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k m A c A
2
F0c
k m c
2
, A2
F0 k m 2
k m c
2
, tan
A1
A2
F0
k m c
2
c
, tan 1
2
k m
, 2n
m
cc 2mn 2 mk m
F
X 0 0 deflection under static force F0
k
frequency ratio
n
we can write
M
X
1
Xo
2 2
2
1 2
n n
1 r2
2 r
2
2r
1 r 2
tan 1
Complex Analysis
Using the fact that the complex exponential is periodic, we
can look at the real component of
mx cx kx F0eit
we can assume a solution of the form:
x p (t ) Xeit
This leads to the equation:
m 2 ci k Xeit F0eit
which can be written as:
k m 2 ic F0 ei
X
This can be represented vectorially as:
Im
F0
X
Re
k m 2
so
F0
k m c
F0
k m c
2
and
c
2
k m
which is the same solution we had for the cosine case before,
with a lot less work.
tan 1
Base Motion
The equation of motion of the system is:
mx c( x y ) k x y 0
I. Relative Motion
Sometimes we are concerned with the relative motion of the
mass with respect to the base. (Example: accelerometer and
the velocity meter). In this case, we can define z=x-y. Our
equation of motion becomes:
mx c( x y ) k x y 0
If the periodic input is in the form
y Y sin t
the equation of motion becomes:
2
mz cz kz my m
Y sin t
P0
Z0
1 r2
2 r
But
P0 m 2Y
Z0
Yr 2
k
k
hence the solution is:
Z
r2
2
2
Y
2
1 r 2 r
and
2 r
2
1 r
tan 1
Y 1 r2
2
2
Case 1: r 1 Z Yr Y 2
n
At low frequencies, Z is proportional to 2Y, i.e.
proportional to acceleration. In this range the accelerometer
works. It must have a high n such that n is small .
Case 2: r 1 Z Y
At high frequencies, the ratio between Z and Y is one, i.e. Z
is equal to the displacement. In this range the vibrometer
works. It must have a low n such that n is high.
I. Absolute Motion
If we are concerned with the absolute motion, we can write
the equation of motion as:
mx cx kx ky cy
Here it becomes more convenient to assume the base motion
having the form*:
y Yeit
We seek a solution in the form:
x Xeit
from which
X i
k ic
e
Y
k m 2 ic
hence
1 2 r
1 r2
2 r
and
2 r 3
tan
1 r 2 2 r 2
We can also assume a periodic base input of the form y = Y sin wt, see page 11.
10
Y k 2 c
k m
2
c
2
sin t 1
2
c
2
k m
1 tan 1
k 2 c
k m c
2
1 2 r
1 r 2 r
2
mc 3
2r 3
1
1
tan
tan
2
2
2
2
k k m c
1 4 1 r
which is the same solution obtained using complex analysis.
11
Force Transmitted
To find the force on the base during base motion, we have:
F k ( x y) c x y mx
FT m 2Y
1 r2
2 r
2
12
FT kx cx kx icx
kX cX
2
FT
F0
k m
2
2 2
1 r 2 r
2
This has the same amplitude as the base motion ratio found
earlier. If Tr is less than one, then the system behaves like a
vibration isolator, i.e. the ground receives less force than the
input force. (See figure 3.15)
13
Rotating Unbalance
Having a rotating unbalance is a common problem in
machinery. In this case, we have the following equation of
motion:
Mx cx kx me 2 sin t
If we denote the particular solution xp(t) as:
x p t X sin t
then the displacement amplitude is:
X
X0
1 r 2 r
2
where
me 2 mer 2
X0
k
M
then
XM
me
and
r2
1 r2
2 r
2r
1 r 2
tan 1
(See figure 3.17)
14
F0 me 2 mer 2 n 2
thus
F
1 (2r ) 2
2
r
2
2
me n
1 r 2 2r 2
15
F t
2 T
F t cos jt dt , j 0,1, 2,
0
T
2 T
b j F t sin jt dt , j 1, 2,3,
T 0
aj
a0
mx cx kx F t a j cos jt b j sin jt
2 j 1
Using the principle of superposition, the steady-sate solution
of this equation is the sum of the steady-state solutions of:
a
mx cx kx 0
2
mx cx kx a j cos jt
mx cx kx b j sin jt
The particular solution of the 1st equation is:
a
xp t 0
2k
16
xp t
1 j r 2 jr
2
2 2
bj
xp t
1 j r 2 jr
2
2 2
cos jt j
sin jt j
2 jr
2 2
1 j r
j tan 1
r
2k j 1
aj
1 j r 2 jr
2 2
cos jt j
j 1
bj
k
1 j r 2 jr
2 2
sin jt j
Example:
Obtain
the
steady-state response of a
dynamic system having
m=1, c=0.7 and k=1 when
subjected to the force
shown.
17
T 20 , 2 T 2 20 10
F (t ) 1 0 t 10
F (t ) 1 10 t 20
a0
a1 cos t a2 cos 2t ... b1 sin t b2 sin 2t ...
