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2 5_DrivenHarmonicOscillator.

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Chapter 5

Driven Harmonic Oscillator

5.1 Periodic Forcing term


Consider an external driving force acting on the mass that is periodic as a function of time. The force equation
can then be written as the form, F = F0 Cos@w tD
d2 x
F = ma = m = -b v - k x + F0 Cos@w tD (5.1)
d t2

k
where the frequency w is different from the natural frequency of the oscillator w0 =
m

5.1.1 Zero Damping


For simplicity assume at first that there is no damping, b Ø 0. The differential equation then reduces to
d2 x
kx + m = F0 Cos@w tD (5.2)
d t2
or
d2 x F0
+ w20 x = Cos@w tD (5.3)
2 m
dt
d2 x
Try a soluton of the form, x@tD = A Cos@w tD. Differentiating x@tD twice, we have that = -A w2 Cos@w tD and
d t2
F0
-A w2 Cos@w tD + w20 A Cos@w tD = Cos@w tD (5.4)
m
or solving for A
F0 ê m
A= (5.5)
w20 - w2
The resulting solution has the form,
F0 ê m
xs @tD = Cos@w tD (5.6)
w20 - w2

this motion, the solution of the differential equation without a driving force, xt @tD = B Cos@w0 tD so that the most general
This is the motion associated with the driving force and is call the steady state solution. One can always add to

solution has the form


F0 ê m
x@tD = xs @tD + xt @tD = B Cos@w0 tD + Cos@w tD (5.7)
w20 - w2
Consider some special cases. In the limit as the driving frequency goes to zero, the driving force becomes a static
force and the steady state solution becomes
F0 ê m
xs @tD =
F0 F0
Cos@w tD = = (5.8)
w20 -w 2
wØ0 m w20 k
which agrees with what one would expect for a static force. For nonzero values of w, the amplitude of the motion
has the following properties
w < w0 A > 0
w > w0 A < 0 (5.9)
w = w0 A -> ¶

If we rewrite A in terms of a magnitude and a phase we have that


5_DrivenHarmonicOscillator.cdf 3

F0 ê m
A= ‰Â f (5.10)
w20 - w2
where
w < w0 A > 0 f = 0
(5.11)
w > w0 A < 0 f = p
Plotting †A§ and f, we have

†A§ p f

F0
k 0
w0
w

5.1.2 Nonzero Damping


Adding the damping term
d2 x dx
m +b + k x = F0 Cos@w tD (5.12)
2 dt
To simplify the math we can rewrite the entire equation using complex notation. Rewriting Cos@w tD = Re@‰Â w t D and
dt

x@tD = Re@x@tDD, then

‰Â Hw tL
d2 x dx F0
+g + x w20 = (5.13)
2 dt m
dt
Again try a soluton of the form, x@tD = A ‰Â w t . The characteristic equation becomes

‰Â Hw tL - + A I g w - w2 + w20 M = 0
F0
(5.14)
m
Solving for A
F0 ê m

Iw20 - w2 M + Â w g
A= (5.15)

As before we can express A in exponential notation, †A§ ‰-Â f


F0 ê m
Abs@AD =

Iw20 - w2 M + w2 g2
2
(5.16)
gw
Tan@fD =
w20 - w2

Now the steady state solution becomes


F0 ê m
xs @tD = ReAAbs@AD ‰- f ‰Â t w E = Cos@w t -fD

Iw20 -w M +w g
(5.17)
2 2 2 2

xt @tD = B Cos@w0 tD so that the most general solution has the form
Again, one can always add to this motion, the solution of the differential equation without a driving force,
4 5_DrivenHarmonicOscillator.cdf

F0 ê m
x@tD = xs @tD + xt @tD = B ‰
tg
-
2 Cos@wD t + jD + Cos@w t -fD

Iw20 - w2 M + w2 g2
(5.18)
2

1ê2 1ê2
g 2 1 2
where wD = w0 1 - = w0 1 - and B and j are determined by the initial conditions.
2 w0 2Q
Consider some special cases. In the limit as the driving frequency goes to zero, the driving force becomes a static
force and the steady state solution becomes
F0 ê m
xs @tD =
F0 F0
Cos@w tD = = (5.19)
w20 - w2 wØ0 m w20 k
which agrees with what one would expect for a static force. For nonzero values of w, the amplitude of the motion
has the following properties
p
w § w0 Tan@fD ¥ 0 0 § f §
2
p
w > w0 Tan@fD § 0 §f§p
2 (5.20)

p F0 ê m F0 F0

m Iw20 gM
w = w0 Tan@fD = 0 f = and Abs@AD = = w0 = Q
2 w0 g k

Plotting A, we have

Q = 20.

