Single Degree of Freedom (SDOF) system

()

1 0 0 1 0 1 0 1 0 1

k m F(t)

Figure 1: Undamped SDOF system

1111111 0000000 u(t) 0000000 1111111 0000000 1111111 M 0000000 1111111 1111 0000 1111 0000 0000000 1111111 0000000 1111111 0000000 1111111
F(t)

00 11 0 1 00 111 0 011 1 00 11 0 1 00 00 11 000 1 011 1 00 11 00 11 0 1 00 11 00 11

Figure 2: Example of overhead water tank that can be modeled as SDOF system 1. Equation of motion (EOM) Mathematical expression dening the dynamic displacements of a structural system. Solution of the expression gives a complete description of the response of the structure as a function of time Derivation of EOM 1. Dynamic Equilibrium (Using DAlemberts principle) 2. Principle of Virtual Work 3. Hamiltons principle (Using Lagranges equation) Dynamic Equilibrium DAlemberts principle states that a mass develops an inertial force proportional to its acceleration and opposing its motion. (See Figure 3) mu + ku = F (t) Equation of Motion (1)

for F (t) = 0, the response is termed as free vibration and occurs due to initial excitation. 1

mu

..

m ku F(t)

Figure 3: Dynamic force equilibrium Free Vibration mu + ku = 0 linear,homogeneous second order dierential equation k u + u=0 m k k 2 2 u + n u = 0 n = , n = n = natural frequency m m Solution of Equation 2 will be, u(t) = C1 en t + C2 en t = C1 (cos n t + sin n t) + C2 (cos n t sin n t) = (C1 + C2 ) cos n t + (C1 C2 ) sin n t Applying the initial conditions, u(t)|@t=0 = u0 = C1 + C2 u (t)|@t=0 = u 0 = n (C1 C2 ) Substituting Equation 4 into Equation 3, we get, u(t) = u0 cos n t + Again, substituting, u0 = A cos u 0 = A sin n into Equation 5, we get, u(t) = A cos cos n t + A sin sin n t = A cos(n t ) u 0 sin n t n (5)

(2)

(3)

(4)

(6)

(7)

where, A is the amplitude and is the phase angle A= u2 0+ u 0 n

2

and = tan1

u 0 /n u0

(8)

Free vibration of damped SDOF system Modeling of damping is perhaps one of the most dicult task in structural dynamics. It is still a topic of research in advanced structural dynamics and is derived mostly experimentally. Viscous Damping The most common form of damping is viscous damping. Equation of Motion
u

..

111 000 11 00 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11
k m

11111 00000

F(t)

Figure 4: SDOF with viscous damping mu + cu + ku = 0 c k u + u + u=0 m m 2 u + 2n u + n u=0

(9)

c where, = 2m is the viscous damping factor. Assuming a solution u(t) = Cest and n substituting in Equation 9, we get, 2 s2 + 2n s + n =0

s=

2n

2 4 2 4 2 n n

2 2 1 n (10)

Depending on the value of , the nature of s and correspondingly u(t) will be determined, ( 2 1)n t ( + 2 1)n t + C2 e u(t) = C1 e 2 2 (11) = C1 e ( 1)n t + C2 e ( 1)n t en t

Case I Under-damped system, 0 < < 1 For < 1, s1 , s2 are complex numbers and given as, s1 s2 = | 2 1| n (12) Therefore, u(t) = C1 e Considering
| 2 1|n t

+ C2 e

| 2 1|n t

en t

(13)

| 2 1|n = d , Equation 13 can be written as, u(t) = C1 ed t + C2 ed t en t [(C1 + C2 ) cos d t + (C1 C2 ) sin d t] en t (14)

where, d is referred as damped natural frequency. Substituting (C1 + C2 ) = A cos and (C1 C2 ) = A sin into Equation 14, we get, u(t) = A cos(d t )en t Applying initial conditions as, u(t)|@t=0 = u0 and u (t)|@t=0 = u 0 , we get, C1 + C2 = u0 and (C1 C2 ) = u 0 u0 + d 1 2 (15)

Thus for these initial conditions, the response can be written as, u(t) = u0 cos d t + u 0 u0 + sin d t en t 2 d 1 (16)

Case II Critically-damped system, = 1 Critical damping is the minimum damping required to stop the oscillations. s1 , s2 = n The solution is of the form, u(t) = (C1 + C2 t)en t Even here, C1 and C2 can be obtained from the initial conditions given. Case III Over-damped system, > 1 There is no oscillatory motion in an over-damped system. u(t) = (C1 ed t + C2 ed t )en t (18) (17)

For a over-damped system, higher the values of , the slower the rate of the decay (See Figure 5). 4

Figure 5: Free vibration of under-damped, critically damped and over-damped system