Beruflich Dokumente
Kultur Dokumente
Structures
Dr. Naik Muhammad
Department of Civil Engineering
BUITEMS, Quetta
1
Chapter 3 Response to Harmonic and
Periodic Excitations
2
PART A: Viscously damped systems: basic results 3
3
3.1 Harmonic vibration of undamped systems 4
Harmonic force
uc ( t ) A cos ωn t + B sin ωn t
Complementary solution:=
( t ) uc ( t ) + u p ( t )
Complete solution: u=
po 1
= A cos ωn t + B sin ωn t + sin ω t ( ω ≠ ωn )
u ( 0 ) p ω / ωn po 1
( t ) u ( 0 ) cos ωn t +
u= − o
sin ω t + sin ω t
ωn k 1 − (ω / ωn ) k 1 − ( ω / ωn )
2 n 2
Transient Response Steady-state Response
5
3.1 Harmonic vibration of undamped systems 6
po sin ω t
Derivation 3.1: solution of mu + ku = ( ω ≠ ωn )
Assume particular solution: u p ( t ) = C sin ω t
Time derivation: u p ( t ) = ω C cos ω t up ( t ) = −ω C sin ω t
2
⇒ ( k − mω ) C =
2
p o
k k
p 1
∴ C =o
k 1 − ( ω / ωn ) 2
po 1
=
Particular solution: u p ( t ) sin ω t ω ≠ ωn
k 1 − ( ω / ωn ) 2
3
3.1 Harmonic vibration of undamped systems 7
po sin ω t
Derivation 3.1: solution of mu + ku = ( ω ≠ ωn )
Assume complementary solution:= uc ( t ) A cos ωn t + B sin ωn t
p 1
Complete solution: u ( t ) = uc ( t ) + u p ( t ) = A cos ωn t + B sin ωn t + o sin ω t
k 1 − ( ω / ωn ) 2
po ω
u ( t ) =
−ωn A sin ωn t + ωn B cos ωn t + cos ω t
k 1 − ( ω / ωn ) 2
=
Using the initial conditions: ( 0 ) u u ( 0 )
u u=
u ( 0) = A u ( 0)
∴A=
u ( 0 ) p ω / ωn po 1
u (t ) u ( 0 ) cos ωn t + − o
sin ω t + sin ω t
ωn k 1 − (ω / ωn ) k 1 − ( ω / ωn )
2 n 2
Transient Steady-state
po 1 ω
u ( t ) =− sin ω t sin ω n
t when u ( 0 ) =
u ( 0 ) =
0
k 1 − ( ω / ωn ) 2 ωn 7
3.1 Harmonic vibration of undamped systems 8
u ( 0 ) p ω / ωn po 1
u ( t ) = u ( 0 ) cos ωn t + − o
sin ω t + sin ω t
ωn k 1 − (ω / ωn ) k 1 − ( ω / ωn )
2 n 2
Transient Steady-state
Transient vibration: Oscillation at the natural frequency of the system, depends on
the initial conditions
Forced vibration or steady-state vibration: Oscillation at the forced frequency of
the system, is present because of the applied force.
po 1
Steady-state Response: u (t ) = 2
sin ω t
k 1 − (ω / ωn )
1
( ust )o
∴ u (t ) = 2
sin ω t
1 − (ω / ωn )
9
3.1 Harmonic vibration of undamped systems 10
1 1 1
u ( t ) =( ust )o 2
sin ω t = 2
⋅ p0 sin ω t p ( t ) =p0 sin ω t
1 − (ω / ωn ) k 1 − (ω / ωn )
1
ω/ωn < 1 or ω < ωn , >0
1 − ( ω / ωn )
2
in phase u (t ) ∝ p (t )
The displacement is said to be in phase with
u (t ) ∝ − p (t )
The displacement is said to be out of phase
relative to the applied force.
10
3.1 Harmonic vibration of undamped systems 11
Steady-state Response
1
u ( t ) = ( ust )o 2
sin ω t
1 − (ω / ωn )
1 1
(= ust )o sin ω t ( u ) sin (ω t − 0° ) ( ω < ωn )
1 − ( ω / ωn ) 1 − ( ω / ωn )
2 st o 2
=
1 1
( st )o
− u sin ω t =
− ( st )o
u sin (ω t − 180° ) ( ω > ωn )
1 − ( ω / ωn ) 1 − ( ω / ωn )
2 2
Response of a undamped SDF system under harmonic load with resonant frequency
Resonant frequency: the forcing frequency at which Rd is maximum.
