MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

Lecture 13-LaplaceTransform MEEM 3700 1

& Transient Vibration-1

Laplace Transform Time Domain (sec)

1) Harmonic (sin, cos) 2) Transient

F(t) F(t)) transformation transformation
t t

3) Periodic 4) Random subset

F(t) F(t))

t t Frequency Domain Laplace Domain

parameter estimation

Each domain can be thought of as a different coordinate system thatthat

is used to view or describe the characteristics of a system or event.
event.

The Time Domain is usually the basis for a description of a systems dynamic
behavior, e.g. differential equation of motion. Events are measured
measured as a
function of time.

The Frequency Domain highlights the periodic characteristics of the system

or event.

The Laplace Domain describes the system in terms of frequency and damping
information (poles) or Mode Shape information (residues).
(residues).

Lecture 13-LaplaceTransform MEEM 3700 2

& Transient Vibration-1
Laplace Transform

The Laplace transform of a function x(t)

x(t) is defined as:

∞
X ( s ) = L ⎡⎣ x ( t ) ⎤⎦ = ∫ x ( t ) e − st dt
0
Kernel of transformation

Where s (a complex function) is a subsidiary variable.

s = −σ + jω
Units are rad/sec
rad/sec

Lecture 13-LaplaceTransform MEEM 3700 3

& Transient Vibration-1

Laplace Transform: Example

∞
dx ( t )
To solve: mx&& + cx& + kx = F ( t ) L ⎡⎣ x& ( t ) ⎤⎦ = ∫ e − st dt
0
dt
∞ ∞
= e − st x ( t ) − ∫ − se − st x ( t ) dt
0
0

∞ ∞
= e − st x ( t ) + s ∫ e− st x ( t ) dt
0
0

= sX ( s ) − x ( 0 )

Similarly x ( t ) ⎤⎦ = s 2 X ( s ) − sx ( 0 ) − x& ( 0 )
L ⎡⎣ &&

Lecture 13-LaplaceTransform MEEM 3700 4

& Transient Vibration-1
Laplace Transform: Example
d m x (t )
In general: m
= s m X ( s ) − s m −1 x ( 0 ) − s m− 2 x& ( 0 ) − ... − x m −1 ( 0 )
dx

The EOM becomes: x ( t ) ⎤⎦ + cL ⎡⎣ x& ( t ) ⎤⎦ + kL ⎡⎣ x ( t ) ⎤⎦ = L ⎡⎣ F ( t ) ⎤⎦

mL ⎡⎣ &&

i.e. ( ms 2
)
+ cs + k X ( s ) = F ( s ) + mx&&( 0 ) + ( ms + c ) x ( 0 )

X (s) 1 1
= 2 =
( )
For the steady-
steady-state solution:
.
(assuming x ( 0 ) = x ( 0 ) = 0)
F ( )
s ms + cs + k m s + 2ζωn s + ωn2
2

1
X ( s ) = H ( s ) F ( s ) where H ( s ) = 2
ms + cs + k

⎡ F (s) ⎤
x ( t ) = L−1 ⎡⎣ X ( s ) ⎤⎦ = L−1 ⎢ 2 ⎥
⎣ ms + cs + k ⎦
Lecture 13-LaplaceTransform MEEM 3700 5
& Transient Vibration-1

1
H (s) = is called the Transfer Function
ms 2 + cs + k
if s = jω Recall from Lecture 12
1
H ( jω ) = is called the Frequency Response Function
−ω 2 m + jcω + k

H ( jω ) Real ( H ( jω ) )

φ Imag ( H ( jω ) )

Lecture 13-LaplaceTransform MEEM 3700 6

& Transient Vibration-1
Laplace Transform: Example
Special Case: Undamped System, Free Vibration

mx&& + kx = 0 x + ωn2 = 0
⇒ && or s 2 X ( s ) − sx ( 0 ) − x& ( 0 ) + ω n2 X ( s ) = 0

x ( 0 ) + sx& ( 0 )
X (s) = x ( t ) = L−1 ⎡⎣ x ( s ) ⎤⎦
s +ω
2 2
n

Use the Table of Laplace Transforms to get x(t)

x(t) from X(s)
X(s)

x& ( 0 ) + sx ( 0 )
From the table:

i.e. X (s) = ⎛ s ⎞
L−1 ⎜ 2 = cos ( at )
s 2 + ωn2 2 ⎟
⎝s +a ⎠

x& ( 0 ) ⎛ a ⎞
L−1 ⎜ 2 = sin ( at )
x ( t ) = x ( 0 ) cos (ωnt ) + sin (ωnt ) 2 ⎟
⎝s +a ⎠
ωn
Lecture 13-LaplaceTransform MEEM 3700 7
& Transient Vibration-1

Laplace Transform: Method of Partial Fractions

s +1
e.g. If X ( s ) = find x(t)
x(t)
s ( s + 2)
This does not appear in the Laplace Transform table.

