1
+
F ( t ) exp ( n ( t t ) ) sin (1 ( t t ) ) dt
m1 0
Reminder: the main idea behind this solution is
the representation of the external force by a
sequence of short pulses
Lecture 2
4.0
F0
1
m 2 + 2in + n2
=0
4.5
X exp ( it ) ( 2 m + i c + k ) = F0 exp ( it )
Re ( X exp ( it ) ) ,
x part =
Im ( X exp ( it ) ) ,
5.0
X/xstatic
cos (t )
mx&& + cx& + kx = F0
sin (t )
%
F ( )
x% ( ) exp ( it ) d
( m + i c + k ) x% ( ) = F% ( )
dt
39
Lecture 2
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
x% ( ) = F% ( ) ( 2 m + i c + k )
40
12
1
G ( i ) =
2 m + i c + k
f% ( ) =
f (t ) =
1
2
f% ( ) exp ( i t ) d
f (t )
f% ( )
(t )
f ( t ) = f 0 H ( t0 t
x% ( ) = G ( i ) F% ( )
sin (t0 )
f% ( ) = 2 f 0
f0
)
t 0
t0
2 f 0t0
1
2
f ( t ) exp ( i t ) dt ,
x (t ) =
f ( t t0 )
G ( i ) F% ( ) exp ( it ) d
f% ( ) exp ( i t0 )
Lecture 2
41
Lecture 2
42
Contents of Lecture 3
v cos
Fz
L
k 2
Fz
z&
z&
y
x
k 2
c 2
The Lift (across-wind) and Drag (along-wind) forces on the bar (small attack angles):
FL =
Lecture 3
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
43
1 2
v CL BL,
2
FD =
1 2
v CD BL
2
Lecture 3
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
44
13
1
Fz = FL ( ) cos ( ) + FD ( ) sin ( ) FL ( ) + FD ( ) = v 2 BLCZ ( )
2
1
dC
mz&& + cz& + kz = - vBLz& z
z + ceff z& + kz = 0
m &&
2
d =0
1
dC
dC
ceff = c + vBL z
can be negative since z < 0
2
d =0
d =0
C z
Cz
v
Fx
FL
Approximation of C z:
FD
s 2 + 2neff s + n2 = 0
Fz
z&
z&
neff = ceff
dC
z& dC
C z ( ) z z ,
d
=0 v d =0
Lecture 3
45
Phase Plane:
Velocity
Velocity
Phase plane:
Displacement
Lecture 3
Displacement
46
( 2m )
If ceff < 0, both eigenvalues have a positive real part
dCz
dCL
=
+ CD ( 0 )
d
=0 d =0
47
% & 2 ) + kz = 0,
m &&
z + z& ( ceff + cz
Lecture 3
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
c% > 0
48
14
Equations of motion:
F = [ F1 , F2 ]
The steady-state solution of the linearized problem does not exist if ceff < 0 !
The Fourier Transform is not applicable!
49
Lecture 3
(m s
M &&
x+K x=0
2
1 n
k +k k +k k k +k k +k k
+ k1 + k3 )( m2 sn2 + k2 + k3 ) k32 = 0 sn4 + sn2 1 3 + 2 3 + 1 2 1 3 2 3 = 0
m2
m1m2
m1
All eigenvalues are imaginary!
(1)
( 2)
x1 ( t ) = X n exp ( snt ), x2 ( t ) = X n exp ( snt ) x ( t ) = X n exp ( snt )
n =1
n =1
n =1
m1
k1
k3
=0
m2 sn2 + k2 + k3
s = i,
- frequency
k1 + k3
m1
partial frequencies
k +k
b = 2 3
m2
a =
Lecture 3
50
Stiffness Matrix
x1 + k1 x1 + k3 ( x1 x2 ) = 0
m1&&
m
x2 + k2 x2 + k3 ( x2 x1 ) = 0
2 &&
m s + k1 + k3
det ( M s + K ) =
k3
Mass Matrix
Equations of motion:
2
n
Force Vector
2
1 n
Displacemetn Vector
T
0
m
M = 1
0
m
2
k3
k + k
K = 1 3
k
k
+ k3
3
2
( M sn2 + K ) X n = 0,
k2
k1
x = [ x1 , x2 ]
M &&
x + K x = F,
x2(t)
m2
= neff 2 n2
x1(t)
k3
Lecture 3
F2(t)
F1(t)
m1
m2 &&
x2 + k2 x2 + k3 ( x2 x1 ) = F2 ( t )
( 2m ) , 1,eff
Model:
m1&&
x1 + k1 x1 + k3 ( x1 x2 ) = F1 ( t )
x ( 0 ) = x0 , x& ( 0 ) = v0
neff = ceff
F1(t)
x1(t)
k3
F2(t)
x2(t)
m2
k2
x
51
Lecture 3
ab =
k3
m1m2
'coupling frequency'
52
15
n1 =
1
a2 + b2
2
2
a
b2 ) + 4ab4 ,
2
n 2 =
1
a2 + b2 +
2
2
a
x ( t ) = X n exp ( snt )
n =1
b2 ) + 4ab4
2
(M s
2
n
X n(
Mode 2
Mode 1
2)
(1)
Xn
We have 4 initial conditions and 8 unknown constants to determine???
Lecture 3
Equations of Motion:
x2(t)
n1 = a2 ab2 = k m ,
x2(t)
Mode 2
m1 = m2 = m
x2 = A2 cos ( t ) + B2 cos ( t + 0 )
Algebraic equations with respect to the amplitudes:
2 m1 A1 + k1 A1 + k3 A1 k3 A2 = F0(1)
2
m2 A2 + k2 A2 + k3 A2 k3 A1 = 0
2k3 2k3
Symmetrical system
a2 = b2
A2 A1 = B2 B1 = 1
x1(t)
x1 = A1 cos ( t ) + B1 cos ( t + 0 )
m2 &&
x2 + k2 x2 + k3 ( x2 x1 ) = F0( ) cos ( t + 0 )
The Steady-State Solution:
x
k
Lecture 3
2
ab
(a2 n22 )
x2(t)
k1 = k2 = k ,
m1 m2
x1(t)
Mode 1
m1&&
x1 + k1 x1 + k3 ( x1 x2 ) = F0( ) cos ( t )
1
54
x1(t)
k3
2
ab
m11sn2 + k11
m s2 + k
= 21 n2 21
2
m12 sn + k12
m22 sn + k22
Lecture 3
53
m1 m2
Thus, only 4 unknowns remain in the general solution, which can be determined from
the initial conditions.
+ K ) X n = 0, n = 1..4
m1 B1 + k1 B1 + k3 B1 k3 B2 = 0
2
( 2)
m2 B2 + k2 B2 + k3 B2 k3 B1 = F0
n 2 = a2 + ab2 =
( k + 2k3 )
C2 C1 = D2 D1 = 1
55
Lecture 3
56
16
Model:
Equations of Motion:
x1(t)
k
x2(t)
mx&&2 + k ( x2 x1 ) = 0
x2 = A2 cos ( t )
(b)
m
k
2
m1 A1 + k1 A1 + k3 A1 k3 A2 = F0
2
m2 A2 + k2 A2 + k3 A2 k3 A1 = 0
m
K/2
K/2
Auxiliary mass
Lecture 3
57
Model:
a =
k+K
k
, b =
, ab =
M
m
k
mM
x static
2n ( b2 2 )
2
n21 )( 2 n22 )
A2
=
x static ( 2 )( 2 n22 )
2
n
2
n1
Lecture 3
2
ab
A/xstatic
58
A1
x2(t)
x1 = A1 cos ( t )
(a)
M
x1(t)
k
x2(t)
m
Lecture 3
x1(t)
k
Bridge beam
n1
n2
A1
A2
59
Lecture 4 & 5
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
60
17
1 2 z&
& B
v BL C1 + C2
+ C3
2
v
v
1 2 2 z&
& B
M y = v B L C4 + C5
+ C6
2
v
v
Fz =
H
L
k 2
1
1
1
1
1
1
kz 2
Equations of motion:
vertical motion
angular motion
Lecture 4 & 5
61
Lecture 4 & 5
62
1
1
1
1
1
1
x + Cx& + K x = 0,
M &&
z
y
mz&& + cz& + kz = Fz
I&& + c& + k = M y
Effective stiffness of
the angular motion
x = [ z, ] ,
T
1
1
vB 2 LC2
c 2 vBLC1
2
,
C=
1 vB 2 LC c 1 vB 3 LC
4
5
2
2
Velocity coupling
coefficients
m 0
M =
0 I
1
v 2 BLC3
k
2
K =
0 k 1 v 2 B 2 LC
6
63
Lecture 4 & 5
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
64
18
Suppose, that the vertical and angular motions are uncoupled, and the effective
damping and stiffness coefficients are positive (C2= C3=C4=0, C1< 0, C5< 0, C6< 0):
Suppose, that the velocity coupling is active and the velocity coupling
coefficients are positive (C3=0, C2 >0, C4 >0, C1< 0, C5< 0, C6< 0):
Wind velocity
Instability!
Wind velocity
Wind velocity
Lecture 4 & 5
65
Q = vBL 2
Stable vibrations!
Q = vBL 2
Wind velocity
Lecture 4 & 5
66
Suppose, that the velocity coupling is active and the velocity coupling
coefficients are negative (C3=0, C2 <0, C4 <0, C1< 0, C5< 0, C6< 0):
Suppose, that the velocity coupling is active and the velocity coupling
coefficients have different signs (C3=0, C2 >0, C4 <0, C1< 0, C5< 0, C6< 0):
Instability!
Wind velocity
Wind velocity
Unstable 2 DOFS Flutter
67
Q = vBL 2
Wind velocity
Lecture 4 & 5
Q = vBL 2
Lecture 4 & 5
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
Wind velocity
Unstable 2 DOFS Flutter
68
19
F1
Q = vBL 2
F2
g
h
k3
x1
x3
k2
This block has 3 DOF: 2 translational (horizontal and vertical) and 1 rotational
Wind velocity
Unstable 2 DOFS Flutter
69
Lecture 4 & 5
Three positions of the block, in each of which only one degree of freedom is activated:
x2
70
k3 x2
k2 x1
Equations of motion:
M &&
x + K x = F,
k 2 b x3
x1
ax3
k 3 h x3
m &&
x1 = k1 x1 k2 x1 k1ax3 + k2bx3 + F1
m &&
x2 = k3 x2 k3hx3 + F2
J &&
x3 = k1 x1 a + k2 x1 b k3 x2 h k3hx3 h
k1ax3 a k2bx3 b + F3 + eF1 gF2
F2
x2
k3
F3
x1
m 0 0
M = 0 m 0
mass matrix
0 0 J
0
a k1 b k2
k1 + k2
stiffness matrix
K =
0
k3
h k3
2
2
2
a k1 b k2 h k3 a k1 + b k2 + h k3
F1
k 2 bx3
k1ax3
b x3
hx3
x3
k2
k1
Lecture 4 & 5
F3
k1
Wind velocity
Lecture 4 & 5
k1 x1
x2
Instability!