2
20
2 T
2 10
F
t
dt
dt
dt 0.1 10 20 10 0
0
0
10
T
20
2 T
F t cos jt dt
T 0
20
2 10
cos
j
t
dt
cos
j t dt
10
20 0
10
10
10
20
10
10
0.1 sin j t
sin j t 0
10 0 j
10 10
j
aj
sin
j
t
dt
sin
j t dt
10
20 0
10
10
10
20
10
10
0.1
cos j t
cos j t
10 0
j
10 10
j
10
10
0.1
cos j 1 cos 2 j cos j
j
j
bj
18
If j is odd,
10
4
10
b j 0.1
2 2
j
j
j
If j is even,
10
10
b j 0.1
0 0 0
j
j
j 1,3,5, 7,
j 1
4
3
4
5
4
sin t sin t sin t sin j t ,
10 3
10
5
10
10
j 1 j
or graphically as:
19
j 1,3,5, 7,
% ***********************************************************
% Periodic response of a dynamic system to a square input waveform
% ***********************************************************
clear; close all;
m=1; c=0.7; k=1; % Parameters
wn=sqrt(k/m); zi=c/wn/2; w=pi/10;
t=linspace(0,40,500); x=zeros(size(t)); r=w/wn;
for jj=1:2:19
a(jj)=4/pi/jj;
X(jj)=a(jj)/k/sqrt((1-jj^2*r^2)^2+(2*zi*jj*r)^2); % term in summation
phi(jj)=atan2(2*zi*jj*r,1-jj*jj*r*r);
x(jj+2,:)=x(jj,:)+X(jj)*sin(w*jj*t-phi(jj));
end
u=sign(sin(w*t));
figure(1)
plot(t,x([3 5 7 21],:),t,sign(sin(w*t)),'linewidth',2);grid
legend('1 term','2 terms','3 terms','19 terms')
xlabel('Time [s]','fontsize',18);ylabel('x(t)','fontsize',18)
title('Response to Periodic Input','fontsize',18);
figure(2)
plot(1:2:19,X(1:2:19),'o','markersize',10,'linewidth',4);grid
ylabel('Magnitude of term in summation','fontsize',18)
xlabel('Summation term','fontsize',18)
20
21
Response to an impulse
From ENGR 214, the principle of impulse and momentum
states that impulse equals change in momentum:
= = (2 1 )
or:
+
= 2 1
= lim
= 1
If the mass starts from rest, we can get the velocity just after
impulse as:
1
0 = =
and the response becomes:
1
=
22
For a unit impulse, the response for zero initial conditions is:
=
= ()
here
we
have
rad
= 2
rad
s
, = 0.125, =
23
>5
2 0.25
sin 1.984 0 < < 5
1.984
=
2 0.25
2 0.25
sin 1.984 +
sin 1.984
1.984
1.984
= ( )
The total response at time t is the sum of all responses:
24
5 < < 20
=
Hence
1
=
0
z t
n t
e
sin d t d
1
n t
x t
F
e
sin d t d
0
md 0
25
syms z wn t tau wd
M=int(exp(-z*wn*(t-tau))*sin(wd*(t-tau)),tau,0,t)
M=
-(-wd+exp(-z*wn*t)*wd*cos(wd*t)+exp(z*wn*t)*z*wn*sin(wd*t))/(z^2*wn^2+wd^2)
pretty(M)
-wd + exp(-z wn t) wd cos(wd t) + exp(-z wn t) z wn sin(wd t)
- --------------------------------------------------------------------------2 2 2
z wn + wd
md
2n2 d2
x t
2 2
2
2
md
n n 1
F0
1 2 e nt cos d t
md n
F
0
k
1
n t
e
cos d t
1
2
where
tan
1 2
26
F0
The response is shown below. Notice how it converges to k .
27
Example: Pulse with finite width (see Example 4.8, page 320)
F(t)
F(t)
F(t)
F0
+
t
F0
t
-F0
Solution: The given forcing function can be considered a sum
of 2 step functions. Thus the total response is the sum of the 2
responses mentioned earlier.
28
lim
lim
2
2
n
n
d
1
1
n
n
t sin t t
lim
sin t
2
n
2 2
n
so
x
t
x(t ) x0 cos( nt ) 0 sin nt st sin t
n
2
See Fig 3.6
If the frequencies are close (n) then a phenomena called
beating occurs. Assuming zero initial conditions
cos(t ) cos( nt )
x(t ) st
2
1
n
F0
n n
2
sin
t sin
t
2
2
2
2
m n
Using the following notation
n 2 n 2 n 2 2 4
29
then
x(t )
st
sin t sin t
2
4 N
F
F0
0
X
2
2
k
1 2
n
which is valid for F0>>N
4 N
F0
tan 1
2
1 2
the solution is
x p t X cost
F0
k
2
1 2 2
tan 1
2
1 2
31