To solve, we use Partial Fractions

s +1 A B s +1 A ( s + 2 ) + sB
= + =
s ( s + 2) s ( s + 2) s ( s + 2) s ( s + 2)
i.e. s + 1 = A ( s + 2 ) + s B = ( A + B ) s + 2 A
1
Equating Coefficients: A+ B =1 2A =1 A=B=
2
Hence X ( s ) =
1 1
+
2s 2 ( s + 2 )
Now, from table:
1
(
x ( t ) = 1 + e −2t
2
)

Lecture 13-LaplaceTransform MEEM 3700 8

& Transient Vibration-1
Laplace Transform: Other Rules – Multiple Roots
ω2 ω2 A B C
e.g. = + +
s (s + ω)
2
s(s +ω)
2
s ( s + ω ) ( s + ω )2
Multiply both sides by s ( s + ω )
2

ω 2 = A ( s + ω ) + Bs ( s + ω ) + Cs
2

( )
= A s 2 + 2sω + ω 2 + Bs 2 + Bsω + Cs

= s 2 ( A + B ) + s ( 2 Aω + Bω + C ) + Aω 2
Equating Coefficients: A =1 A+ B = 0 A = − B = −1
2 Aω + Bω + C = 0 C = − ( 2 Aω + Bω )
= −ω ( 2A + B )
= −ω
A =1 B = −1 C = −ω
Lecture 13-LaplaceTransform MEEM 3700 9
& Transient Vibration-1

Laplace Transform: Other Rules – Multiple Roots (continued)

From the equation coefficients: A = 1 B = −1 C = −ω

Hence,
ω2 1 1 ω
X (s) = = − −
s(s +ω)
2
s ( s + ω ) ( s + ω )2

From table,
x ( t ) = 1 − e −ωt − ωte −ωt

Lecture 13-LaplaceTransform MEEM 3700 10

& Transient Vibration-1
Laplace Transform: Another example involving Partial Fractions
s+3 s+3 A Bs + C
X (s) = = + 2
(
( s + 1) s 2 + 2s + 5 ) ( )
( s + 1) s + 2s + 5 s + 1 s + 2s + 5
2

( s + 3) = ( A + B ) s 2 + ( 2 A + B + C ) s + ( 5 A + C )
A+ B = 0 2A + B + C = 1 5A + C = 0
1 1 1
A= B=− C=
2 2 2
1 1− s 1 s +1− 2
X (s) = + = −
(
2 ( s + 1) 2 s 2 + 2 s + 5 ) (
2 ( s + 1) 2 s 2 + 2s + 5 )
1 ⎛1⎞ s +1 2
= −⎜ ⎟ + Invert this using
(
2 ( s + 1) ⎝ 2 ⎠ ( s + 1)2 + 4 2 s 2 + 2s + 5 ) the table to get

1 −t 1 −t
x (t ) = e − e cos ( 2t ) + e − t sin ( 2t )
2 2
Lecture 13-LaplaceTransform MEEM 3700 11
& Transient Vibration-1

Laplace Transform: Other Rules

P (s)
If F ( s ) =
Q (s)

express Q ( s ) = ( s − a1 )( s − a2 ) ... ( s − an )

where a1 , a2 , a3 , … an are distinct roots of Q(s)