71
Lecture 4 & 5
72
20
F3
F2
F1
x3
x2
F2
x1
F1
x2
F3 = k31
x6 x
5
x9 x
8
x4
x7
x1
x3
x1 2
F2 = k21
x1 1
F3 = k33
F1 = k12
F1 = k13
F2 = k23 x1 = 0
x2 = 0
x3 =1
F2 = k22 x = 0
1
x2 =1
x3 = 0
x1 =1
x2 = 0
x3 = 0
x1 0
x1 5
F3 = k32
F1 = k11
x1 4
x1 3
x1 8 = 0
Internodal connection
Lecture 4 & 5
x1 7 = 0
x1 6 = 0
73
k11
K nodal = k21
k31
k12
k22
k32
k13
T
T
k23 , x nodal = [ x1 , x2 , x3 ] , Fnodal = [ F1 , F2 , F3 ]
k33
Lecture 4 & 5
74
Contents of Lecture 6
M &&
x+ K x =0
complex
real
2N
x ( t ) = X i exp ( si t )
i =1
i =1
sin (i t + i )
The corresponding system of N linear algebraic equations (the eigenvalue and the
eigenfrequency problems):
(s M + K ) X
2
i
=0
or
2
i
det ( s M + K ) = 0
2
i
M + K ) X i = 0
The Frequency Equation:
or
det ( i2 M + K ) = 0
The natural frequencies are the positive roots of the frequency equation (this definition will be
generalized to the case of systems with damping later)
Lecture 6
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
75
Lecture 6
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
76
21
F2
x i
x1 k1 + k2
m 0 0 &&
0 m 0 &&
0
x2 +
x3 a k1 b k2
0 0 J &&
i
i
Ai
i =1
i =1
i =1
x ( t ) = X i sin (i t + i ) = x i Ai sin (i t + i ) = x i ui ( t ),
ui ( t ) = Ai sin (i t + i )
The Eigenmatrix:
E = x1 x 2 ... x N
Lecture 6
Lecture 6
77
RC1
i =1
i =1
2
i
F3
x1
x3
k2
k1
78
M + K ) X i = 0
or
i2 M X i = K X i
The Eigenmatrix:
x 12
x 22
x 32
x2
k3
x ( t ) = x i Ai sin (i t + i ) = x i ui ( t )
x 11
E = x 21
x 31
a k1 b k2
x1
x = 0
h k3
2
a 2 k1 + b 2 k2 + h 2 k3 x3
x 11
2.0 =1 2.0
1
rad
; x 1 = x 21 = 1 1.6 = 1.6
s
x
1.0
1.0
31
x 12
0.8
=1 0.8
2
rad
2 = 5.7
; x 2 = x 22 = 2 1.0 = 1.0
s
x
1
.
0
1.0
32
x 13
1.0
=1/ 2 0.5
3
rad
3 = 19.8
; x 3 = x 23 = 3 1.0 = 0.5
s
x
2.0
1.0
33
u&&i + i2ui = 0
these satisfy
0
k3
h k3
1 = 2.3
The Eigenfunctions:
F1
Equations of Motion:
x11 = 2
x 22 = 1
x32 = 1
x12 = 0.8
MX s = KX s
2
s
x31 = 1
X sT r2 MX r = X sT KX r ,
x21 = 1.6
MX r = KX r ,
2
r
X rT s2 MX s = X rT KX s
T
T
The following equality holds for any symmetric matrix: x A y = y A x . Thus, as M and K
are symmetric, we may rewrite the above equations as
x13 = 1
x33 = 2
r2 X sT MX r = X sT KX r , s2 X sT MX r = X sT KX r (r2 s2 ) X sT MX r = 0
RC3
x23 = 1
RC 2
Lecture 6
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
79
Lecture 6
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
80
22
X sT MX r = 0
x1T
x1T Mx1
T
T
x
x Mx1
M * = E T M E = 2 M x1 x 2 ... x N = 2
.
.
T
x T
x N M x1
N
rs
if
X sT KX r = 0
if
rs
(follows from s2 X sT MX r = X sT KX r )
Definitions:
M* = ET M E
K * = ET K E
x1T Mx1
0
=
.
Lecture 6
81
Lecture 6
M + K ) X r = 0
or
0 . 0
*
m22
. 0
. .
.
0 . m*NN
M X r = K X r
2
r
or
M x r = K x r
2
r
.
.
2 T
2 T
1 x N M x1 2 x N M x 2
Using the orthogonality,
this simplifies to:
2
r
T
s
T
s
. N2 x1T Mx N x1T K x1
. N2 x T2 Mx N x T2 K x1
=
.
.
.
T
2 T
. N x N Mx N x N K x1
12 m11*
0
2 *
0
2 m22
.
.
0
0
Lecture 6
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
82
.
x TN Mx 2
x1T M x N
x T2 M x N
=
T
. x N Mx N
.
.
.
2
r
0
.
0 m11*
x M x 2 .
0 0
=
.
.
.
.
0
. x TN M x N 0
T
2
x1T M x 2
x T2 M x 2
x1T K x 2
x T2 K x 2
.
x TN K x 2
k11*
=0
.
. .
. N2 m*NN 0
.
.
0
0
x1T K x N
x T2 K x N
.
.
. x TN K x N
.
Instead of
0
. .
*
. k NN
0 .
*
k22
.
.
0
We can write:
2M * = K *
83
12 m11*
0
2 *
0
2 m22
.
.
0
0
12 0
2
0 2
.
.
0
0
12 0
0 22
2 =
.
.
0
0
0
. .
. N2
.
.
k11*
=0
.
. .
. N2 m*NN 0
0 .
*
k22
.
0 m11*
0 0
. . .
. N2 0
0 k11*
0 0
=
.
. .
*
. mNN
0
.
.
.
.
Lecture 6
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
0
0
.
0
0
. .
*
. k NN
0 .
*
m22
.
.
0
0
. .
*
. k NN
0 .
*
k22
.
.
0
84
23
Contents of Lecture 7
M &&
x + K x = F (t )
The main idea of the Modal Analysis is to represent the forced motion as the
superposition of the normal modes of free vibrations multiplied by unknown
functions of time:
General
x ( t ) = x i ui ( t ) = E u ( t )
i =1
M E u&& + K E u = F
Pre-multiplying this by E T, we obtain:
E T M E u&& + E T K E u = E T F
Lecture 7
85
or
u&&i + 2i ui = Fi * ( t ) mii* , where Fi* ( t ) = x Ti F
The general solution to the modal equation of motion (Duhamels integral):
ui ( t ) = Ai sin ( i t + i ) +
F ( ) sin ( ( t ) ) d
*
x (t ) =
i =1
Lecture 7
i =1
i =1
i =1
i =1
x i ui ( t ) = E u ( t )
t
N
N
1
x ( t ) = x i ui ( t ) = x i Ai sin ( i t + i ) +
F * sin ( i ( t ) ) d
* i ( )
i mii 0
i =1
i =1
t
N
N
1
x& ( t ) = x i u&i ( t ) = x i i Ai cos ( i t + i ) + * Fi * ( ) cos ( i ( t ) ) d
m
i =1
i =1
ii 0
x ( 0 ) = x i ui ( 0 ) = x i Ai sin (i ) ,
86
i mii*
M *u&& + K *u = E T F
Lecture 7
87
Lecture 7
i =1
i =1
88
24
M &&
x + K x = F sin ( t )
Squaring the above equations and subsequently summing them up we obtain the
following expression for the amplitudes:
x Tj M x ( 0 ) x Tj M x& ( 0 )
Aj =
+
*
m*jj
j m jj
2
u&&i + 2i ui =
89
The Modal Frequency Response Function of the mode i to the harmonic force
applied to the degree of freedom p:
x Ti F
x pi Fp
1
1
ui = 2
= 2
2
*
2
i mii i mi*i
H uF
H u 1F1
Hu F
= 21
.
Hu F
N1
H u 1F2
H u 2 F2
.
H u N F2
H u 1FN
. H u 2 FN
.
.
. H u N FN
Lecture 7
x Ti F
*
ii
ui =
x Ti F
1
2
mii*
2
i
E T F
1
u = 2
2
i mii*
Lecture 7
sin ( t )
or
Modal Analysis of Forced Vibrations of Undamped N DOFS
F = 0 0 ... Fp 0
mii*
ui = ui sin ( t ) ui ( 2 + 2i ) =
x T M x ( 0 )
j = arctan j Tj
x j M x& ( 0 )
x Ti F
In the steady-state regime, the N DOFS has to vibrate on the frequency of the
external load, i.e.:
The phases are found by dividing the first above equation by the second:
Lecture 7
u = H uF F
The original vector-displacement is given as:
x (t ) = E u (t )
x ( t ) = x sin ( t ), u ( t ) = u sin ( t )
x = H xF
H xF
Lecture 7
Eu = E H uF F = H xF F
F , where H xF = E H uF
H x 1F1
Hx F
= 21
.
Hx F
N1
H x 1F2
H x 2 F2
.
H x N F2
H x 1FN
. H x 2 FN
.
.
. H x N FN
25
H x 1F1
.
H
x q F1
.
H
x N F1
xq = H xq Fp Fp :
x = H xF F
p =1
xq = H xq Fp Fp , where
N
i =1
i =1
Lecture 7
.
.
.
H x q F2
.
H x N F2
H xq Fp for 5 DOFS:
H xq F p
p =1
H xq Fp = xqi H ui Fp = xqi
H x 1FN F1
.
.
. H x q FN Fq
.
. .
