Beruflich Dokumente
Kultur Dokumente
2. Free Vibration
3. Response to Harmonic and Periodic
E it ti
Excitations
4. Response to Arbitrary Excitations
Assistant Professor
Department of Civil Engineering
Theoretical Approaches
July 16, 2010, 99-11AM, University of Tokyo
Examples:
Simply-Supported Bridge
Idealization:
Idealization:
Offshore Platform
Governing DOF
Governing DOF
y
Cantilever Crane
x
f
cx R ( x, x )
Newtons
Newton
s Second Law of Motion
Damping coefficient
= mx
cx R ( x, x ) + f = mx
Pendulum
Swing
Windmill
mx + cx + R ( x, x ) = f
Idealization:
Governing DOF
1.3 MassMass-Damper
Damper--Spring Model
If R ( x, x ) = kx (Linear Elastic), the equation of motion yields.
mx + cx + kx = f
mx + cx + R ( x, x ) = f
x +
xg
2. Free Vibration
cx R ( x, x )
0.25
0.2
0 15
0.15
xg
= m (
x +
xg )
cx R ( x, x ) = m (
x +
xg )
Equation of Motion:
Displacement (m)
Fixed reference
Newtons
Newton
s Second Law of Motion
0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
-0.25
10
12
14
16
18
20
Time (sec)
x
m
x + n 2 x = 0
x ( t ) = A1 cos n t + A2 sin n t
Equation of Motion:
A1 = x ( 0 )
mx + kx = 0
A2 =
x ( 0 )
Where n =
x + n 2 x = 0
Where x ( 0 ) and x ( 0 ) are the initial displacement and the initial velocity,
respectively.
Solution:
x ( t ) = 0.1cos nt
x
k
Equation of Motion:
mx + cx + kx = 0
x + 2n x + n 2 x = 0
Where ( = c 2mn ) is the damping ratio.
x = et
Substituting the above expression, the solution must satisfy the
following characteristic equation of the system.
2 + 2n + n 2 = 0
The solution can be sorted by the range of the damping ratio.
i.
ii.
iii.
2
Where ccr ( = 2mn ) is called the critical damping coefficient.
x ( t ) = A1e1t + A2 e2t
Where 1 and 2 are the roots of equation 2 + 2n + n 2 = 0.
And A1 and A2 are the constants that can be determined from the
1
initial conditions as:
A1 1 1 x ( 0 )
=
A2 1 1 x ( 0 )
ii) Critically damped = 1 ( or c = ccr )
x ( t ) = ( B1 + B2t ) en t
Where B1 and B2 are the constants that can be determined from the
initial conditions.
1
B1 1 0 x ( 0 )
=
B2 n 1 x ( 0 )
x (t ) = e
n t
Case Study:
System properties: m = 10.0 kg, k = 98.70 N/m, f n = 0.5 Hz
( C1 cos d t + C2 sin d t )
Initial conditions:
Damping ratios:
Free vibration
Delaying Amplitude
C1 = x ( 0 )
C2 =
x ( 0 ) + n x ( 0 )
d = n 1 2
x (m)
Damping ratios:
0.2
= 0.01
0
-0.2
0
10
x (m)
Time ((sec))
0.2
= 0.05
0
-0.2
0
10
Time (sec)
x (m)
0.2
= 0.2
0
-0.2
0
10
Time (sec)
x + n 2 x =
Equation of Motion:
Harmonic Excitation:
f = F0 sin 0t
x
m
k
f
t
Equation of Motion:
F0
sin 0 t
m
mx + kx = F0 sin 0t
F
x + n 2 x =0 0 sin 0t
m
x ( t ) = x p ( t ) + xc ( t )
Steady State:
x p ( t ) = A sin 0t
Transient:
xc ( t ) = B1 cos n t + B2 sin n t
F0
1
k 1 (0 n ) 2
xc is determined to satisfy
xc + n 2 xc = 0 ,
B1 = x ( 0 ) and B2 =
x ( 0 )
F0
1
k 1 (0
Initial conditions:
Input frequency:
x ( t ) = 0.1cos n t
f = F0 sin 0t
System properties:
Equation of Motion:
F0
sin 0 t
m
F0
sin 0 t
m
x ( t ) = x p ( t ) + xc ( t )
Steady State:
x p ( t ) = A1 cos 0t + A2 sin 0t
Transient:
Damping ratios:
2 0 n
F
1 (0 n )
F0
A2 = 0
k 1 2 2 + 2 2
k 1 2 2 + 2 2 and
(
{ 0 n}
0
( 0 n ) { 0 n}
n)
2
A1 =
Where B1 and B2 are the constants that can be determined from the
initial conditions.