( 0 ) u=
Complete solution for at-rest initial conditions, u= ( 0 ) 0 , is:
u (t ) 1 2π t 2π t 2π t po 2π
=− cos − sin where ( st )o
u = ω =
( ust )o 2 Tn Tn Tn k
n
Tn
13
3.1 Harmonic vibration of undamped systems 14
po sin ω t
Derivation 3.2: solution of mu + ku = ( ω = ωn )
Assume particular solution: u p ( t ) = C t cos ωn t
= u p ( t ) C cos ωn t − ωnCt sin ωn t
Time derivations:
up ( t ) =
−2ωn C sin ωn t − ωn2Ct cos ωn t
po
Particular solution: u p ( t ) = −ωn t cos ωn t
2k
=
Complementary solution: uc ( t ) A cos ωn t + B sin ωn t
po
Complete solution: u ( t ) = uc ( t ) + u p ( t ) = A cos ωn t + B sin ωn t − ωn t cos ωn t
2k
13
3.1 Harmonic vibration of undamped systems 15
u ( 0 ) po p
u ( t ) u ( 0 ) cos ωn t +
∴= + sin ωn t − o ωn t cos ωn t
ωn 2 k 2k
Specializing for at-rest initial conditions u (0) = u (0) = 0 gives:
u (0)= A= 0 A= 0
po ⇒ po
u ( 0 ) = ω n B − =ω n 0 = B
2k 2k
1p
∴ u (t ) = − o (ωn t cos ωn t − sin ωn t ) 14
2 k
3.1 Harmonic vibration of undamped systems 16
1p
u (t ) = − o (ωn t cos ωn t − sin ωn t )
2 k
u (t ) 1 2π t 2π t 2π t po 2π
∴ =− cos − sin where ( ust )o =ωn =
( ust )o 2 Tn Tn Tn k Tn
u ( t ) = −
1 po
2 k
( ωn cos ωnt − ωn2t sin ωnt − ωn cos ωnt )
1 po 2
= ωn t sin ωn t
2 k
tmax= ( j − 1 2 )Tn
⇒
tmin = jTn
17
3.1 Harmonic vibration of undamped systems 18
1 po
The local maximum value & minimum value u ( t ) =
− (ωn t cos ωn t − sin ωn t )
2 k
For jth loop:
1 1 po 2π 1 2π 1 2π 1
umax =−
u j Tn =
− j − Tn cos j − Tn − sin j − Tn
2 2 k Tn 2 Tn 2 Tn 2
1 po 1 1 1
=
− 2π j − cos 2π j − − sin 2π j −
2 k 2 2 2
1 po 1 1
= 2π j − = ( u ) π
st o j − , =j 1, 2,3
2 k 2 2
19
3.2.1 Steady-state and transient responses 20
1 − ( ω / ωn )
2
po po −2ζω / ωn
C= D=
k 1 − (ω / ω )2 2 + 2ζ (ω / ω ) 2 k 1 − (ω / ω )2 2 + 2ζ (ω / ω ) 2
n
n
n
n
20
3.2.1 Steady-state and transient responses 21
3
3.2.1 Steady-state and transient responses 22
3
3.2.1 Steady-state and transient responses 23
po sin ω t
The complete solution of mu + cu + ku =
=u ( t ) e−ζωnt ( A cos ωDt + B sin ωDt ) + C sin ω t + D cos ω t
Transient Steady-state
⇒ u ( t ) = e−ζωnt −ζωn ( A cos ωDt + B sin ωDt ) + ( −ωD A sin ωDt + ωD B cos ωDt )
+ ω C cos ω t − ω D sin ω t
Using the initial conditions: = u u= (0) u u (0)
