CE-5113:

DYNAMICS OF STRUCTURES
By: Dr. Mohammad Ashraf (enginecra')hraf@yahoo.com)
Office: CE: BI 09

Department of Civil Engineering, University of Engineering and

Technology, Peshawar

Module-3 (Cont .. )
Single Degree of Freedom System:
Free Vibration Response

1
Free Vibration: Viscous Damping
o The free vibration response an damped (viscous) system is govemed by:
mu+cu+ku =0

o A possible solution of the above equation is:

U= Ge"
o Substituting the solution into equation of motion:
Gime" +ck"' +Gke" = 0
;fm+cA+k=O
, C le
⇒A" +-A+-=0
m m
c �l k
A=--± --, --
2m 4m· m

Dyna.mad SNC:b.an

Free Vibration: Viscous Damping (Cont..)

o Based on the value of the
discriminant, three different
cases arise:

a. Critically damped system

(discriminant is zero)

c1 k
b. Overdamped system -,-->0 ⇒ c>(c.,. =2ma,) ⇒ (=- ) >I
(discriminant is positive)
--
4m m ( cc.,.

c1 k
e. Underdamped system -,--<0 ⇒ c<(c,,=2ma,) ⇒ t;=- ) <I
(discriminant is negative) 4m· m ( cccr

2
a. Critically Damped System
o For critically damped system
c� k
-- --=0 ⇒ C=C =2& =2mW
4m' m - - "

The roots of the differential equation are:

C c,..
-
A,= A,=--=--=-c.,
2m 2m
Therefore the solution of equation of motion is:
ll= (G, +Gzt")e....,

The arbitrary constants are determined from the initial condition:

1.1(0) = 1t0 _and _ii (O) = v0
G , = 1 10
G.2 = ,u,10 +v0
Dyna.mad SNC:b.an

a. Critically Damped System (Cont.. )

o The general solution thus
becomes:
o Thus the free vibration of a
critically damped system is C o.a

not oscillatory
� 0-5

g ·:·�
V OA

o After the initial disturbance

+--�-�� �---;==,
-
-
the system will come back to
its original position without
0 0.1 02 0.3 OA O.S 0.6

time
oscillation.
o Examples:
Recoiling Gun and Weighing
Scale

Anf"\111t11nJ,lof4'rhk-11lh· d11mw ,I ,,,,on

3
b. Overdamped System
o For overdamped system. damping i s greater than critical damping
o The ratio of damping of a system to its critical damping is called damping
ratio and is given by:
r� =-=-
C C
--⇒_c= 2mau,-
Ccr 2m@

o The roots of characteristic equation may be written as:

:i = -aJs±� =-aJs±W
where_w=�
o The general solution of equation of motion is of the fo1m:

u = e_.,(i (Acosh a5t + Bsinh a5t)

Dyna.madSNC:b.an

b. Overdamped System
o The arbitrnry constants (A and B) are determined from the initial
conditions: u(O) = u0 _and _,i(O) = v0 1.2
c
i;
1.0
A =u• - and B =...!!.. +---u � O.R
V -O,'C1tJa111pcd

a5 .Jt;2 - I • 0.6 -Crilk.'aby O.:i.n pcd

.5" 0.4
u = e--4>(){u.coshait+ v . +: • sinhai}
1
0.2
0.0
0 2 4 . 6 8 10 12 14 16
tune.
o The motion is non-oscillatory
o Take more time to come to zero
position
Examples are: Automatic door closer

4
c. Underdamped System
o For underdamped system. damping is less than the critical damping, i.e.
the damping ratio is less than one
o The roots of characteristic equation may be written as:
)I,= -wt;± iw.Ji - t; =-wt;±w4
1
Ran,c l,rrrJC.l ic..-JI
Oartlf)i ng
where_ Wa = w.Ji - t;� 1.0

wa is known as the damped c1rc1darfrequency � 11.8

'II
0 The general solution of equation g 0.6

of motion is of the form: (1,-1

'"
u = e_,'(Acosw.,t+Bsin w.,t) ti +-�-I-+-+---+--,➔
D 0.l Ot fU O,,t 1.0

Damping ratio�

Dyna.mad SNC:b.an

c. Underdamped System
o With initial conditions: 11(0) ="•_and _,i(O) = "•

u = e_,'(u . cos w.,t + v. +�q,., sin ai.,t) 1.s "= pe -,, sin(a,/ + ¢)
1.0

OR QS

11= ,oe~<'sin(a,i+ ¢) QO+---+,--.....+�� -�+-,---,...�

� ---- -
•
.QS
where_p = 6,.Y + (" ;; �')_and
+ "'
-1.0

-1.S
"• 4 _
"'
tao¢=
v. + u.c:os

10

5
c. Underdamped System (Cont..)