†A§ F0 f
k

p
2

0
w0
w
5_DrivenHarmonicOscillator.cdf 5

wD 2

F0 0

0 1

max 1
1.0

max 20

elease system 0.5

Cos@w0 tD
0.0
os@wD tD
5 10 15 20

-0.5

-1.0

Q = 10

Q=5

F0
Q = 2.5
k
Q=1
p
Q = 10
Q=5
Q = 2.5

Q=1 p
2

0
w0
w

As can be seen from the diagram, the maximum amplitude does not occur at w = w0 . Setting the derivative of the
amplitude expression to zero
d HF0 ê mL HF0 ê mL I2 g2 w - 4 w I-w2 + w20 MM

2 Ig2 w2 + I-w2 + w20 M M


=- =0

Iw20 -w M +w g
dw 2 3ê2 (5.21)
2 2 2 2
6 5_DrivenHarmonicOscillator.cdf

and solving for w

g2 Q2
wmax = - + w20 = 1- w0 (5.22)
2 2

Substituting back into our expression


2 HF0 ê mL HF0 ê mL
= HF0 ê kL
Q
A = =
-g2 Ig2 - 4 w20 M g2 1
(5.23)
g w20 - 1-
4 4 Q2

The maximum amplitude is approximately the Q times the displacement caused by a static force that is equal in
magnitude to the amplitude of the periodic force.

5.2 Power
For simplicity, we will calculate the power when the transients have died away and the motion is given by the
steady state solution. The velocity of the object is obtained by differentiating the expression for the displacement

d F0 ê m
v@tD = Cos@w t -fD

Iw20 -w M +w g
dt
2 2 2 2
(5.24)
w F0 ê m
v@tD = - Sin@w t -fD

Iw20 - w M + w2 g2
2 2

gw
where Tan@fD = . The instantaneous power is the product of the force and the velocity
w20 - w2

w F0 ê m
P@tD = F@tD v@tD = F0 Cos@w tD - Sin@w t -fD

Iw20 - w2 M + w2 g2
2

(5.25)
w F02 ë m
= - Cos@w tD Sin@w t -fD

Iw20 - w2 M + w2 g2
2

Expanding the trigonometric functions

H-Sin@fD + Sin@2 w t -fDL


1
Cos@w tD Sin@w t -fD = (5.26)
2
we see that as expected the power oscillates at twice the frequency. Taking the time average over one period, the
oscillating term vanishes and we are left with
w F02 ë m
P@tD = Sin@fD

Iw20 - w M + w2 g2
(5.27)
2 2
2

gw Tan@fD

1 + Tan2 @fD
Using the definition for the Tan@fD = , we can reexpress the Sin@fD = as
w20 -w 2

gw gw
Sin@fD = =

I-w2 + w20 M g2 w2 + I-w2 + w20 M


g2 w2 2
(5.28)
I-w2 +w20 M
1+ 2

and the average power becomes


g w2 F02 ë m

2 IIw20 - w2 M + w2 g2 M
P@tD =
2
5_DrivenHarmonicOscillator.cdf 7

g F02 ë m w20
=
2K + J- N O
g2 w w0 2
+
w02 w0 w

g F02 ë k

2J + J- N N
=
1 w w0 2
+
Q2 w0 w

From this form, the denominator takes on its minimum value at w = w0 and therefore the average power is a
maximum at w = w0 . Alternatively, one can see this from the first derviative
g F02 ë k J- N J- N
1 w0 w w0
d P@tD - +
w0 w2 w0 w
=-
J + J- N N
(5.30)
dw 1 w w0 2 2
+
Q2 w0 w

which vanishes at w = w0 . The maximum value of the average power is

g F02 ë k
Q2 g F02 ë k
1
P@tD =
2J + J- N N
=
1 w w0 2 2
+
Q2 w0 w w=w0 (5.31)
Q F02 w0 Q F02
= =
2k 2 m w0

Q = 10

P
g F02
2k

Q=5

Q = 2.5
Q=1
w
Typically to describe the power or intensity of a system, a logarthimic scale is use. The decibel scale is defined as