A u ( 0) − D
=
u (0)= A + D
po 2ζω / ωn
=
A u ( 0 ) +
k 1 − (ω / ω )2 2 + 2ζ (ω / ω ) 2
n
n
⇒
ω ζ ( ω ω )
2
1 1 + 2 2
− /
po
( ) ( )
n
B
u 0 + ζ ω u 0 +
ω D
n
k 2 2
1 − (ω / ωn ) + 2ζ (ω / ωn ) 2
23
3.2.1 Steady-state and transient responses 24
po sin ω t
The complete solution of mu + cu + ku =
po 2ζω / ωn
=
A u ( 0 ) +
k 1 − (ω / ω )2 2 + 2ζ (ω / ω ) 2
n
n
ω 1 + 2ζ 2 − (ω / ωn )2
B 1 u 0 + ζω u 0 + po
( ) ( )
C=
k 1 − (ω / ω )2 2 + 2ζ (ω / ω ) 2
n
n
po −2ζω / ωn
D =
2 2
k 1 − (ω / ωn ) + 2ζ (ω / ωn )
2
24
3.2.1 Steady-state and transient responses 25
When ω = ωn or ω
= ωn = 1 u ( t ) e−ζωnt ( A cos ωDt + B sin ωDt ) + C sin ω t + D cos ω t
1 − ( ω / ωn )
2
po po 0
= C = = 0
2
k 1 − (ω / ω ) + 2ζ (ω / ω )
2 2 k 0 + ( 2ζ ) 2
n
n
po −2ζω / ωn po −2ζ po 1 ( ust )o
D= 2
k 1 − (ω / ω ) + 2ζ (ω / ω )
2 2
=
k 0 + ( 2ζ ) 2
=
−
k 2ζ
=
−
2ζ
n
n
1 −ζωnt ζ
u (t ) ( ust )o e cos ωDt + = sin ωDt − cos ωn t (ω ωn )
2ζ 1−ζ 2
26
3.2.2 Response for ω = ωn 27
1 −ζωnt ζ
u ( t ) ( ust )o e cos ωDt + sin ωDt −=
cos ωn t when ω ωn
2ζ 1− ζ 2
(
≈ ( ust )o
1 −ζωnt
2
e
ζ
) − 1 cos ωn t ( For slightly damped system, ωD ≈ ωn =
ω)
Envelop function
( ust )o
u j ≈ ( ust )o
2ζ
(
1 −ζωn jTn
e )
− 1 cos ωn jTn =
2ζ
( 1− e ) (
−2 πζ j
= )
uo 1 − e
−2 πζ j
(t =
jTn )
uj ( ust )o
= 1 − exp ( −2πζ j ) where uo =
uo 2ζ
uj
= 1 − exp ( −2πζ j )
The lighter the damping, the larger is the number of
uo cycles required to reach a certain percentage of uo.
31
3.2.3 Maximum deformation and phase lag 32
2 2
Response amplitude: 1 − (ω / ωn ) + 2ζ (ω / ωn ) 2
2
po
uo = C 2 + D2 =
k
{ }
2
2 2
(
1 − ω / ωn ) + 2ζ (ω / ωn )
2
32
3.2.3 Maximum deformation and phase lag 33
2ζ (ω / ωn )
φ = tan −1
1 − ( ω / ωn )
2
33
3.2.3 Maximum deformation and phase lag 34
In phase : if ω / ωn << 1, φ ≈ 0
po / k po
uo ≈ ≈ ( ust )o = : Rd = 1
1 +0
2 2 k
( ust )o
po 1
If ω / ωn = 1, φ = 90
uo = Rd =
2ζ cωn 2ζ 34
3.2.3 Maximum deformation and phase lag 35
2π 2π t
T= ∴ u ( t ) ( ust )o Rd sin (ω t − φ ) = ( ust )o Rd sin
= −φ
ω T
Example 3.1
The displacement amplitude uo of an SDF system due to harmonic force is known for
two excitation frequencies. At ω = ωn, uo = 5 in.; at ω = 5ωn, uo = 0.02 in. Estimate
the damping ratio of the system.
