Response of linear SDOF to arbitrary excitation Objective: Learn how to find the response of a linear SDOF system to a given

input (excitation) Preliminary definitions: Response = natural response + forced response Natural response: solution of equation of motion of the system when the excitation is zero. The expression for natural response contains constants.

Forced response: any solution of equation of motion of the system for non zero excitation.

If the natural response tends to zero when time tends to infinity and the limit of the forced response as time goes to infinity exists and is bounded (not infinite), then the limit is called steady state response.

Transient response: Process of going from initial state to steady state.

Steady state

Transient response

Transient response is due to both the application of the force and the non zero initial conditions

Outline of this chapter Impulse response function

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2.Response to arbitrary excitation 3.Shock spectrum 4.Numerical calculation of response

1. Impulse response function Impulse function: idealization of shortduration force applied suddenly

Force Idealization Area=

A

Force

F ( t )

time

time

(t ) : unit impulse applied at t = 0 F : impulse of force = force duration

Impulse response

c
m (t)

k
h(t)

Find response of single degree of freedom system to a unit impulse:

m(t ) + cx (t ) + kx (t ) = (t ), x x (0 ) = 0, x (0 ) = 0
.

Case 1: <1

1 n t e sin( d t ) for t > 0 x (t ) = h(t ) = m d 0 for t 0

If impulse was applied at time, , then 1 n ( t ) e sin[ d (t )] for t > x (t ) = h(t ) = m d 0 for t

Impulse responses of two systems with natural frequency 6.28 rad/sec and damping ratios 0.1 and 0.8.
.
0.15

Impulse reponses two systems

Slope is 1/m here

0.075 displacement

0.075

0.15

0.5

1.5

2 2.5 time (sec)

3.5

zeta=0.1 zeta=0.8

Observations: Transient response dies out faster when damping increases.

Displacement overshoot decreases with damping.

Maximum displacement does not occur exactly at time equal to one fourth of a period, unless damping is zero.

Slope just after impulse has been applied (i.e. at t=0+) is 1/m.

Case 2: Overdamped system, >1

1 1 n t [e n t 2 1 e n t 2 1 ] h( t ) = e 2 m n 2 1

Case 3: Critically damped system, =1

h( t ) =

1 n t te m

2. Response to arbitrary excitation First, assume that system is at rest at t=0. Idea: Use superposition principle. Split excitation to sum of impulses. Find response to each impulse and sum up the responses.
x (t ) = F ( )h(t )d
0 t

Equivalent equation for response:

x (t ) = F (t )h( )d
0 t

The above are called convolution integrals.

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If system is not at rest at t=0, then the response is the free vibration response due the non zero initial conditions plus the above convolution integral

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Step response

Unit step function

Consider underdamped systems only. Response to unit step:

x (t ) = U (t ) = 1 mn [1 2 1 1 2 e n t cos(d t )] =

1 1 [1 e n t cos(d t )] k 1 2 where : = tan -1 (

1
2

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Overshoot Steady state (quasi static response)

Time to peak, tp=half damped natural period

Slope is zero here

Observations:

Response oscillates about quasi static response with frequency, d.

Response converges to quasi static response as time tends to infinity. This response is the steady state.
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At time t=0, the velocity is zero. (note difference with slope at time zero of impulse response)

Time to peak is equal to half period. (note difference with impulse response)

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3. Shock spectrum Shock: Sudden application of force resulting in transient response. Shock spectrum: maximum response vs. normalized frequency Usually normalized frequency is the ratio of the shock duration divided by the natural period of the system.

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4. Numerical simulation of response It is often difficult to calculate the convolution integral or solve the differential equation of motion. We could use numerical simulation in this case. There are two approaches for numerical simulation: 1) Solve the differential equation of motion 2) Calculate numerically the convolution integral

1) Numerical solution of differential equation of motion: Most computer programs can only solve first order differential equations. We can convert
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the equation of motion to a system of two first order differential equations as follows. Start with the original equation:
m + cx + kx = F (t ) x F (t ) + 2 n x + n 2 x = x m

Let

x = x2 , and x = x1 .

Then the above equation

of motion becomes:
x1 (t ) = x2 (t ) x2 (t ) = 2 n x2 (t ) n 2 x1 (t ) + F (t ) m

We can solve the above equations numerically using Mathematica, Mathcad or Matlab.

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