10 Log10 B F
P
(5.32)
Pmax
At P = Pmax corresponds to 0 dBs. A typical measure of a resonance is the frequency at which the average power is
1 ê 2 of the maximum or alternatively the 10 Log10 B F = -3 dB point. From the full expression we see that the average
1

power will drop to 1 ê 2 of its maximum value when


2

w w0 2 1
- + = (5.33)
w0 w Q2
or
w w0 -w2 + w20 1
- + = =≤ (5.34)
w0 w w w0 Q
or
8 5_DrivenHarmonicOscillator.cdf

w w0
w2 ≤ -w20
Q
=0 (5.35)
w w0
w w0
Solving the quadratic w2 ≤ - w20 = w2 ≤ w g - w20 = 0, we obtain
Q
1
w≤ = ¡g ≤ g2 + 4 w20 (5.36)
2
Only the positive root makes sense. For small damping, w0 p g or Q p 1, one can ignor g2 within the square root.
To see this expand the square root assuming g is small
1 g g2
w≤ = ¡g + g2 + 4 w20 = w0 ¡ + (5.37)
2 2 8 w0
g2 g 1 1 g
so for ` or `1 or Q p , we can keep only the first term, ¡ . Consequently the full width at
8 w0 2 4Q 4 2
half maximum (FWHM) is given by
Dw = -w- + w+ = g (5.38)

which gives us another interpretation of the Q


w0 w0
Q= = (5.39)
g Dw

5.3 LCR Circuits


Consider an inductor, capacitor and resister connected in series across a voltage source. The voltages across each
element are
Q
VC =
C
dI (5.40)
VL = L
dt
VR = I R

Adding up the voltages around the circuit

V @tD -VC - VL - VR = V @tD -


Q dI
-L -I R = 0 (5.41)
dt
If the driving voltage varies as V @tD = V0 Sin@w tD
C

dI Q
L + IR + = Sin@w tD V0 (5.42)
dt C
Differentiating the entire equation with respect to t
d2 I dI I
L +R + = w V0 Cos@w tD (5.43)
2 dt C
dt
By putting the differential equation in this standard form, all of our previous results can be used simply by
changing the appropriate definition

k 1
w = =
m LC

b R
g = =
m L (5.44)
F0 w V0
=
m L
w0 L w0 L C w0 1
Q = = = =
g R CR R C w0
The current is therefore
5_DrivenHarmonicOscillator.cdf 9

w V0
F0 L
I@tD = Cos@w t + -fD = Cos@w t + -fD
(5.45)
m Iw20 - w M + w2 g2
2 2
Iw20 - w M + w2 g2
2 2

gw
where Tan@fD = . The instantaneous power is the product of the voltage and the current
w20 - w2

w V0

P@tD = V @tD I@tD = V0 Sin@w tD


L
Cos@w t -fD

Iw20 - w M + w2 g2
2 2
(5.46)
w V02 ë L
= Cos@w t + fD Sin@w tD

Iw20 - w M + w2 g2
2 2

Taking the time average over on period, the trigonometric funtions become

HSin@fD + Sin@2 w t -fDL =


1 Sin@fD
Cos@w t + -fD Sin@w tD = (5.47)
2 2
Tan@fD

1 + Tan2 @fD
As before one can reexpress the Sin@fD = as

gw gw
Sin@fD = =

I-w2 + w20 M g2 w2 + I-w2 + w20 M


g2 w2 2
(5.48)
I-w +w20 M
1+ 2 2

and the average power becomes


g w2 V02 ë L

2 IIw20 - w2 M + w2 g2 M
P@tD =
2

g V02 ë L w20
=
2K + J- N O
g2 w w0 2 (5.49)
+
w20 w0 w

R C V02 ë L

2J + J- N N
=
1 w w0 2
+
Q2 w0 w

The average power is again a maximum at w0 and takes on the value


C Q2 R V02 Q V02 V02
Pmax = = = (5.50)
2L 2 L w0 2R
The full width at half maximum is again related to the Q = w0 ê Dw.
Evaluating the voltages across each element
w V0
L
I@tD = Cos@w t -fD

Iw20 - w2 M + w2 g2
2

V0
L
Q@tD = Sin@w t -fD

Iw20 - w2 M + w2 g2
(5.51)
2

w2 V0
d I@tD L
= - Sin@w t -fD

Iw20 -w M +w g
dt
2 2 2 2

and
10 5_DrivenHarmonicOscillator.cdf

w R V0

VR @tD =
L w RC w20 V0
Cos@w t -fD = Cos@w t -fD

Iw20 - w M + w2 g2
2 2
Iw20 - w M + w2 g2
2 2

V0 C

VC @tD =
L V0 w20
Sin@w t -fD = Sin@w t -fD

Iw20 - w M + w2 g2
2 2
Iw20 - w M + w2 g2
2 2

VL @tD = -
w2 V0
Sin@w t -fD

Iw20 -w M +w g
2 2 2 2

Graphing these three voltages

10

6 VR
VC
4 VL

0 5 10 15 20
5_DrivenHarmonicOscillator.cdf 11

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