( ust )o
uo =5
2ζ
At ω = 5ωn i.e. ω/ωn>>1
36
3.2.4 Dynamic response factors 37
− φ ) ( ust )o Rd sin (ω t − φ )
u ( t ) uo sin (ω t=
= where (=
ust )o po / k
u (t )
⇒= Rd sin (ω t − φ )
po / k
uo 1
Deformation response factor :=
Rd =
( ust )o 2
1 − (ω / ωn )2 + 2ζ (ω / ωn ) 2
37
3.2.4 Dynamic response factors 38
38
3.2.4 Dynamic response factors 39
po ω 2 po ω 2 po
u( t ) = − Rd sin (ω t − φ ) =
− R sin (ω=
t − φ ) u ( t ) Rv cos (ω t − φ )
km ωn m ωn 2 d
km
u( t )
⇒ = − Ra sin (ω t − φ )
po / m
2
ω
Acceleration response factor : Ra = Rd
ωn
39
3.2.4 Dynamic response factors 40
Ra ω
= R= Rd
ω / ωn v
ωn
1 1
Rd = = ( β ω / ωn )
1 − β 2 + [ 2ζβ ]
2 2
1 − (ω / ωn )2 + 2ζ (ω / ωn ) 2
2
Rd , β =
−
( )(
2β β + 1 − 2ζ 2 β − 1 − 2ζ 2
ζ <1/ 2
) ( )
3 2> 0
(1 − β 2 ) + ( 2πβ )2
2
( ) ( ) 2ζ 1 − ζ 2
2 2
2
1 − 1 − ζ 2 + 2ζ 1−ζ 2
41
3.2.5 Resonant frequencies and resonant responses
42
Velocity resonant frequency
β 1
= dβ
Rv R= =
1 − β 2 + [ 2ζβ ]
2 2
1
2
β − β + 2ζ
Rv , β = −
(β 4
− 1) / β 3
32
(1 β − β ) + 2ζ > 0
2
ω
⇒ β 1=
42
3.2.5 Resonant frequencies and resonant responses
43
Calculate acceleration resonant frequency
β2
= dβ
Ra R= 2
(1 − β )
2 2
+ ( 2ζβ )
2
Ra, β
( )(
2β β 1 − 2ζ 2 + 1 β 1 − 2ζ 2 − 1 ) (ζ < 1 / 2 )
(1 − β 2 )2 + 4ζ 2 β 2
12
>0
⇒=
Ra, β 0 ⇒
= β 0 or β 1 − 2ζ=
2
−1 0
(1/ 1−ζ )
2
2
1
Ra =
( ) ( ) 2ζ 1 − ζ 2
2 2
2
1 − 1 / 1 − ζ 2
+ 2ζ 1 − ζ 2
43
PART B: Viscously damped systems: applications44
44
3.5 Force transmission and vibration isolation 45
Consider the mass-spring-damper system subjected to a harmonic force
po sin ω t
mu + cu + ku =
The force transmitted to the base is:
fT = f S + f D = ku ( t ) + cu ( t )
The displacement and velocity are:
=u ( t ) ( ust )o Rd sin (ω t − φ )
= u ( t ) ω ( ust )o Rd cos (ω t − φ )
= ( ust )o Rd k 2 + c 2ω 2 sin (ω t − φ ′ )
The maximum value of fT is:
=( fT )o ( ust )o Rd k 2 + c 2ω 2
45
3.5 Force transmission and vibration isolation 46
Transmissibility (TR): The ratio of maximum transmitted force due to applied
force po
TR = ( fT )o po
( ust )o Rd k 2 + c 2ω 2 ,
( fT ) o = ( ust )o =
po / k , 2mωζ
c=
1
Rd =
2 2
1 − (ω ωn ) + 2ζ (ω ωn ) 2
For the undamped system, ζ = 0
1
TR ζ =0 =
( ω ωn ) − 1
2
46
3.5 Force transmission and vibration isolation 47
12
1 + 2ζ (ω ωn )
2
TR = If ω ωn ≤ 2, TR ≥ 1 , the transmitted
2 2
1 − (ω ωn ) + 2ζ (ω ωn )
2
force is larger than the applied force.
Damping decreases the transmitted force
If ω ωn ≥ 2, TR ≤ 1 , the transmitted
force is less than the applied force.
Damping increases the transmitted force,
thus no damping is desired in the support
47
3.6 Response to ground motion and vibration isolation 48
mugo 2 2
∴u (t ) = Rd sin (ω t − φ ) ; Rd = 1 1 − (ω ωn ) + 2ζ (ω ωn )
2
−
k
mugo 2
∴ u( t ) ω R= ( ω φ ) go ( n ) Rd sin (ω t − φ )
ω ω
2
= d sin t − u
k
48
3.6 Response to ground motion and vibration isolation 49
From the u & ug , the total acceleration is:
ut ( t ) = ug ( t ) + u( t ) = ugo sin ω t + ugo (ω ωn ) Rd sin (ω t − φ )
2
=
{
ugo 1 + (ω ωn ) Rd cos φ sin ω t − (ω ωn ) Rd sin φ cos ω t
2
2
}
2 2
ugo 1 + (ω ωn ) Rd cos φ + (ω ωn ) Rd sin φ sin (ω t − φ ′ )
2 2
=
So the maximum total acceleration is:
2 2