Q(s)
n P ( ak ) ak t dQ
Then f ( t ) = ∑ e Q′ =
k =1 Q′ ( ak )
ds

P (s) F0 c c 2 − 4km
e.g. = a1,2 = − ±
Q (s) ms + cs + k
2
2m 2m

F0 e a1t F e a2t
x (t ) = + 0
2ma1 + c 2ma2 + c
Lecture 13-LaplaceTransform MEEM 3700 12
& Transient Vibration-1
 Solution of an O.D.E. using Laplace Transforms
x + 4 x& + 3 x = 0
For example: && x (0) = 0 x& ( 0 ) = 1
Laplace Transform Method Traditional Method
m =1 ωn = 3 2ζωn = 4
⎡⎣ s 2 X ( s ) − sx ( 0 ) − x& ( 0 ) ⎤⎦ + 4 ⎣⎡ sX ( s ) − x ( 0 ) ⎦⎤ + 3 X ( s ) = 0
4
Overdamped System ζ = ≥1
s 2 X ( s ) − 1 + 4sX ( s ) − 0 + 3 X ( s ) = 0 2 2
α 2 + 4α + 3 = 0
X ( s ) ⎡⎣ s + 4 s + 3⎤⎦ = 1
2
α1,2 = −1, − 3
1 x ( t ) = Ae− t + Be−3t
X (s) = 2
s + 4s + 3 x (0) = 0 x& ( 0 ) = 1

⎡ 1 ⎤ A+ B = 0 A = −B
x ( t ) = L−1 ⎢ 2 ⎥
⎣ s + 4s + 3 ⎦ x& ( 0 ) = 1 = − A − 3B
1 1
A= B=−
1 2 2
expand 2 as partial fractions.
s + 4s + 3 1 − t 1 −3 t
x (t ) = e − e
2 2

Lecture 13-LaplaceTransform MEEM 3700 13

& Transient Vibration-1

Solution of an O.D.E. using Laplace Transforms

1 A B
Using partial fractions: X (s) = = +
s 2 + 4s + 3 ( s + 1) ( s + 3)

A ( s + 3) + B ( s + 1) = 1 s = -1 and s = -3 are the roots

1
put s = −1 ⇒ 2A = 1 A=
2
1
put s = −3 ⇒ − 2B = 1 B=−
2

⎡ 1 1 ⎤ from
x ( t ) = L−1 ⎢ 2 − 2 ⎥
x (t ) =
1 −t 1 −3t
e − e Same as before
⎢ ( s + 1) ( s + 3) ⎥ 2 2
⎣ ⎦ table

Lecture 13-LaplaceTransform MEEM 3700 14

& Transient Vibration-1
Solution of an O.D.E. using Laplace Transforms
Alternate Method:

P (s) a1 = −1 P (s) = 1
If X ( s ) = Here
Q (s) a2 = −3 Q ( s ) = s 2 + 4s + 3

n P ( ak ) ak t 1 1
x (t ) = ∑ e x (t ) = e−t + e −3t
k =1 Q′ ( ak ) 2s + 4 s =−1 2s + 4 s =−3

e − t 1 −3t
Q′ =
dQ = − e
ds 2 2

Lecture 13-LaplaceTransform MEEM 3700 15

& Transient Vibration-1

Solution of an O.D.E. using Laplace Transforms: Example 2

( )
LT
x + 4 x& + 3 x = e − t
&& ⎡⎣ s 2 X ( s ) − sx ( 0 ) − x& ( 0 ) ⎤⎦ + 4 ⎡⎣ sX ( s ) − x ( 0 ) ⎤⎦ + 3 X ( s ) = L e − t
with
( s X ( s ) − s − 1) + 4 ( sX ( s ) − 1) + 3 ( Xs ) = s 1+ 1
2 from

x ( 0 ) = x& ( 0 ) = 1
table
1
X ( s ) ⎡⎣ s 2 + 4 s + 3⎤⎦ − s − 5 =
s +1
Here
1 s 2 + 6s + 6
ωn = 3 X ( s ) ⎡⎣ s 2 + 4 s + 3⎤⎦ = + ( s + 5) =
( s + 1) ( s + 1)
s 2 + 6s + 6 s 2 + 6s + 6
and it is an X (s) = =
( )
( s + 1) s + 4s + 3 ( s + 1)2 ( s + 3)
2

Overdamped System
4 x ( t ) = L−1 ⎡⎣ X ( s ) ⎤⎦
ζ = >1
2 3

Lecture 13-LaplaceTransform MEEM 3700 16

& Transient Vibration-1
Solution of an O.D.E. using Laplace Transforms: Example 2
s 2 + 6s + 6 A B C
Using Partial Fractions: = + +
( s + 1) ( s + 3)
2
( s + 1) ( s + 1) ( s + 3)
2