. H x N FN FN
H x 1F2
x pi
i2 2 mii*
=
i =1
xqi x pi
2i 2 mii*
Lecture 7
Contents of Lecture 8
M &&
x + K x = F (t )
Fourier Transform:
F t
%
F ( )
( )
=
exp ( i t ) dt
%
x
(
)
x ( t )
F ( t ) 1
=
x ( t ) 2
%
F ( )
x% ( ) exp ( i t ) d
( M + K ) x% ( ) = F% ( )
2
General
1
x% ( ) = ( 2 M + K ) F% ( )
x (t ) =
Lecture 7
1
2
1
M + K ) F% ( ) exp ( i t ) d
Lecture 8
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
96
26
Equations of Motion:
The most serious drawback of the Modal Analysis in application to damped systems
is that the Modal Damping Matrix is generally not diagonal!
M &&
x + C x& + K x = F ( t )
Adopting the Modal Analysis approach, we represent the forced motion as
the superposition of the normal modes of free undamped vibrations
multiplied by unknown functions of time:
x ( t ) = x i ui ( t ) = E u ( t )
i =1
In this case, multiplying the equations of motion by the inverse Modal Mass Matrix, we
obtain
M E u&& + C E u& + K E u = F
Pre-multiplying this by E
T,
we obtain:
M *u&& + C *u& + K *u = E T F
97
I u&& + ( M
u&&i +
C u& + u = ( M
2
* 1
F (t )
c
u&i + i2ui = i * ,
m
mii
*
ii
*
ii
E F
Lecture 8
Lecture 8
ui ( t ) = Ai exp ( ii t ) sin i t 1 i2 + i
mii*
c*
= ii *
*
mii 2mii
98
cii*
=
*
*
kii 2mii i
1
mii*i 1 i2
F ( ) sin (
*
1 i2 ( t ) exp ( ii ( t
) ) d
x ( t ) = x i ui ( t ) = E u ( t )
Fi ( t )
mii*
i =1
mii*
Using this, we rewrite the above equation for the modal time-functions as:
The equations given by the latter matrix-equation are uncoupled, as all matrices on
the left-hand side are diagonal.
c*
cii*
cii*
i = crii =
=
*
*
cii
2 kii mii 2 kii* mii*
u&&i + 2 ii u&i + 2i ui =
I u&& + ( M * ) C *u& + 2 u = ( M * ) E T F
or
M *u&& + ( M * ) C *u& + ( M * ) K *u = ( M * ) E T F
* 1
E T M E u&& + E T C E u& + E T K E u = E T F
Lecture 8
(M )
99
Lecture 8
100
27
i =1
i =1
x ( t ) = x i ui ( t ) = x i Ai exp ( ii t ) sin i t 1 i2 + i
+
F ( ) sin (
t
mii*i 1 i2
1 i2 ( t ) exp ( ii ( t
i =1
) ) d
i =1
(
F ( ) sin (
mii* 1 i2
t
2
i
Lecture 8
))
i =1
101
Lecture 8
102
C = a0 M + a1 K ,
C * = E T C E = E T ( a0 M + a1 K ) E = a0 E T ME + a1 E T KE = a0 M * + a1 K *
2
i =
Mathematically, the problem has been solved. But what about our assumption
concerning the diagonality of the Modal Damping Matrix?
cii*
a m* + a k *
a
a
= 0 ii * 1 ii = 0 + 1 i
2mii* i
2mii i
2 i
2
To identify the unknown constants, one has to know the Modal Damping Ratios for
at least two modes. Suppose, these are known for the first two modes. Then
a0 =
Lecture 8
i 1 i2 x Tj Mx ( 0 )
tan ( j ) = T
,
x j M x& ( 0 ) + i j x Tj Mx ( 0 )
From the above two equations, the following expressions can be derived:
x T M x& ( 0 ) + x T Mx ( 0 )
j
i j j
1+
i 1 i2 x Tj M x ( 0 )
i =1
i =1
T
j
m*jj
i =1
) ) d
x Tj Mx ( 0 )
Aj =
( t ) ) exp ( ii ( t ) ) d
1
Fi * ( ) cos i 1 i2 ( t ) exp ( ii ( t
mii* 0
i =1
x& ( t ) = x i u&i ( t )
N
x ( 0 ) = x i ui ( 0 ) = x i Ai sin (i ) ,
103
2 12 (12 2 1 )
,
2 2 12
a1 =
Lecture 8
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
2 ( 2 2 11 )
2 2 12
Proportional Damping
104
28
Proportional Damping
1 2 2
< <
2 1 1
1
2
a0 a1
Three Cases
(assuming 1<2):
1 2 2
A: a0 > 0, a1 > 0 if
< <
2 1 1
2 1
1 2
2
a1
i
2
a0 a1
M &&
x + C x& + K x = F sin ( t )
Rewriting these equations in the form of the uncoupled system yields:
2 2
1 1
2
1
a1
i
2
a0 a1
2 2
C: a0 0, a1 > 0 if
1 1
case B
a0
2i
2
1
a0 a1
2 1
1 2
B: a0 > 0, a1 0 if
a1
i case A
2
a0
2i
case C
i
a0
2i
Proportional Damping
mii*
sin ( t )
In the steady-state regime, the N DOFS has to vibrate on the frequency of the
external load but with a certain phase shift, i.e.:
ui =
105
substitution
ui = ui sin ( t i )
(1 ( ) )
2 2
Lecture 8
x Ti F
Lecture 8
+ ( 2i i )
x Ti F
mii*
2
i
tan i =
2i i
1 ( i )
106
A
u i Fp
H uAi Fp ( ) =
(1 ( ) )
2 2
1
+ ( 2 i i )
Lecture 8
H ui F p =
x pi
x pi
2 ii2 xiT M xi
i2 mii*
( )
1
i
1
2
( )
+ 2i
i
x pi
i2 xiT M xi
x pi
i2 xiT M xi
H u 1F1
Hu F
= 21
.
Hu F
N1
H u 1F2
H u 2 F2
.
H u N F2
H u 1FN
. H u 2 FN
.
.
. H u N FN
H uAi Fp
2
i
i
2
1
2
0
107
Lecture 8
i = arctan
( )
108
29
x (t ) =
x u (t ) = x u sin ( t ) = x sin ( t ) H
i
i =1
i =1
i =1
ui Fp
p =1
= Fp
qi
i =1
qi
i =1
(C ) + ( D )
2
qFp
H xF
H x 1F1
Hx F
= 21
.
Hx F
N1
qFp
A
xq F p
H x 1F2
H x 2 F2
.
H x N F2
H x 1FN
. H x 2 FN
.
.
. H x N FN
H ui Fp () sin ( t i )
where CqFp =
Lecture 8
max
xqF
(t )
p
=
F
p
For a specific degree of freedom q, and assuming that the force is applied to a
specific degree of freedom p only, we find:
xqFp (t ) = Fp
H xAq Fp ( ) =
() Fp
qi
i =1
H ui Fp () cos (i ) , DqFp =
qi
i =1
H ui Fp () sin (i )
1 2 3
109
Lecture 8
110
Contents of Lecture 9
The Fourier Analysis of forced vibrations of N DOFS under general loading is facilitated
by the Integral Fourier Transforms. This analysis should be applied only in the case of
zero initial conditions. To account for not-trivial initial conditions, the Laplace Integral
Transforms can be applied (see Lecture Notes to CT 4145)
Equations of Motion and Initial Conditions:
M &&
x + C x& + K x = F ( t ) ,
x ( 0 ) = x& ( 0 ) = 0
Fourier Transform:
F ( t ) 1
=
x ( t ) 2
F t
%
F ( )
( )
=
exp ( i t ) dt
%
x
( ) x ( t )
%
F ( )
x% ( ) exp ( i t ) d
( M + i C + K ) x% ( ) = F% ( )
2
Lecture 9
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
111
Lecture 9
1
x% ( ) = ( 2 M + i C + K ) F% ( )
112
30
Model:
x(t)
&& & kx = F ( t )
mx+cx+
Force:
F(t)
F0
c
x
x (t ) =
F% ( ) =
exp ( i 2 ) exp ( i )
F ( t ) exp ( i t ) dt = F0 exp ( i t ) dt = F0
i
2
3
exp ( i 2 ) exp ( i 2 )
3
2sin ( 2 )
= F0 exp i
= F0 exp i
2
Lecture 9
113
Im ( Int ) =
2sin ( 2 )
2sin ( 2 )
( 2 m + k ) + 2 c 2
2
Lecture 9
F
x (t ) = 0
2
2sin ( 2 )
2
{( m + k ) i c}
{( m + k ) + i c}{( m + k ) i c}
{cos ( ( t 3 2 ) ) ( m + k ) + sin ( ( t 3 2 ) ) c} +
2sin ( 2 )
( ( m + k ) + c ) i {sin ( ( t 3 2 ) ) ( m + k ) cos ( ( t 3 2 ) ) c}
Lecture 9
114
( 2 m + k ) + 2 c 2
2sin ( 2 )
2sin ( 2 ) cos ( ( t 3 2 ) ) + i sin ( ( t 3 2 ) )
3
Int = exp i t i
=
2
( 2 m + i c + k )
( 2 m + k ) + i c
Re ( Int ) =
F0
x% ( ) = F% ( ) ( 2 m + i c + k )
( m + i c + k ) x% ( ) = F% ( )
1
2
F0
His Theory of Sound was published in two volumes during 1877-1878, and
his other extensive studies are reported in his Scientific Papers - six
volumes issued during 1889-1920. He has also contributed to the
Re ( Int ) d = Re ( Int ) d
Encyclopedia Britannica.
Lord Rayleigh's first researches were mainly mathematical, concerning optics and vibrating
systems, but his later work ranged over almost the whole field of physics, covering sound,
wave theory, color vision, electrodynamics, electromagnetism, light scattering, flow of
liquids, hydrodynamics, density of gases, viscosity, capillarity, elasticity, and photography.