Response Factor
x
Rd = 0 =
( xst )0
n )
} + {2
2 2
Phase Angle
= arctan
2 0 n
1 (0 n )
=0.01
=0.1
=0.2
=0.5
2
0
0.5
1.5
2.5
Phase Angle
{1 (
n}
Where x0 = A + A2
is the magnitude of the steady-state response;
( xst )0 ( = F0 k ) is the static response (deformation); and Rd is the response
factor.
Response Factor
2
Response Factor
Steady--state Response
Steady
2
1
=0.01
=0.1
-1
=0.2
=0.5
-2
-3
0
0.5
1.5
2.5
Periodic Function
i =1
i =1
T0
T0
T0
T0
f ( t + iT0 ) = f ( t )
a0 =
ai =
2
T0
2
bi =
T0
1
T0
T0
f ( t ) dt
0
T0
f ( t ) cos ( i t ) dt
0
0
T0
f ( t ) sin ( i t ) dt
0
i =1
i =1
i =1
i =1
t
T0
T0
a2
cos 0t
cos 20t
sin 0t
+ b1
1.2
0.8
0.8
0.8
0.6
0.6
0.6
+ b2
sin 20 t
a1
0.4
0.4
0.2
0.2
-0.2
-0.2
-0.2
0.4
0.2
Time (sec)
15 terms
1.2
10 terms
1.2
a0
Time (sec)
Time (sec)
Periodic Excitation:
x
k
x + 2n x + n 2 x =
m
f
Response to
a0
m
x0 ( t ) =
a0
k
Response to
ai
cos ( i0t )
m
xic ( t ) =
2
ai 2 i sin ( i0t ) + (1 i ) cos ( i0t )
2 2
k
(1 ) + ( 2 )2
t
T0
T0
n
n
1
Equation of Motion:
mx + cx + kx = f ( t ) f n ( t )
x + 2n x + n 2 x =
n
n
1
b
Response to i sin ( i0 t )
m
where i =
2
b 2 i cos ( i0t ) + (1 i ) sin ( i0t )
x (t ) = i
2 2
k
(1 ) + ( 2 )2
s
i
i0
x ( t ) = x0 ( t ) + x ( t ) + x ( t )
c
i
i =1
x (t ) =
i =1
s
i
2
a0 n ai 2 i sin ( i0t ) + (1 i ) cos ( i0t ) n bi 2 i cos ( i0t ) + (1 i ) sin ( i0t )
+
+
2
2 2
2 2
k i =1 k
k
=
i
1
(1 ) + ( 2 )
(1 ) + ( 2 )2
2
a0 n 1
+
k i =1 k (1
) + ( 2 )
2 2
i
2 i ai + (1 i 2 ) bi sin ( i0t )
2
+ (1 i ) ai 2 i bi cos ( i0t )
4. Response to Arbitrary
Excitations
fdt =
fdt = 1
Impulse Response
How can we express x ( t ) ?
Undamped System
h (t ) = x (t ) =
t1
t1
1
.