1.5
-Ovcrdampcd
1.0 -Criticaly Damped
0..S
0.0 .j__\.....:::::;::::J,�=:-..=:::;:::�,,,..;�__,
.0..S
-1.0

II

Phase Plane Diagram: Under-damped

11 • pe••/1 sin(@.tf + ¢)

where_p• (" ''2 + [V• + II•t»() _and _tan¢- II a,

•4
' • "', v., + 11., @�

�= pe-"(cos(t»i+ ¢)+ ,/ t; _,. sin(t»l+

a,, I -�
¢))

12

6
Logarithmic Decrement
o It is the natural log of the ratio of displacement a t any time t1 and
t1 +2nlwd
o It represent decay in the magnitude during one cycles
o Logarithmic Decrement is used to calculate the damping ratio of a system
u(t, ) = f:E-�, sin(<V,/i +,p)
,{i, !:)
+ = /R--<(,,�tin (m,t,+2.r+,p) = p--<(,,•�1 sin(m,t1 + tp)

o = ln �� 11(1- )
= ln
--v. -
e-
e--<(•
1

II 1, +2,r �)
m,

13

Logarithmic Decrement (Cont .. )

o For many prnclical cases:
<;' < 0.2_therefore_ I- i;-2 ,. J
0
,5=21rt;'⇒t;'=-
21r
o For lightly damped system, the decay of motion is slow, ii is desirable 10 rela1e
ampli1udes several cycles apart:

-5_ = !i_ Uz u,
UN+I U2 U3 U4

u1
In -- =No= N21rt;

J u,
t;=- - ln-
2,rN UN+I

14

7
Logarithmic Decrement (Cont.. )
o The number of cycles in which the
12
amplitude will decay to half its value at he
beginning is given by: 10

I I
Nsw. = -ln2s, -ln2s,
-
0.11
- - I
\-
6
o 2m; s 4

o Since acceleration is easy to measure and 2

also acceleration is proportional to the 0

displacement in case of free vibration. the 0 0.05 0.1 0.15 0.2

damping ratio is therefore determined

from:

1
S = --ln
2,rN
..i.!.L.
iiN+I

15

Free Vibration: Coulomb Damping

o Coulomb damping is due to the force of sliding
friction
o The f1iclion force is proportional to the normal
force acting on the contact surface:
F=pN
whereµ is the coefficient of friction between

-
the contact surface
0 The friction force is opposite to the direction of Moticn
motion

-
When the block is moving towards left:

m,,·+ku = pN MOCIOfl

When the block is moving towards right

mii +ki, = -pN

,e

8
Free Vibration: Coulomb Damping (Cont..)
The general solution of equation of motion for block moving towards left is:

u = Acos@t +Bsin @I+ µN

k
And for block moving towards right

u = Ccos@t+Dsin@t- µN
k
A, B, C and D arc arbitrary constants to be determined from initial conditions at the
start of each half cycle

µN
A=11 ---and-B=O
ow for u(O)= "• _ and_ti(O)= 0.
• k

The solution of' equation of motion towards left is:

11 = (u. - �)cos@t+ �

17

Free Vibration: Coulomb Damping (Cont .. )

Al t • ,r/ ()) the block will be at the extreme left position and will s1ui1 moving towards
right. Therefore the initial conditions for movement towards right arc:

1 (;)- -(u., -2 J:) -and -'{;)-o

"
Therefore: C = "• - 3pN
--_and_D = 0
k
u = (u. - i)cosai-J:
3
t
At the end of one complete cycle t = 21rl@

Thus the amplitude decays by4p / k in one complete cycle and the decay is Linear
N
Coulomb damping does not change the frequency of vibration.
At any instant when the mass is at extreme left or right, if the displacement u is equal or
less than p N / Athc spring force ku will be equal to or less than the friction force and the
block witI cease to move
II

9
Free Vibration: Coulomb Damping (Cont..)
o Phase plane diagram

II II

lllw

19

Free Vibration: Hysteretic Damping

o The viscous damping force is proportional to the velocity (fr, = c,i)
o The velocity in case of free vibration with viscous damping is given by:

�= pe ...,.'(cos(ai,1+¢)+ t; -• sin(ai,1+¢))
ai, J1- �·

o For small amount of damping. the velocity and hence the damping force is
proportional lo the frequency of vibrati on

o This is not true because for most structural system, the damping is eitl1er
independent of frequency or in some case decrea�e with increasing frequency

o Thus viscous damping is not applicable because major part of damping is from
internal friction

10
Free Vibration: Hysteretic Damping (Cont..)
o The damping resistance occurring from the internal friction
is referred to as hysteretic dan1ping. structural damping, or
solid damping
o The loss of energy per cycle is measured from the force
defonnation hysteresis loop f,
o The damping effect may be accounted for using non-linear
spring force:
mii + f,(11) = 0
o Or the effect of hystcretic damping may be considcrod by II

using the relation ('I is constant):

m,i· + r;k u +ku = 0

a,
o Since velocity is directly proportional 10 frequency that
makes the d,unping force independent of frequency.
,.,1r '• " Co,ut
c, •-=>(, •-•-•
<l) C 2
21

11