115
Lecture 9
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
116
31
( M + K ) x
2
i
=0
or
E% = 1 x1 2 x 2 ... N x N
K x i = i2 M x i
Using the orthogonality property we can express the natural frequencies as:
x T K x i
= Ti
= RQi( exact )
x i M x i
2
i
% T K E%
With this not normalized eigenmatrix, we have E
x = E% c
Then
( )
( )
E% c
xT K x
RQ = T
=
x Mx
E% c
x Kx
RQ 12 = T
x Mx
117
RQ =
i =1
N
2
i
2
i
c
i =1
2
i
Radar Tower
m = 10 4 kg
J = 105 kgm 2
T
F
2
i
118
x11 = 1
x1
x21 = 0.045
x2
p = 22.22 m
i=2
ci 2
2
2
i
N
N
ci 2
ci
2
c1
i
2
N
1
c
i = 2 c1
c
i=2 1
1+ i
i = 2 c1
12 +
Assume that the deviation between the exact first eigenvector and the chosen
approximate vector is small. This implies that for all i , ci << c1. Therefore
ci i
c T E% T K E% c c T 2 c
= T T
= T
= i =1
%
%
c Ic
M E% c c E M E c
K E% c
Lecture 9
i =1
= K% * and K% * = 2
Let us represent the vector x , which we want to use instead of the first eigenvector
as the following superposition (it is always possible):
Lecture 9
E% T M E% = I
l = 33 m
1 = 12.70 rad/s
EI = 2 1010 Nm 2
RC1
N
N
c
c
c
12 + i i2 12 i = 12 + i (i2 12 ) 12
i = 2 c1
i = 2 c1
i = 2 c1
N
Lecture 9
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
K=
119
EI 12 6l
,
l 3 6l 4l 2
F = Kx
Lecture 9
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
l3
1 3
V=
EI l 2
2
l2
2
,
VF=x
120
32
Contents of Lecture 10
F = m g = 104 g N
T = Jg = 105 g Nm
x1
x2
2. Examples of 1D Idealizations
x1
F = m g = 104 g N
x2
gravity load
F 104 g
F = = 5
T 10 g
F 104 g
F = =
5
T 10 g
10 g
14.93 rad/s
x =V
5
10 g
4
10 g
12.87 rad/s
x =V
5
10 g
4
121
Lecture 10
122
Examples of 1D Idealizations
m
F(t)
x(t)
u (t, z )
F(t)
Unloaded
static
position
x(t)
F(t)
F(t)
123
Lecture 10
124
33
w(x,t)
q1 ( x, t )
w
s
Taut cable
no bending stiffness;
constant tension (also in motion);
Lecture 10
Vibrations of a string
125
H
T + T
Geometry:
2w
= V + V V + q1x = V + q1x
t 2
V = H tan ( )
( w x )
Ax
small vibrations
V + V
Assumptions:
q1 ( x, t )
<< 1
Lecture 10
tan ( ) w x
Vibrations of a string
126
Ax
2w
= V + q1x
t 2
2 w V
=
+ q1
t 2
x
x 0
2 w V
=
+ q1
t 2
x
Substitution of the relation between the vertical and horizontal forces results in:
Where?
How many?
2w
A 2 = ( H tan ( ) ) + q1
t
x
w w
= T
+ q1
t 2 x x
What type?
Lecture 10
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
Vibrations of a string
A 2 w t 2 + G n w x n = q
127
Lecture 10
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
34
Definitions
Where?
left end
Transverse force with which a string
acts on an element or fixation at its
At a junction of a structure or
at an inclusion
V = T w x
T
w
right end
V = T w x
How many?
What type?
Lecture 10
129
Type of BC
Kinematic
(displacement)
w = A (t )
Left-end
Dynamic
(external force)
w
= P
x
Dynamic
(elastic)
w
T
= kw
x
Dynamic
(viscous)
w
w
T
=c
x
t
Dynamic
(inertial)
w
2 w
=m 2
x
t
w
=P
x
w+
x = x0 :
w = w+
w
w+
=T+
T
x
x
x = x0 :
w = w+
+ w+
w
T
= P
T
x
x
x = x0 :
w = w+
+ w+
w
T
= kw+ = kw
T
x
x
x = x0 :
w = w+
+ w+
w
w+
w
T
=c
=c
T
x
x
t
t
x = x0 :
w = w+
+ w+
w
2 w+
2 w
T
=m 2 =m 2
T
x
x
t
t
x = x0
w+
w+
w+
Lecture 10
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
w
2w
= m 2
x
t
Lecture 10
130
Interface Conditions
x
x = x0
Basic Situations
w
w
T
= c
x
t
w
T
= kw
x
Right-end
w = B (t )
2 w w
= T
+ q1
t 2 x x
w ( 0, x ) = ( x ) ,
w (t, a ) = A (t ) , w (t, b) = B (t )
Lecture 10
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
w t ( x, t )t =0 = ( x )
example
w ( t , x0 ) = w+ ( t , x0 ) ,
w t ( x, t ) x = x = w+ t ( x, t ) x = x
0
131
a< x<b
example
132
35
w 2 w
c
= 0,
t 2
x 2
c=
w ( 0, x ) = ( x ) ,
w t ( x, t )t =0 = ( x )
w ( t , a ) = 0,
w (t, b) = 0
0 t < ,
a xb
2w 2 2w
c
=0
t 2
x 2
w ( x, t ) = W ( x ) ( t )
The only possibility to have this equation satisfied is to have both sides of it
equal to a constant:
1 d 2
1 2W
= c2
= 2
W x 2
dt 2
The idea is that we search for the string displacement in the form of multiplication of
a function of time and a function of the co-ordinate.
Lecture 10
133
Lecture 10
134
Contents of Lecture 11
Coordinate-related part:
1 d 2
&& + 2 = 0
= 2
dt 2
1 2W
2
c
= 2 W + 2 W = 0
W x 2
c
w (t, a ) = W ( a ) (t ) = 0 W ( a ) = 0
harmonic vibrations
For this problem the general
solution can be easily found
w (t, b ) = W (b ) (t ) = 0 W (b ) = 0
Solving this problem, the separation
constant and the normal modes
(shapes) can be found
135
Lecture 11
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
136
36
2w 2 2w
c
= 0,
t 2
x 2
c=
w ( 0, x ) = ( x ) ,
w t ( x, t )t =0 = ( x )
w ( t , 0 ) = 0,
w (t, L ) = 0
0 t < ,
0 xL
Coordinate-related part:
1 d 2
&& + 2 = 0
= 2
dt 2
c2
1 d2
1 d2
1 d2
1 d2
W ( x)
W ( x ) = 2
(t ) = c2
(t ) = c2
W ( x ) dx 2
W ( x ) dx 2
( t ) dt 2
( t ) dt 2
137
w (t, 0) = W ( 0) (t ) = 0
( t ) = A sin (t ) + B cos (t )
w (t, L ) = W ( L ) (t ) = 0 W ( L ) = 0
2)
Lecture 11
c2
x
Wn ( x ) = Cn sin n
W ( x ) = C sin ( x ) + D cos ( x ) ,
138
W ( 0) = W ( L ) = 0
W = 0,
W +
W (0) = 0
harmonic vibration
1 d 2W
2
= 2 W + 2 W = 0
2
W dx
c
1)
Lecture 11
Time-related part:
= c
n =1
n=2
W
W ( 0) = 0
W ( L) = 0
D=0
x
n= 3
sin ( L ) = 0
Thus:
n L = n
x
n =4
Wn ( x ) = Cn sin ( n x )
n = c n = n c L,
Lecture 11
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
normal modes
Free Vibrations of a Fixed-Fixed String
139
Lecture 11
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
140
37
sin ( x ) B
w ( 0, x ) = ( x ) ,
n =1
w t ( x, t )t =0 = ( x )
sin ( n x ) = ( x ) ,
n =1
sin ( x ) B
m
141
n =1
n =1
n =1
L
L
Bn mn = 2 Bm
2 n =1
Lecture 11
L
L
Ann mn = 2 Amm
2 n =1
142
2 w 2 2 w q1 ( x, t )
c
=
t 2
x 2
A
w ( 0, x ) = ( x ) ,
Correspondingly, the free vibrations of the fixed-fixed string are described by the
following expression:
w t ( x, t )t =0 = ( x )
w ( t , 0 ) = 0,
w (t, L ) = 0
0 t < ,
0 xL
We search for the solution in the form of superposition of motions on normal modes:
L
L
2 sin (nt )
w ( x, t ) =
( x% ) sin ( n x% ) dx% + cos (nt ) ( x% ) sin ( n x% ) dx% sin ( n x )
L n =1 n
0
0
n = c n = n c L
Lecture 11
n = n L,
n =1
2
( x ) sin ( n x ) dx
L 0
sin ( n x ) = ( x ) dx
Bn =
2
( x ) sin ( n x ) dx
Ln 0
L 2, m = n L
x x
0 sin ( n x ) sin ( m x ) dx = 0 sin n L sin m L dx = 0, m n = 2 mn ,
mn is the Kronecker Delta
An =
n =1
sin ( n x ) = ( x )
sin ( n x ) = ( x ) dx
Lecture 11
sin ( x ) A
To resolve these equations we will use the orthogonality property of normal modes:
L
n =1
q ( x, t )
d 2 n
,
+ n2 n sin ( n x ) = 1
2
A
n =1 dt
143
Lecture 11
n = c n
144
38
dt
AL 0 1
w ( 0, x ) = ( x )
w ( 0, x ) = n ( 0 ) sin ( n x ) = ( x )
w t ( x, t )t =0 = ( x )
& ( 0 ) sin ( x ) = ( x )
w t ( x, t )t =0 =
n
n
n =1
n =1
t
1 d n ( 0)
1
n ( t ) = n ( 0 ) cos (nt ) +
sin (nt ) +
Q ( ) sin (n ( t ) ) d
n
n 0 n
dt
n (0) =
Thus, we found the following expression that satisfies the equation of motion and
the boundary conditions:
2
& ( 0 ) = 2 ( x ) sin ( x ) dx
( x ) sin ( n x ) dx,
n
n
L 0
L 0
Thus, we found a solution that satisfies the equation of motion, the boundary
conditions and the initial conditions. On the basis of the uniqueness theorem, we
may say that this is the solution to the problem.