ugo 1 + (ω ωn ) Rd cos φ + (ω ωn ) Rd sin φ
u = let β = (ω ωn )
2 2
(1 − β 2 ) + ( 2ζβ )
2
1 − (ω ωn )2 + 2ζ (ω ωn ) 2 = 1
2
Rd = 1
2
1 − ( ω ωn )
2
& cos φ= = (1 − β 2 ) Rd
2
1 − (ω ωn )2 + 2ζ (ω ωn ) 2
49
3.6 Response to ground motion and vibration isolation 50
∴ u=
t
o ugo 1 + 2β 2 Rd cos φ + β 4 Rd2
= ugo 1 + 2β 2 (1 − β 2 ) + β 4 Rd2
= ugo
(1 − β ) + ( 2ζβ ) + 2β (1 − β ) + β
2 2 2 2 2 4
(1 − β ) + ( 2ζβ )
2 2 2
1 + ( 2ζβ )
2
= ugo
(1 − β ) + ( 2ζβ )
2 2 2
50
3.6 Response to ground motion and vibration isolation 51
k
=
The displacement response is: u ( t ) ( ust )o Rd sin (ω t − φ )
2 2
∴ u ( t )= ugo (ω ωn ) Rd sin (ω t − φ ) ; Rd = 1 1 − (ω ωn ) + 2ζ (ω ωn ) 2
2
51
3.6 Response to ground motion and vibration isolation 52
From the u & u g , the total displacement is:
u t ( t ) = u g ( t ) + u ( t ) = u go sin ω t + u go (ω ωn ) Rd sin (ω t − φ )
2
=
{
u go 1 + (ω ωn ) Rd cos φ sin ω t − (ω ωn ) Rd sin φ cos ω t
2
2
}
2 2
u go 1 + (ω ωn ) Rd cos φ + (ω ωn ) Rd sin φ sin (ω t − φ ′ )
2 2
=
So the maximum total displacement is:
2 2
u go 1 + (ω ωn ) Rd cos φ + (ω ωn ) Rd sin φ let β = (ω ωn )
2 2
u =
t
Rd = 1
2 2
1 − (ω ωn ) + 2ζ (ω ωn ) 2 = 1
(1 − β )
2 2
+ ( 2ζβ )
2
1 − ( ω ωn )
2
& cos φ= = (1 − β 2 ) Rd
2 2
1 − (ω ωn ) + 2ζ (ω ωn ) 2
52
3.6 Response to ground motion and vibration isolation 53
∴ u=
t
o u go 1 + 2 β 2
Rd cos φ + β 4 2
Rd
= u go 1 + 2β 2 (1 − β 2 ) + β 4 Rd2
= u go
(1 − β )
2 2
+ ( 2ζβ ) + 2β 2 (1 − β 2 ) + β 4
2
(1 − β )
2 2
+ ( 2ζβ )
2
1 + ( 2ζβ )
2
= u go
(1 − β )
t
Transmissibility (TR): The ratio of displacement uo transmitted to the mass and
amplitude u go of ground displacement
1/2
1 + ( 2ζβ ) ( n )
2
u t 2
1 +
2 ζ ω / ω
= =
TR o
=
u go (1 − β ) + ( 2ζβ ) 1 − (ω / ωn ) + 2ζ (ω / ωn )
2 2 2 2 2 2
53
3.6 Response to ground motion and vibration isolation 54
1/2
1 + 2ζ (ω / ωn )
2
uo
t
= =
TR
u go 1 − (ω / ω )2 2 + 2ζ (ω / ω ) 2
n
n
ω >> ωn , TR → 0, uot 0
Example 3.3
A sensitive instrument with weight 100 lb is to be installed at a location
where the vertical acceleration is 0.1g at a frequency of 10 Hz. This
instrument is mounted on a rubber pad of stiffness 80 lb/in. and damping
such that the damping ratio for the system is 10%. (a) What acceleration is
transmitted to the instrument? (b) If the instrument can tolerate only an
acceleration of 0.005g, suggest a solution assuming that the same rubber
pad is to be used. Provide numerical results.
Example 3.3
1 + 2 ( 0.1)( 3.575 )
2
t
u
= =
TR o
= 0.104
2 2
u go 1 − ( 3.575 ) + 2 ( 0.1)( 3.575 ) 2
=
Therefore, uot (=
0.104 ) ugot ( 0.104
= ) 0.1g 0.01g
(b) Determine the added mass to reduce acceleration. The acceleration
transmitted can be reduced by increasing ω/ωn, which requires reducing ωn
Example 3.3
c 0.911
=
Then ζ ′ = = 0.063
2 ( m + mb ) ωn′ 2 ( 250 386 )11.11
57
3.6 Response to Periodic Excitation 58
• Periodic function is one in which the portion defined over T0 repeats itself
indefinitely
• A periodic excitation implies that the excitation has been in existence for a long
time, by which time the transient response associated with the initial
displacement and velocity has decayed. Thus, we are interested in finding the
steady-state response only.