m
1
sin {n ( t )}
mn
Damped System
h (t ) = x (t ) =
1 n ( t )
e
sin {d ( t )}
md
Arbitrary Excitation
Arbitrary Excitation
f
f ( 2 ) h ( t 2 )
f ( 3 ) h ( t 3 )
f ( 4 ) h ( t 4 )
f ( 5 ) h ( t 5 )
f ( 6 ) h ( t 6 )
f ( 7 ) h ( t 7 )
f ( 8 ) h ( t 8 )
f ( 9 ) h ( t 9 )
x ( t ) = f ( ) h ( t ) d
t
Convolution Integral
t
Undamped System
Step Excitation
f ( t ) = f0
f0
x ( t ) = f ( ) h ( t ) d
t
1
mn
f ( ) sin {n ( t )} d
Step Excitation
x ( t ) = h ( t ) d
t
Damped System
x ( t ) = f ( ) h ( t ) d
1
md
n ( t )
sin {d ( t )} d
sin {d ( t )} d
1
md
(
f ( ) e
t
t )
Case Study:
System properties: m = 1.0 kg, k = 1000.0 N/m, f n = 2.0 Hz
Example
Step Excitation
f (t ) =
f0
f0
t
t0
Step Excitation
t0
x (t ) =
f0
h ( t ) d
t0
1
mn
f0
sin {n ( t )} d
t0
sin 2 t
Tn
t
= ( xst )0 +
t
2 t
n
Tn
xn 1
xn +1
tn 1
tn
mx + cx + R ( x, x ) = f
f1
f
f0
Step i
x1
x2
xi +1
xi
mxi + cxi + R ( x, x )i = f i
xi
xi =
xi +1
x x
x 2 xi + xi 1
xi = i +1 i 1 = i +1
2
2t
( t )
xi
t
ti +1
xi +1 xi 1
+ kxi = fi
2t
= f
kx
i +1
i
m
c
and f = f m c x k 2m x
k =
+
2
i
i
i 1
i
2
2
( t ) 2t
( t )
( t ) 2t
Formulation
Where
ti
xi +1 xi 1
2 t
xi +1 2 xi + xi 1
( t )
+c
xi +1 =
fi
ti = ti +1 ti
x0
t0 t1 t2
Step i+1
fi +1
fi
f2
ti 1
Graphical Interpretation
xi 1
tn +1
ti ti +1
( t )
f 0 cx0 kx0
x1 = x0 tx0 +
x0
,
2
m
m
c
2m
m
c
+
, and b = k
k =
, a=
2
2
2
( t )
( t ) 2t
( t ) 2t
2
x0 =
fi = f i axi 1 bxi ,
xi =
xi +1 xi 1
2t
and
xi +1 =
xi =
fi
k
xi +1 2 xi + xi 1
( t )
i 1
f
i 1
fi
xi 1
xi
x
x
i +1
i 1
f
i 1
fi
fi +1
Cal. 1
xi 1
xi
xi +1
Cal. 2
xi 1
x
xi 1
xi
Cal. 3
xi 1
x
xi 1
xi
Cal. 4
i +1
Known or Given
Known or Given
i 1
f
i 1
i +1
fi
fi +1
Displacement:
xi +1 = xi + txi +
Velocity:
xi 1
xi
x
xi 1
xi
xi 1
x
( t )
2
2
( t )
xi +
( t )
xi + "
xi + "
and
xi +1
xi
( t )
Displacement:
xi +1 = xi + txi +
Velocity:
xi +
xi
Known or Given
Assumptions
Linear Acceleration
x
x
x = i +1 i
t
Incremental Quantities
Displacement:
xi +1 = xi + txi + ( 0.5 )( t )
xi + ( t )
xi +1
Velocity:
m
xi + cxi + k xi = fi
Where
= f
kx
i
i
1
k = k +
c+
m
2
t
( t )
1
1
1 c
fi = f i +
m + c xi +
m + t
xi
t
2
2
xi =
fi
10
Computational Procedure
Initial Calculations
f 0 cx0 kx0
,
m
1
a=
m+ c
t
1
k = k +
c+
m
2
t
( t )
x0 =
and
fi = f i + axi + bxi ,
xi =
1
1 c
b=
m + t
2
2
fi
xi =
xi xi + t 1
xi ,
t
,
k
xi =
( t )
i 1
f
i 1
xi 1
xi 1
x
x
1
1
xi
x
x
t i 2 i
i +1
xi 1
x
x
x
xi 1
xi 1
xi
xi
x
xi 1
xi
Known or Given
i 1
f
i 1
i
f
xi 1
xi 1
xi
xi
xi 1
xi
x
xi 1
xi 1
xi
xi
xi +1
xi +1
x
xi 1
xi
xi +1
x
x
x
x
i +1
Cal. 1
Cal. 2
Cal. 3
x
Cal. 4
x
x
i 1
f
i 1
i
f
xi 1
xi 1
xi
xi
xi 1
xi
xi
xi
xi +1
xi +1
xi
xi +1
Cal. 6
x
xi 1
xi 1
Cal. 7
x
xi 1
Cal. 5
i +1
Known or Given
Known or Given
1
1
< <
6
4
Typical value: =
5.4 Stability
Conditionally Stable if:
1
2
1
2
Special Cases
1
1
=
and =
4
2
1
1
= and =
6
2
x +
x
x = i +1 i
2
x =
xi +
x
xi +1
x
xi +1
xi
xi
ti +1
Where
( xi +1 xi )
max
ti +1
and
max
1
1
and
2
2
Tmin
ti
1
2
Linear Acceleration
Average Acceleration
ti
1
2
2
11