145
Lecture 11
146
Contents of Lecture 12
n ( 0 ) sin (n t ) +
w ( t , x ) = n ( 0 ) cos (nt ) +
Q ( ) sin (n ( t ) ) d sin ( n x )
n
n 0 n
n =1
where
L
n = n L,
Lecture 11
2
& ( 0 ) = 2 ( x ) sin ( x ) dx
( x ) sin ( n x ) dx,
n
n
L 0
L 0
L
2
Qn ( t ) =
q1 ( x, t ) sin ( n x ) dx
AL 0
n (0) =
n = c n = n c L
147
Lecture 12
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
148
39
Governing equations for free vibrations of a string, the left end of which is fixed,
whereas the right end is attached to a spring:
2w 2 2w
c
= 0,
t 2
x 2
w ( x, 0 ) = ( x ) ,
w ( x, t ) t t =0 = ( x )
w ( 0, t ) = 0,
T w ( x, t ) x x = L = kw ( L, t )
0 t < ,
0 x L
x
0
Time-related part:
Coordinate-related part:
1 d 2
&& + 2 = 0
= 2
dt 2
c2
left end: w ( 0, t ) = W ( 0 ) ( t ) = 0
( t ) = A sin (t ) + B cos (t )
W ( 0) = 0
right end: TW ( L ) ( t ) = k W ( L ) ( t )
TW ( L ) = k W ( L )
1 d2
1 d2
W ( x ) = 2
(t ) = c2
2
W ( x ) dx 2
( t ) dt
Lecture 12
149
W +
c2
W = 0,
W ( 0 ) = 0,
= c
n =1
TW ( L ) = k W ( L ) T cos ( L ) = k sin ( L )
sin ( n x ) = ( x ) ,
A
n =1
sin ( n x ) = ( x )
sin ( x ) sin ( x ) dx = ?
n
Wn ( x ) = Cn sin ( n x )
Vibrations of a String with Various Boundary Conditions
Thus the normal modes are still sinusoidal but the natural frequencies should be
found from the following transcendental equation:
w t ( x, t )t =0 = ( x )
w ( 0, x ) = ( x ) ,
Lecture 12
n =1
D=0
150
TW ( L ) = k W ( L )
W ( x ) = C sin ( x ) + D cos ( x ) ,
tan ( L ) = T k ,
W ( 0) = 0
Lecture 12
1 2W
2
= 2 W + 2 W = 0
W x 2
c
151
Lecture 12
152
40
Return to the co-ordinate related equation and write it for two modes:
Wn+ Wn = 0,
Wm + Wm = 0
2
n
2
m
Multiplying the first equation by Wm and the second equation by Wn and then
subtracting one equation from the other, we obtain:
x=L
n x =0
W W dx = W W
n
x=L
Substituting this into the last equation of the previous slide, we find:
L
WmWn+ Wm n2Wn = 0
W W + W W = 0
2
n m
n m m
x= L
Let us check the first term in this equation for the case of the fixed-elastically
supported string:
Integrating the above equation over the interval 0<x<L, we can write
L
W ( 0)=0
2
2
WmWndx WnWm dx + ( n m ) WmWn dx = 0
Lecture 12
(WmWn WmWn ) x= L
Lecture 12
153
TW ( L ) = kW ( L )
(W ( k T )W ( k T )W W )
m
n x=L
=0
154
Consequently:
Thus, free vibrations of the fixed-elastically supported string with general initial
conditions are given as:
2
n
2
m
) W W dx = 0
m
W W dx = 0
if m n
Thus, the modes in this case are orthogonal and, therefore (coming back to slide 6):
L
mn
mn
n =1
tan ( n L ) = nT k ,
L sin ( 2 n L )
= mn Z n
4 n
2
An =
Now we proceed along the usual way to make use of this orthogonality for finding
An and Bn:
Bn sin ( n x ) = ( x ) dx
0 sin ( m x )
n =1
Ann sin ( n x ) = ( x ) dx
0 sin ( m x )
n =1
Lecture 12
An =
Z nn
Zn =
( x ) sin ( x ) dx
( x ) sin ( x ) dx
n
1
( x ) sin ( n x ) dx
Z n 0
L sin ( 2 n L )
2
4 n
Bn =
Z nn
L
1
Bn =
( x ) sin ( n x ) dx
Z n 0
n = c n
155
Lecture 12
156
41
Governing equations for free vibrations of a string, the left end of which is fixed,
whereas the right end is attached to a mass and a dashpot:
2w 2 2w
c
= 0,
t 2
x 2
w ( x, 0 ) = ( x ) ,
0 t < ,
Time-related part:
Coordinate-related part:
1 d 2
&& + 2 = 0
= 2
dt 2
0 xL
w ( x, t ) t t =0 = ( x )
w ( 0, t ) = 0,
x
0
T w ( x, t ) x x = L = c w ( x, t ) t x = L m 2 w ( x, t ) t 2 x = L
LE: w ( 0, t ) = W ( 0 ) ( t ) = 0
( t ) = A sin (t ) + B cos (t )
W (0) = 0
1 d 2W
2
c2
= 2 W + 2 W = 0
W dx 2
c
& ( t ) + m
&& ( t ) )
RE: TW ( L ) ( t ) = W ( L ) ( c
1 d
1 d
W ( x ) = 2
(t ) = c2
W ( x ) dx 2
( t ) dt 2
Lecture 12
157
w ( 0, x ) = ( x ) ,
w t ( x, t )t =0
w ( t , 0 ) = 0,
w (t, L ) = 0
0 t < ,
0 x L
cd
Time-related part:
a damping factor
1 2W
2
= 2 W + 2 W = 0
W x 2
c
w (t, 0) = W ( 0) (t ) = 0
W (0) = 0
w (t, L ) = W ( L ) (t ) = 0 W ( L ) = 0
1 = 2 nd 2
2nd
1 2
1 2
W ( x ) = 2
(t ) +
(t ) = c2
2
W ( x ) x 2
( t ) t
( t ) t
c2
Lecture 12
Coordinate-related part:
1 d 2 2nd d
+
= 2
dt 2 ( t ) dt
&& + 2n
& + 2 = 0
A
= ( x)
158
2nd =
2w
w 2 2 w
+ 2nd
c
= 0,
t 2
t
x 2
Lecture 12
159
Lecture 12
160
42
W +
2
c2
W ( 0) = W ( L ) = 0
W = 0,
n =1
W ( x ) = C sin ( x ) + D cos ( x ) ,
W ( L) = 0
D=0
n =1
sin ( L ) = 0
Wn ( x ) = Cn sin ( n x )
n = c n = n c L,
Lecture 12
161
sin ( x ) B
m
n =1
sin ( n x ) = ( x ) dx
1n
nd Bn ) sin ( n x ) = ( x )
mn
Lecture 12
162
n = n L,
Lecture 12
n =1
L
sin ( x ) sin ( x ) dx = 2
n =1
L
L
L
2
2
( x ) sin ( n x ) dx An =
( x ) sin ( n x ) dx + nd ( x ) sin ( n x ) dx
L 0
L 1n 0
0
( A
To resolve these equations we will use the orthogonality property of the mode shapes:
This gives:
2
( x ) sin ( n x ) dx
L 0
w t ( x, t )t =0 = ( x ) , 1n = nd 2
( An1n nd Bn ) sin ( n x ) = ( x ) dx
0 sin ( m x )
n =1
Bn =
) ) ) sin ( x )
2
n
sin ( n x ) = ( x ) ,
An1n nd Bn =
We again multiply by one of the mode shapes and integrate over the length:
Thus the separation constant and the mode shapes are the same as in the undamped
case:
n L = n
w ( 0, x ) = ( x ) ,
= c
W ( 0) = 0
163
n = c n = n c L ,
) ) ) sin ( x )
1n = nd
2
n
L
L
2
An =
( x ) sin ( n x ) dx + nd ( x ) sin ( n x ) dx
L1n 0
0
Bn =
2
( x ) sin ( n x ) dx
L 0
Lecture 12
164
43
2w 2 2w
c
= q%1 ( x ) sin ( t ) , t , 0 x L
t 2
x 2
no initial conditions
w ( 0, t ) = 0,
w ( L, t ) = 0
2W% ( x )
q1 ( x, t ) = q%1 ( x ) sin ( t )
x 2
Lecture 12
165
x
x c
W% ( x ) = A sin
+ B cos
q%1 ( ) sin ( x ) d
c
c 0
c
W% ( 0 ) = 0
B=0
W% ( L ) = 0
L c
A sin
q%1 ( ) sin ( x ) d = 0
c 0
c
Lecture 12
x c
w ( x, t ) = A sin
q%1 ( ) sin ( x ) d sin ( t )
c
c
0
166
Contents of Lecture 13
1. Steady-State Vibrations of a Fixed-Fixed String Subject to
Distributed Viscous Damping under a Harmonic Force
L
L
= n, one may expect resonance
if sin
=0
c
c
c n
one may expect resonance to occur when =
= n ,
L
i.e. when the excitation frequency equals one of the natural frequencies
Lecture 12
q%1 ( ) sin ( x ) d
c
L 0
sin
A=
2 %
W ( x ) = q%1 ( x )
c2
x
x
0
2 %
1
W ( x ) = 2 q%1 ( x ) , 0 x L
x
c2
c
W% ( 0 ) = 0,
W% ( L ) = 0
2
is given as
2W% ( x )
167
Lecture 13
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
168
44
d x2
w ( L, t ) = 0
x
0
L
. Substituting this
2nd i %
W ( x ) = q%1 ( x ) , 0 x L
dx
c2
W% ( 0 ) = 0,
W% ( L ) = 0
2
Lecture 13
169
c2 %
W ( x ) = q%1 ( x ) ,
c2
c2 = 2 2nd i
x
x c
W% ( x ) = A sin c + B cos c
q%1 ( ) sin cc ( x ) d
c
c c 0
x
W% ( 0 ) = 0
B=0
W% ( L ) = 0
L c
A sin c
q%1 ( ) sin cc ( x ) d = 0
c c 0
L
Lecture 13
170
q%11 = sin ( 2 x L )
x c
w ( x, t ) = Im A sin c
q%1 ( ) sin c ( x ) d exp ( it )
c c 0
c
q%13 = 1
= 2nd i
2
m s-2
q%11 = 14.93 x ( x L ) m s
5
2
c
A=
q%1 ( ) sin c ( x ) d ,
L
c
c sin c 0
c
is given as (the solution has exactly the same form as in the undamped case; the only
difference is that the frequency c is complex now)
d W% ( x )
d 2W% ( x )
-2
m s-2
|W(3L/4)|/max{|q1(x)|}
w ( 0, t ) = 0,
q1 ( x, t ) = q%1 ( x ) sin ( t )
w
w 2 w
+ 2nd
c
= q%1 ( x ) sin ( t )
t 2
t
x 2
t , 0 x L, 2nd = cd ( A )
2
Lecture 13
171
Lecture 13
172
45
1st step. Substitution of the harmonic form of the displacement into the equation of
motion:
2w 2 2w
+c
=0
t 2
x 2
w( x ,t ) =W ( x ) exp( it )
d 2W ( x ) 2
+ 2 W ( x) = 0
dx 2
c
w ( 0, t ) = 0
w ( x, t ) x x = L = 0
w( x ,t ) =W ( x ) exp( it )
W ( 0 ) = 0
dW ( x ) dx x = L = 0
x
x
W ( x ) = A sin
+ B cos
c
c
w ( 0, t ) = 0
T w ( x, t ) x x = L = kw ( t , L )
3rd step. Substitution of the harmonic form of the displacement into the boundary
conditions:
Example 1. Fixed-Fixed String:
Lecture 13
w ( 0, t ) = 0
w ( L, t ) = 0
w( x ,t ) =W ( x ) exp( it )
173
Lecture 13
174
5th step. Obtaining the frequency equation by setting the determinant of the
coefficient matrix to zero.