A ( s + 1)( s + 3) + B ( s + 3) + C ( s + 1) = s 2 + 6 s + 6
2

1
put s = −1 ⇒ 2B = 1 B=
2
3
put s = −3 ⇒ 4C = 9 − 18 + 6 C=−
4
Equation Coefficients of s2: A+C =1
A = 1− C = 1+ 3 = 7
4 4
⎡ 7 1 −3 ⎤
x ( t ) = L−1 ⎢ 4 + 2 + 4 ⎥
From table,
⎢ ( s + 1) ( s + 1) ( s + 3) ⎥
2
⎣ ⎦
7 − t 1 −t 3 −3t time delay
x ( t ) = e + te − e L−1 F ( s − a ) = e at L−1 F ( s )
4 2 4 theorem

Lecture 13-LaplaceTransform MEEM 3700 17

& Transient Vibration-1

Laplace Transform Method: Example 3

Determine the response of the harmonic oscillator (m,
(m, c, k)
k) to the excitation shown in
the figure below, a constant force F0 acting for time t0.

Solution The differential equation of motion is mx && + cx& + kx = F ( t ) . We take the Laplace
Transform of both sides of the equation, observing
observing that F0 1 − e − t0 s .
L ⎣⎡ F ( t ) ⎦⎤ =
( )
f ( t ) = F0 ⎡⎣u ( t ) − u ( t − t0 ) ⎤⎦ s
⎡1 1 ⎤ F (t )
F ( s ) = F0 ⎢ − e − t0 s ⎥ ⇒ Time Delay
⎣s s ⎦
F (t )
m

F0
c k

t
t0

Therefore m ⎡⎣ − sx ( 0 ) − x& ( 0 ) + s 2 X ( s ) ⎤⎦ + c ⎡⎣ − x ( 0 ) + sX ( s ) ⎤⎦ + kX ( s ) =
(
F0 1 − e − t0 s )
s
(
F0 1 − e − t0 s ) + ( ms + c ) x ( 0 ) + mx& ( 0 )
or ( ms 2
)
+ cs + k X ( s ) =
s

Lecture 13-LaplaceTransform MEEM 3700 18

& Transient Vibration-1
Laplace Transform Method: Example 3
But x ( 0 ) = 0 and x& ( 0 ) = 0; therefore,

X (s) =
(1 − e ) F = X ( s ) + X ( s )
− t0 s
0

s ( ms + cs + k )
1 2 , where
2

F0 − F0 e − t0 s
X1 ( s ) = X2 (s) =
( )
,
s ms 2 + cs + k (
s ms 2 + cs + k )
To invert these, use the standard form.

Lecture 13-LaplaceTransform MEEM 3700 19

& Transient Vibration-1

Laplace Transform Method: Example 3

P (s) n P a
( )
If F ( s ) = , then F ( t ) = ∑ & k e a , For P ( s ) = F0 , Q ( s ) = ms 3 + cs 2 + ks
k

Q (s) k =1 Q ( ak )
Q = 3ms 2 + 2cs + k
−c ( c − 4km )
1
2 2

a1 = 0, a2,3 = ±
2m 2m
a1 , a2 , … an are distinct roots of Q(s).
Q(s).
⎛1 e a2t e a3t ⎞
x1 ( t ) = F0 ⎜ + + ⎟
⎝ k 3ma2 + 2ca2 + k 3ma3 + 2ca3 + k ⎠
2 2

For X2(s) , we note that it is of the form,X 2 ( s ) = e− at X 1 ( s ) .

Using the time delay property,
⎛1 e 2( 0) e 3( 0 ) ⎞
a t −t a t −t
x2 ( t ) = − F0 ⎜ + + t > t0 , x2 ( t ) = 0 for t < t0
⎜ k 3ma 2 + 2ca + k 3ma 2 + 2ca + k ⎟⎟
⎝ 2 2 3 3 ⎠

Lecture 13-LaplaceTransform MEEM 3700 20

& Transient Vibration-1
Laplace Transform Method: Example 3
F (t )
Step Response
0.03
m
0.025

c k 0.02

x(t) displacement - meters

0.015

0.01
m = 10 kg
0.005
c = 50 N-sec/m
k = 1000 N/m 0

F (t ) -0.005

-0.01
0 5 10 15
20 N time - seconds

t
5 sec

Lecture 13-LaplaceTransform MEEM 3700 21

& Transient Vibration-1