Structural Dynamics - ESA 322

Vibration and Noise -EMM342

Lecture 3
02/3/2016
 The Big Picture (Part 1)
Week Syllabus Notes
Week 1 Introductory class
Introduction to vibration
Week 2 SDOF Free Undamped Vibration
SDOF Force Undamped Vibration
Week 3 SDOF Free Damped Vibration System identification
SDOF Force Damped Vibration
Week 4 SDOF Base Excitation
SDOF Rotating Unbalanced Mass
Week 5 Numerical Methods Plot responses
2DOF Free Vibration
Week 6 2DOF Forced Vibration
Dynamic Vibration Absorber
Week 7 Test 1
 Todays lecture overview
SDOF Damped Free Vibration
Types of damping
Damping force equation
SDOF damped free vibration system and solution

System Identification
Logarithmic decrement
 SDOF Damped Free Vibration
Damping
Cause energy to flow out of the vibration system
Types of damping
Viscous damping...
Coulomb damping friction damping
Friction converts kinetic energy into thermal energy or heat
Hysterisis damping - structural damping
Energy loss within the moving structure itself
 SDOF Damped Free Vibration
Viscous damping is a type of damping when a system
moving with a velocity v is slowed down by a force
proportional to velocity through viscous effect.
Fast moving objects therefore encounter large forces,
while slowly moving objects encounter only small
forces.
The direction of the force is always to oppose the
velocity.
 SDOF Damped Free Vibration
Viscous damper
SDOF Damped Free Vibration
 SDOF Damped Free Vibration
Viscous damping vary with the function of velocity

Fd cx (15)
Damping force velocity

Damping coefficient

Unit for damping is Newton second per meter or

Ns/m
 SDOF Damped Free Vibration
Example of damped and undamped responses.
 SDOF Damped Free Vibration
Consider the mass spring damper system as
shown in figure 3.

k x(t)

m
c

Figure 3
 SDOF Damped Free Vibration
FBD
x(t)
Fs
m
Fd

F mx
kx cx mx Equation of motion for
free damped vibration

mx cx kx 0 (16)
 SDOF Damped Free Vibration
From calculus, the eom has the solution in the
t
form of x(t ) Ae Trial function
(17)

c
Simplify eom, x x n x 0
2

m (18)

Introducing new variable (damping ratio)

c
(19)
2mn
 SDOF Damped Free Vibration
Substitute (19) into (18)
x 2n x n2 x 0 (20)
t
Substitute x (t ) Ae into (20)
Where x (t ) Ae t
x(t ) 2 Ae t
We get
t t t
Ae 2n Ae Ae 0
2 2
n

Simplify

2

2n n2 Ae t 0 (21)
 SDOF Damped Free Vibration
Solving equation 21
2

2n Ae 0
2
n
t

Since expression Ae t 0
we are left with
2
2n 0
2
n (22)

Equation 22 is a quadratic equation and can

be solved by finding the roots.
b b 2 4ac

2a
 SDOF Damped Free Vibration
The roots are

1 n 1
2
(23a)

2 n 2 1 (23b)

There are 3 possibilities for values of 2 1

Or values of b 2 4ac
 SDOF Damped Free Vibration
Case A - 2 1 1 so 1 & 2 are real and distinct
In this case, the system is called OVERDAMPED.
The roots are both negative.
There is no oscillation in the system.
The response for overdamped is in the form of
2 1 t 2 1 t
xt C1e n
C2e n (24)
 SDOF Damped Free Vibration
For case A, the damping is large the frictional force is
so great that the system cant oscillate.
An unforced overdamped harmonic oscillator does
not oscillate. Since both exponents are negative
every solution in this case goes asymptotically to the
equilibrium x = 0.
 SDOF Damped Free Vibration
- 1 1 so 1 & 2 roots are not real
2
Case B
(complex/imaginary)
In this case, the system is called UNDERDAMPED
There is oscillation in the system.
The response for underdamped is in the form of
xt e nt
B1 cosd t B2 sin d t (25)

Where d n 1 2
(26)

Equation (26) is called damped natural frequency.

 SDOF Damped Free Vibration
Damping is a frictional force, so it generates heat and
dissipates energy. When the damping constant is small
we would expect the system to still oscillate, but with
decreasing amplitude as its energy is converted to heat.
Over time it should come to rest at equilibrium.
A negative exponent gives the decaying amplitude.
 SDOF Damped Free Vibration
Case C - 2 1 0 so 1 & 2 are repeated.
In this case, the system is called CRITICALLY DAMPED.
There is no oscillation in the system.
The response of critically damped is in the form of
xt A1e nt A2te nt (27)
 SDOF Damped Free Vibration
Critical damping value cc gives the fastest return of
the system to its equilibrium position.
In engineering design this is often a desirable
property.
It is applied in car suspension, aircraft landing gear,
door damper etc
c / cc (28)

cc 2mn (29)
 SDOF Damped Free Vibration
Comparison between underdamped, overdamped,
critically damped and undamped oscillation.
 SDOF Damped Free Vibration
Comparison between underdamped (very low
damping), overdamped, critically damped
SDOF Damped Free Vibration
 System Identification
System identification is a process used to identify
vibration characteristics such as oscillation frequency
and damping from the measured data.
There are a many techniques available to estimate
the damping of a vibration system such as
Logarithmic decrement method and half power
bandwidth method.
These are among the simplest method available.
 System Identification
Logarithmic decrement
Logarithmic decrement is the natural logarithmic
value of the ratio of two adjacent peak values of
displacement in free damped vibration.
It is used to estimate damping in time domain.
In this method, the free vibration displacement
amplitude history of a system to an impulse is
measured and recorded.
 System Identification
Logarithmic decrement
 System Identification
Logarithmic decrement
 Exercise (6)
Using the data in the time response shown in
the next page, estimate:
i. Damped natural frequency
ii. Damped angular natural frequency.
iii. Damping ratio
iv. Natural frequency
v. Angular natural frequency
vi. Period of damped oscillation

Reminder - Make sure you represent the right unit.

Time response (ex 6)
Stiffness equivalent
 Exercise (4)
Determine the natural frequencies for these systems.
Exercise (5)