Example 1. Fixed-Fixed String:
A 0 + B 1 = 0
W ( 0 ) = 0
L
L
A sin c + B cos c = 0
W ( L ) = 0
A 0 + B 1 = 0
W ( 0 ) = 0
x
x
A sin
+ B cos
c
c
T
L
L
2
cos
dW ( x )
A
m sin
2
c
c
T
m
W
L
=
c
(
)
dx x = L
T
L
L
2
+ B
sin
m cos
= 0
c
c
c
175
L
L = 0
sin
cos
c
c
x
x
A sin
+ B cos
c
c
W ( 0 ) = 0
2
TdW ( x ) dx x = L = m W ( L )
4th step. Substitution of the general solution into the boundary conditions. This gives
a system of 2 linear algebraic equations with respect to A and B:
Lecture 13
W ( 0 ) = 0
TdW ( x ) dx x = L = kW ( L )
w( x ,t ) =W ( x ) exp( i t )
w ( 0, t ) = 0
2
2
T
w
x
,
t
x
m
w
x
,
t
t
( ) x=L
( ) x=L
W ( 0 ) = 0
W ( L ) = 0
w( x ,t ) =W ( x ) exp( it )
L
sin
=0
c
T
L
L T
L
L = 0
2
2
cos
sin
m sin
m cos
c
c c
c
c
c
T
L
L
2
cos
m sin
=0
c
c
c
T
L
tan
=
c cm
6th step - final. Solving the frequency equation, the roots of which are, by definition,
the natural frequencies.
Lecture 13
176
46
Ax
Taylor Expansion:
( x + x ) ( x ) +
(a)
Longitudinal wave
in a pile
bg
x + x
Lecture 13
(b)
177
x
x
Resulting Equation:
2u
= ( x ) A + ( x + x ) A + qAx
t 2
2u
=
+q
t 2 x
Lecture 13
178
bg
= E
x + x
2u
u
= A ( x ) E + qA ( x )
t 2 x
x
Type of BC
Kinematic
(displacement)
u = A (t )
Left-end
A(t )
Dynamic
(elastic)
EA
u
= ku
x
Dynamic
(viscous)
EA
u
u
=c
x
t
Dynamic
(inertial)
EA
u
2u
=m 2
x
t
u = B (t )
Right-end
EA
u
= ku
x
EA
u
u
= c
x
t
EA
u
2u
= m 2
x
t
B (t )
179
Lecture 13
180
Lecture 9, October 12
47
Ax
x
x
2w
= ( x ) A + ( x + x ) A + qAx
t 2
Taylor Expansion:
x
( x + x ) ( x ) +
( x + x )
( x)
Resulting Equation:
z, w
x
Lecture 13
x
x
2 w
=
+q
t 2 x
Lecture 13
182
= G
( x + x )
( x)
q
Type of BC
Kinematic
(displacement)
w w
= G
+q
t 2 x x
2
w = A(t )
Left-end
A
w
= kw
x
Dynamic
(elastic)
GA
Dynamic
(viscous)
w
w
GA
=c
x
t
Dynamic
(inertial)
w
2w
GA
=m 2
x
t
w = B (t )
Right-end
B
w
GA =kw
x
w
w
GA =c
x
t
w
2 w
GA =m 2
x
t
183
Lecture 13
184
48
( x + x )
J x
M t ( x + x )
Taylor Expansion:
M t ( x + x ) M t ( x ) +
Mt ( x)
x
x + x
M t
x
x
Resulting Equation:
2 M t
=
+m
t 2
x
Lecture 13
2
= M t ( x ) + M t ( x + x ) + mx
t 2
185
Lecture 13
186
M t ( x + x )
Mt ( x)
M t = GJ t x
x + x
Type of BC
Kinematic
(displacement)
Dynamic
(elastic)
2
= GJ t
+m
t 2 x
x
Left-end
Right-end
= A (t )
GJt
= kt
x
= B (t )
GJt
= kt
x
Dynamic
(viscous)
GJ t
= ct
x
t
GJ t
= ct
x
t
Dynamic
(inertial)
GJ t
2
= It 2
x
t
GJ t
2
= It
x
t2
187
Lecture 13
188
49
Contents of Lecture 14
2w
2w
= T 2 + q cable in transverse motion
t 2
x
2u
2u
2 = E 2 +q
rod in lodgitudinal motion
t
x
2
2
w
w
2 =G 2 +q
beam in pure shear
t
x
2
2
J 2 = GJ t 2 + m
rod in torsion
t
x
2
2w
2 w
c
=
+Q
t 2
x 2
Boundary Conditions
Equivalent mass
All four above models are described by exactly the same equation (the wave
equation). Therefore, to carry out the mathematical analysis of all these models,
one may the procedures which we studied on the hand of the string model.
Lecture 13
189
Lecture 14
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
q ( x, t )
Euler-Bernoulli Theory:
q ( x, t )
M (x )
M = EI
M ( x + x )
V (x )
V ( x + x )
2 w V
=
+ q1
t 2
x
Lecture 14
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
2w 2M
=
+ q1
t 2
x 2
2w 2 2w
+
EI 2 = q1
t 2 x 2
x
191
2w 2 2w
2w
+ 2 EI 2 T 2 = q1
2
t
x
x
x
2w 2M
+ q1
=
t 2
x 2
Bending Vibrations of a Beam
2w
x 2
Ax
190
2w 2 2w
w
+
= q1
EI 2 + kd w + cd
t 2 x 2
x
t
Lecture 14
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
192
50
In contrast to the second-order models, at each end of the beam there can be
formulated
two kinematic conditions;
two dynamic conditions;
one kinematic and one dynamic boundary condition.
x
M (x )
q (x, t )
V = EI 3 w x
M ( x + x )
V ( x + x )
V = EI 3 w x
Lecture 14
193
Type of BC
Kinematic
(displacement)+
Kinematic
(slope)
Kinematic
(displacement)+
Dynamic Moment
(elastic)
Kinematic
(displacement)+
Dynamic Moment
(viscous)
Kinematic
(displacement)+
Dynamic Moment
(inertial)
w = A(t )
w
= A ( t )
x
w = A(t )
2w cr 2w
=
x2 EI t x
Left-end
w
= A ( t )
x
3w
c w
=
x3
EI t
Kinematic (slope)
+
Dynamic Force
(inertial)
w
= A ( t )
x
m
3w
m 2w
=
x3
EI t 2
EI
A
c
2w
=
x2
w
w
+ Ir 2
kr w + cr
x
t
t
EI
Lecture 14
w
= B (t )
x
3 w c w
=
x3 EI t
w
= B ( t )
x
3w m 2w
=
x3 EI t 2
w = B (t )
2w
k w
= r
x2
EI x
kr
w = B(t )
A
cr
2w
c 2w
= r
x2
EI t x
cr
w = B(t )
A
Ir
I 3w
2w
= r 2
x2
EI t x
Ir
194
Type of fixation
Pined-Pined
k
Schematization
x=a
x=b
Boundary Conditions
x = a : w = 2 w x 2 = 0
x = b : w = 2 w x 2 = 0
Clamped-Clamped
x=a
x=b
x=a
x=b
x = a : w = w x = 0
x = b : w = w x = 0
Clamped-Free
x = a : w = w x = 0
2
x = b : 2 w x = 3 w x = 0
Clamped-Pinned
2w
=
x2
x=a
x=b
x = a : w = w x = 0
x = b : w = w2 x 2 = 0
w
w
+ Ir 2
kr w + cr
x
t
t
3
w
w
2w
+m 2
EI 3 = kw + c
x
t
t
w
w
w
= kw + c + m 2
x3
t
t
w
= B (t )
x
3w k
=
w
x3 EI
EI
2
kr
Lecture 14
Right-end
A
Kinematic (slope)
+
Dynamic Force
(viscous)
Dynamic Moment
(elastic + viscous
+inertial)
+
Dynamic Force
(elastic + viscous
+inertial)
w = A( t )
2w Ir 3w
=
x2 EI t 2 x
Right-end
w
= B (t )
x
w = A( t )
2 w kr w
=
x2 EI x
w = B (t )
Left-end
Pinned-Free
x=a
x=b
x = a : w = 2 w x = 0
2
x = b : 2 w x = 3 w x = 0
195
Lecture 14
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
196
51
w
w
+ EI 4 = 0
t 2
x
2
w( x ,t ) =W ( x ) exp ( it )
d W ( x)
4
dx 4
4W ( x ) = 0,
4 =
A
EI
k =1
substitution to EQM
C (
4
k =1
4
k
3rd step. Substitution of the harmonic form of the displacement into the boundary
conditions. We will consider only 4 most basic configurations. The results are
Pinned-Pinned Beam: W ( 0 ) = W ( 0 ) = 0, W ( L ) = W ( L ) = 0
4 exp k x = 0
Clamped-Clamped Beam: W ( 0 ) = W ( 0 ) = 0, W ( L ) = W ( L ) = 0
k4 4 = 0
W ( x ) = Ck exp k x
Clamped-Free Beam: W ( 0 ) = W ( 0 ) = 0, W ( L ) = W ( L ) = 0
1 = , 2 = , 3 = i , 4 = i
Clamped-Pinned Beam: W ( 0 ) = W ( 0 ) = 0, W ( L ) = W ( L ) = 0
197
Lecture 14
198
4th step. Substitution of the general solution into the boundary conditions. This gives
a system of 4 linear algebraic equations with respect to A, B, C, D.
Pinned-Pinned Beam: W ( 0 ) = W ( 0 ) = 0, W ( L ) = W ( L ) = 0
The corresponding system of 4 algebraic equations:
5th step. Obtaining the frequency equation by setting the determinant of the
coefficient matrix to zero.
1
0
1
0
1
0
-1
0
sin( L )
cosh( L ) sinh( L ) cos( L )
6th step. Solving the frequency equation, thereby determining the natural
frequencies.
7th step. Finding the ratios A/D, B/D, C/D from any three of the 4 algebraic
equations. Substitution of the natural frequencies into thus found expressions gives the
normal modes.
4 =
Lecture 14
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
199
B
=0
A
EI
:= 4 sinh( L ) sin( L )
n = n2
Lecture 14
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
EI
sin ( L ) = 0
n
=
n L = n
EI
200
52
A D=0
3 = 23 l
B D=0
C D=0
D D =1
W2 ( x )
D3
D1
W1 ( x )
Wn = Dn sin ( n x ) ,
n = n2
EI n
=
A L
Lecture 14
W3 ( x )
D2
z, w
EI
201
Lecture 14
202
Clamped-Free Beam: W ( 0 ) = W ( 0 ) = 0, W ( L ) = W ( L ) = 0
Wn ( x) = An
0
1
0
1
B
=0
W2 ( x)
cos ( L ) = 1 cosh ( L )
x
W3 ( x)
EI
z, w
Lecture 14
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
203
Lecture 14
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
W1 ( x)
Bending Vibrations of a Beam
204
53
k* = 3
12 = n4
n =
Cn
L2
m =
EI
A
Lecture 14
205
12
EI
L3
EI
EI
= C1,2c c
12 = n4
A
AL4
EI
L3
EI
2
4 EI
= C1,2 p p
1 = n
A
AL4
EI
L3
k * = 192
k * = 48
EI
A
=
EI
= C1,2c f
AL4
3 A L
0.24 A L
C1,2c f
m =
k*
12
48 A L
0.5 A L
C1,2 p p
Lecture 14
192 A L
0.4 A L
C1,2c c
206
2w
4w
+ EI 4 = 0,
2
t
x
Boundary Conditions:
P sin ( t )
Model:
Equation of Motion:
3. Waves around Us
w+
0 < x < L, x x0
, E , A, I
w
x
x = 0 : w = w x = 0
x = L : w = w x = 0
x0
Interface Conditions:
w x = w+ x
slope continuity
2 w x 2 = 2 w+ x 2
moment continuity
Lecture 15
k*
12
Contents of Lecture 15
m =
x = x0 : w = w+
displacement continuity
Lecture 15
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
208
54
Equation of Motion:
d 4W ( x )
4W ( x ) = 0,
dx 4
Boundary Conditions:
x = 0: W = 0
x = L: W+ = 0
4 =
A
EI
Substitution of this solution into 4 boundary and 4 interface conditions yields a system of 8
inhomogeneous linear algebraic equations with respect to the 8 unknown constants:
0 < x < L, x x0
cosh ( x 0 )
sinh( x )
cosh ( x )
sinh( x ) 3
0
2W x 2 = 0
2W + x 2 = 0
Interface Conditions:
x = x0 : W = W + , W x = W + x ,
2W x 2 = 2W + x 2
EI ( 3W + x 3 3W x 3 ) = P
Lecture 15
x = L 2
w x
3
x = L 2
3
x = L 2
= w x
3
cos ( L )
cosh ( L )
sinh( L )
cos ( L )
sinh( x 0 )
cos ( x 0 )
sin( x 0 )
cosh ( x 0 )
sinh( x 0 )
cos ( x 0 )
cosh ( x 0 )
sin( x 0 )
cos ( x 0 )
sinh( x 0 )
cosh ( x 0 )
sin( x 0 )
sinh( x 0 )
cosh ( x 0 )
sin( x 0 )
cos ( x 0 )
3
sin( x 0 )
cos ( x 0 )
cosh ( x0 )
sinh( x0 )
cosh ( x 0 )
sinh( x 0 )
cos ( x0 )
3
sin( L )
D
sin( x 0 )
+
A
cos ( x 0 )
+
B
sin( x0 )
+
C
3 +
cos ( x 0 )
D
sin( L )
sin( x 0 )
EI
210
0< < L 2
"Interface" Conditions:
w
x
0
L 2
L 2
2 EI 3 w+ 3 = P sin ( t )
w
x
w+
, E , A, I
Boundary Conditions:
= 0 : w+ = 0
L 2
x = L 2 +
P sin ( t )
= L 2 : w+ = 2 w+ 2 = 0
Lecture 15
sinh( L )
2 w+
4 w+
= 0,
A 2 + EI
t
4
, E , A, I
x = L 2 +
cosh ( L )
Equation of Motion:
P sin ( t )
0< < L 2
x = L 2 +
= 2 w+ x 2
Let us consider a particular case that the load is applied to the midpoint of the beam.
In this case, using the symmetry of the problem:
2 w x 2
Solving the above system, one can find the unknown constants thereby completing
solution of the problem, see the first Maple file to this lecture for the amplitudefrequency response function and animations.
= w+ x
w x
1
-1
Lecture 15
209
w ( L 2 , t ) = w + ( L 2 + , t ) ,
0
0
L
211
Lecture 15
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
212
55
4W + ( ) = 0, 4 =
A
EI
2 ,
Substitution of this solution into 2 boundary and 2 interface conditions yields the
following system of 4 algebraic equations:
0< < L 2
L
L
L
L
cosh
cos
sinh
sin
2
2
2
2
2
2
2
2
0
1
0
1
3
3
0
0
Boundary Conditions:
= L 2 : W + = 2W + 2 = 0
"Interface" Conditions:
= 0 : W + = 0
A 0
0
B =
C 0
P
D 2 EI
Solving the above system, one can find the unknown constants thereby completing
solution of the problem, see the second Maple file to this lecture for the amplitudefrequency response function and animations.
2 EI 3W + 3 = P
Lecture 15
d 4W + ( )
213
Lecture 15
Vibrations
Wave
Mechanics
versus
Everywhere
Know everything about the boundaries
214
Wave Mechanics
215
Lecture 15
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
Waves
Somewhere
Do not know about boundaries
before collision
216
56
Waves Around Us
sound, water waves, radio waves, earthquakes
330 m/s
5000 m/s
3000 m/s
in steel
in concrete
Electromagnetic waves
(radio, light)
100 m/s
60 - 300 m/s
Lecture 15
Waves around us
Lecture 15
218
Receiver
Radiator
Crack
Steel plate
Lecture 15
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
220
57
Slow train
Lecture 15
221
Lecture 15
222
High-speed train
Fall-pipe without rock under current
Lecture 15
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
223
Lecture 15
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
224
58
225
1747:
1755:
1759:
1766:
1821:
1822:
Lecture 15
226
Initial conditions:
T
c =
A
2
w ( x, t ) t =0 = 0,
t=0
w ( x , t )
0, x > x
= v0
t
1, x < x
t =0
w ( x, t ) = f + ( x ct ) + f ( x + ct )
-x
w = 0.5 v0 c
t = x/2c
w = v0 c
Solution:
w ( x, t ) = ( x ct ) ( x + ct ) ,
x < x
0,
v
( x ) = 0 x + x , x < x
2c
x > x.
2 x ,
t = x/c
w = v0 c
t = 3x/2c
w = v0 c
both waves have an arbitrary form and travel with the wave speed c ;
the shape and the amplitude of both waves does not change.
c
t = 2x/c
c
Lecture 15
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
227
Lecture 15
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
228
59
Contents of Lecture 16
w (x,t)
w0
Initial conditions:
0, x > x
w ( x, t ) t = 0 = w0
,
1, x < x
w ( x, t )
= 0.
t
t =0
t=0
-x
w0
w0/2
t = x/2c
Solution:
w ( x, t ) = ( x + ct ) + ( x ct ) ,
0, x > x
( x ) = w0
1, x < x
t = x/c
t = 3x/2c
c
c
t = 2x/c
Lecture 15
229
Lecture 16
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
230
Initial conditions:
T
c =
A
2
w ( x, t ) t =0 = 0,
t=0
w ( x , t )
0, x > x
= v0
t
1, x < x
t =0
w ( x, t ) = f + ( x ct ) + f ( x + ct )
-x
w = 0.5 v0 c
t = x/2c
w = v0 c
Solution:
w ( x, t ) = ( x ct ) ( x + ct ) ,
x < x
0,
v
( x ) = 0 x + x , x < x
2c
x > x.
2 x ,
t = x/c
w = v0 c
t = 3x/2c
w = v0 c
both waves have an arbitrary form and travel with the wave speed c ;
the shape and the amplitude of both waves does not change.
c
t = 2x/c
c
Lecture 16
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
231
Lecture 17
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
232
60
w (x,t)
w0
Initial conditions:
w ( x, t ) t = 0
0, x > x
,
= w0
1, x < x
w ( x, t )
= 0.
t
t =0
w0
-x
t=0
-x
t=0
w0
w0/2
t = x/2c
w0
w0/2
t = x/2c
Solution:
w ( x, t ) = ( x + ct ) + ( x ct ) ,
0, x > x
( x ) = w0
1, x < x
t = x/c
t = x/c
= -x
t = 3x/2c
t = 3x/2c
Lecture 16
233
234
w (x,t)
+
1
c
x
t=0
2
x
x=0
c
t = x/2c
t = x/c
x
t
2c
x=0
c
t=0
3
t = 3x/2c
t=3x/2c
2
t = 2x/c
t = 5x/2c
x x
-3
t = 3x/c
x
c
Waves in Semi-Infinite Strings
235
t=5x/2c
Lecture 16
= x
opposite deflections.
= -x
= x ct = x
= x + ct = x
t = 2x/c
Lecture 16
Reflection of a deflection
pulse from a fixed boundary
may be represented as a
superposition of two pulses with
t ( x 2 c )
Reflection from a
fixed end.
The method of the
images
= x
-2
-1
Incident wave (
) and reflected wave (
the characteristic plane.
Lecture 16
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
) in
236
61
Reflection from a
free end.
w (x,t)
t=0
+
1
2x
x=0
w (x,t)
+
1
t=0
c
x
2
x
x=0
+2
t = x/2c
Reflection from an
elastic boundary.
= 3.3
+1
t = x/c
t = x/c
t = 3x/2c
t = 2x/c
+1
t = 2x/c
+1
t = 3x/c
-1
t = 5x/2c
x
-2
Lecture 16
Lecture 16
237
Reflection from a
viscous boundary.
=1 3
(1- ) ( + 1) = 0.5
The damping coefficient is smaller
than the non-reflective one.
238
w (x,t)
t=0
+
1
+1/
2
x=0
2
x
c
t = x/2c
t = x/c
t = 3x/2c
Reflection from a
viscous boundary.
=3
(1- ) ( + 1) = -0.5
The damping coefficient is grater
than the non-reflective one.
w (x,t)
+
1
t=0
x=0
2
x
x
c
t = x/2c
t = x/c
t = 3x/2c
t = 2x/c
t = 2x/c
t = 5x/2c
c
t = 5x/2c
239
t = 3x/c
c
Waves in Semi-Infinite Strings
240
62
Contents of Lecture 17
Longitudinal wave
in a pile
Lecture 17
241
Lecture 17
c=
2 u 1 2u
=
,
x 2 c 2 t 2
242
u = f + ( x ct ) + f ( x + ct ) or u = f + ( t x c ) + f ( t + x c )
The particle velocity and the wave speed:
c
v ( x, t ) = u t v ( x, t ) = ( x, t )
E
(a)
(b)
Lecture 17
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
244
63
T+
0
2
T + 4 0
Free end:
The reflected stress pulse
is opposite to the incident
pulse.
Near the boundary the axial
displacement doubles.
2T +
l0
0
2
2T + 2 0
( 0, t )
3T +
T = l0 c
0
2
t
3T + 4 0
=T 6
(a)
2 0
(b)
4T + 2 0
Lecture 17
245
p (t )
x
l0
2
l0
t
A2 , 2 , E2
C
3
b g
246
A1 , 1 , E1
B
0, t
T = l0 c
=T 4
1/4
l0
c
i , r , t
247
Lecture 17
248
64
f+
A1 ( i + r ) = A2 t , vi + vr = vt
2 ( Z 2 Z1 )( A1 A2 )
i,
1 + Z 2 Z1
r =
Z 2 Z1 1
i.
1 + Z 2 Z1
Boundary condition:
(0)
F A EA
=
=
= A E.
v
v
c
Lecture 17
Fd-p
x=0
A ( 0, t ) + Fsp + Fd p = 0
Fsp
The impedance (the ratio between the driving force and the resulting velocity):
Z=
x=0
t =
u(x,t)
249
Lecture 17
AE
u ( 0, t )
u ( 0, t )
ku ( 0, t ) cdp
=0
x
t
250
Contents of Lecture 18
ui = f + ( t x c ) = ( t x c )
then the reflection process is described by
u ( x, t ) = ( t x c ) + f ( t + x c ) ,
f (t + x c ) =
Z cdp
Z + cdp
(t )
Non-reflective element:
2 Zk
(Z + c )
dp
k ( t )
0 ( ) exp Z + cdp d
k = 0, cdp = Z
The elegant form of the boundary condition for purely viscous boundary:
AE
u ( 0, t )
u ( 0, t )
cdp
=0
x
t
Lecture 17
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
A ( 0, t ) + c dp v ( 0, t ) = 0
Local model of pile-ground interaction
251
Lecture 18
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
252
65
d Ns m 2
u ( x, t )
kd N m 2
u ( x, t ) =
u
2u 2u k
c2 2 = 2 + d u + d
t
A
A t
14
4244
3 144244
3
pile
soil
1
2
This implies that the initial shape of a pulse changes during the
pulse propagation!
Lecture 18
253
harmonic wave
U ( ) exp ( i t ) d
1442443
harmonic vibration
Lecture 18
Harmonic waves
t1 t2 t3
Harmonic waves
u(x,t0)
u(x0,t)
A
cph
t1 t2 t3
cph
x0
x0
x
x
u(x0,t)
A cos ( t x ) or A sin ( t x )
real
u ( x, t ) =
exp ( i ( t x ) ) = A ( cos ( t x ) + i sin ( t x ) ) complex
A
where i = 1
Lecture 18
254
u(x,t0)
A
( , ) exp
( i ( t x ) ) d d
U1444
4244443
u (t ) =
Harmonic waves
255
Lecture 18
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
Harmonic waves
256
66
Substituting u ( x, t ) = A exp ( i ( t x ) )
u
2 u 2u
, 0 =
=
+ 02u + d
A t
x 2 t 2
kd
,
A
c 2 2 = 2 + 02 + i
If
d
.
A
= t x = const
tan ( ) = c
Harmonic waves
257
Harmonic waves
d
.
d
tan ( ) = c
tan ( ph ) = c ph
tan ( g ) = cgr
u
cgr
speed
0
x
cph
gr
Lecture 18
258
( t = t2 t1 )
cgr =
t2
dx
= .
c ph =
dt
Lecture 18
t1
c ph = x t
d = 0, then = c 2 2 + 02
dx
= 0
=0
t
dt
u(x,t0)
cgr
ph
Lecture 18
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
Harmonic waves
260
67
=
x=0
Equation of motion:
2u
2u
c 2 2 + 02 u = 0, 0 =
2
t
x
kd
u ( 0, t )
x = :
lim u ( x, t ) <
and
Lecture 18
< 0
b) imaginary if < 0
A ( 0, t ) + F0 cos ( t ) = 0
> 0
2 02
a) real if > 0
x = 0:
AE
1
c
The wavenumber is
Boundary conditions:
F = F0 cos ( t )
= F0 cos ( t )
261
262
1
x
sin t
2 02 ,
> 0
2
2
c
cF0 0
u=
EA
1
x
02 2 , < 0
cos ( t ) exp
2 2
c
F = F0 cos ( t )
= 0 resonance!
kd
u
cph()
2 02
(b)
2 02 i
d
A
The steady-state displacement (a) above and (b) below the cut-off frequency.
Lecture 18
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
263
Lecture 18
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
264
68
2u 2u
c
= 2 + 02 u
x 2
t
c = +
2
equation
d = 0
d 0
Dispersion
2u 2u
u
c
=
+ 02u + d
A t
x 2 t 2
2
Response
for
c = + + i d
A
2
2
0
d 0
2
0
Lecture 18
A =
1
2 02
c
Im ( ) < 0
u
265
Lecture 18
266
d = 0
d 0
d = 0
u = Re A exp ( it x ) ,
u = Re A exp ( it x ) ,
F0
A =
,
AE
F0
,
A =
AE
1
02 2
c
< 0
u
Frequency
Response
Function
02 2 + i d
A
c
d 0
Re ( ) > 0
Lecture 18
2 02 i d ,
c
A
F0
,
i AE
> 0
u = Re A exp ( it i x ) ,
F0
A =
,
i AE
= 2 02 i d
c
A
1
= 2 02
c
u = Re A exp ( it i x ) ,
Wavenumber
of the
perturbed
wave
Response
for
267
Lecture 18
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
268
69
cdp
A r =
Semi-infinite rod on elastic foundation with a boundary element
R eflected w ave:
A r exp ( i ( t + x ) )
u ( x , t )
x
=m
x =0
2 u ( 0, t )
u ( 0, t )
+ ku ( 0, t ) + cdp
t 2
t
Lecture 18
m 2 + k + i ( cdp + AE )
A i
u = A i exp ( i ( t x ) ) + A r exp ( i ( t + x ) )
AE
m 2 k i ( cdp AE )
269
k = m 2
nr AE AE
1 02 2
=
cdp =
c
Lecture 18
270
Contents of Lecture 19
2a
2b
Lecture 19
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
271
Lecture 19
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
272
70
w (x,t)
E,I,A,
Beam
2 w ( x, t )
4 w ( x, t )
+ EI
+ k d w ( x, t ) = 0
2
t
x 4
Inertia
force
kd
Force
due to
bending
Elastic foundation
Foundation
reaction
b g
Lecture 19
273
Lecture 19
274
w (x,t)
F0 cos ( t )
2 w+ ( x , t )
4 w+ ( x , t )
+ EI
+ k d w + ( x, t ) = 0
2
t
x 4
2
4
w ( x, t )
w ( x, t )
+ EI
+ k d w ( x, t ) = 0
A
t 2
x 4
w+ ( x, t )
w ( x, t )
x=0
Boundary
conditions at the
loading point
Lecture 19
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
w ( 0, t )
+
275
w ( 0, t )
x < 0,
w (x,t)
w+ ( 0, t ) = w ( 0, t ) ,
x > 0,
Lecture 19
w + ( x, t )
x
x
2 w+ ( 0, t ) 2 w ( 0, t )
=
,
x 2
x 2
3 +
3
w ( 0, t ) w ( 0, t )
EI
= F0 cos ( t ) .
x3
x 3
F0 cos ( t )
w ( x , t )
x
x=0
276
71
x > 0,
EI
4 + 02
A 2 + EI 4 + kd = 0
b
EI 4
2 +
+ 02 = 0
A
with 0 = kd A
Dispersion analysis
Lecture 19
277
The model is not satisfactory at the high-frequency band since for large
wavenumbers the following relationship holds
EI 4
+ 02 = 0
A
EI
c gr =
Lecture 19
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
278
A
EI
02 )
d
EI
= 2
A
d
2 +
Lecture 19
or may be not?
279
(1) = + 4
( 2) = 4
EI
EI
(3) = +i
( 4) = i
A
EI
A
EI
02 ) ,
02 ) ,
02 ) ,
02 ) .
Lecture 19
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
280
72
(1)
1 i
=
2
( 2) =
( 3)
EI
1 + i
2
1+ i
=
2
( 4) =
2 ) ,
2
0
(
EI
2
0
(
EI
2
0
2 ) ,
),
A1 =
281
3/ 4
Condition of resonance:
= 0
02 ) cos ( t ) exp x
A
EI
))}
1
4
iA1 ( ) iA 4 ( ) = 0
( )
1
iA1 ( )
02 )
Physical reason:
cgr ( = 0 ) = 0.
2 F0 cos ( t )
A 2
4
exp
(0 2 )
3/ 4
2 EI
A 2
2
4 EI
( 0 )
Energy does not travel
EI
away from the load!
x
A
x
A
4
4
02 2 ) + cos
02 2 )
sin
(
(
2 EI
2 EI
Lecture 19
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
iF0
(1)
( ) ( )
( 4)
2 EI
(1)
Lecture 19
CT 4140 Structural Mechanics
Faculty of Civil Engineering and Geosciences
2009 Delft, The Netherlands
( )
+ iA 4 ( )
4
= F0 ( 2 EI )
Complex amplitudes:
w+ ( 0, t )
=0
x
3 +
w ( 0, t )
= F0 exp ( it )
2 EI
x3
Lecture 19
sin t x
i 1 4 A 2
(0 2 ) ,
EI
2
w + ( x, t ) =
283
A 4 =
iF0
( 4)
( ) ( ( ) )
2 EI ( )
282