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Department
Structural Analysis-
spring 2013
(single degree of freedom – Harmonic Loading)
Fawad Muzaffar
M.Sc. Structures (Stanford University)
Ph.D. Structures (Stanford University)
1
SDOF Subjected to Harmonic Loading –
Undamped Case
• Equation of Motion: In this case, a harmonically varying load 𝑝(𝑡) is applied
to the structure. Suppose that the system is subjected to 𝑝0 𝑠𝑖𝑛𝑤𝑡
• Undamped Case:
The equation of motion becomes
---Equation 1
Complementary solution of the above equation (already evaluated for free
undamped case) is given by
Evaluating the value of 𝑣 and 𝑣 using the above equation and plugging this
value in equation 1, we get
Fawad Muzaffar 2
SDOF Subjected to Harmonic Loading –
Undamped Case
• After rearrangement,
where
3
SDOF Subjected to Harmonic Loading –
Undamped Case
• The response of the system then becomes
𝑝0 1
𝑣 𝑡 = (𝑠𝑖𝑛𝜔𝑡 − 𝛽𝑠𝑖𝑛𝜔𝑡 )
𝑘 1 − 𝛽2 𝑺𝒕𝒆𝒂𝒅𝒚 𝑺𝒕𝒂𝒕𝒆 𝑻𝒓𝒂𝒏𝒔𝒊𝒆𝒏𝒕 𝑹𝒆𝒔𝒑𝒐𝒏𝒄𝒆
𝚫𝒔𝒕 𝑴𝒂𝒈.𝑭𝒂𝒄𝒕. 𝑹𝒆𝒔𝒑𝒐𝒏𝒔𝒆
• Steady State Response:
Response that is directly related to
applied loading. It is the component
at the frequency of the applied load.
• Transient Response:
Response at the natural vibrating frequency.
It is the free vibrating effect controlled by
initial Condition.
4
SDOF Subjected to Harmonic Loading –
Undamped Case
• Response Ratio
The ratio of dynamic displacement to static displacement is called
response ratio.
Note:
i. Tendency of two components to
Get in and out of phase – “beating”
ii. The zero slope of total response
at time t=0.
Conclusion:
Initial velocity of transient response
cancels initial velocity of steady state
response.
5
SDOF Subjected to Harmonic Loading –
Damped Case
• For this case, the equation of motion becomes
where 𝐺1 and 𝐺2 are real constants. Plugging in the particular solution into EQ-2
6
SDOF Subjected to Harmonic Loading –
Damped Case
• For this equation to hold at all values of 𝜔𝑡, the terms inside square
brackets should be equal to zero, resulting in the following system of
equations.
7
SDOF Subjected to Harmonic Loading –
Damped Case
• The general solution for this case can then be obtained by adding
particular and general solution.
Transient Solution
8
SDOF Subjected to Harmonic Loading –
Damped Case
• Steady State Response of Damped Structure
– Transient Response is not that important, steady state response is!
• Alternate Representation
where
9
Solved Example – Calculation of
Dynamic Properties of Structure
1/2 1/2
𝑝0 1 1 𝑝0 1 1
𝜌= =
𝑘 1 − 𝛽 2 1 + 2𝜉𝛽 1 − 𝛽 2 2 𝑘 1 − 𝛽 2 1 + tan2 𝜃
𝑝0 1
cos 𝜃 -----Equation F
𝑘 1 − 𝛽2 10
Solved Example – Calculation of
Dynamic Properties of Structure
2
𝑘 1 − 𝛽 2 = 𝑝0 𝑐𝑜𝑠𝜃 𝜌 ⇒ 𝑘 − 𝜔 𝑚 = 𝑝0 𝑐𝑜𝑠𝜃 𝜌
Unknowns: 𝑘 and 𝑚. Use two observations at known conditions
11
Solved Example – Calculation of
Dynamic Properties of Structure
From equation F,
𝜌𝑘
cos 𝜃 = (1 − 𝛽 2 )
𝑝0
From
𝑡𝑎𝑛𝜃 = 2𝜉𝛽 (1 − 𝛽 2 ) ⇒ 𝑐𝑜𝑠𝜃 = (1 − 𝛽 2 ) 2𝜉𝛽 𝑠𝑖𝑛𝜃
𝜌𝑘 2
(1 − 𝛽 2 )
1−𝛽 = 𝑠𝑖𝑛𝜃
𝑝0 2𝜉𝛽
12
Solved Example – Calculation of
Dynamic Properties of Structure
13
SDOF Subjected to Harmonic Loading –
Damped Case
• Dynamic Magnification Factor
– The ratio of resultant harmonic response amplitude to the static displacement due to 𝑝0 is
called dynamic magnification factor, D.
14
SDOF Subjected to Harmonic Loading –
Damped Case
• Resonant Response
- From Steady State Response (Using Dynamic Magnification Factor):
The dynamic magnification factor for damped-harmonically loaded
structure is given by
16
SDOF Subjected to Harmonic Loading –
Damped Case
• Frequency Response Curve
17
SDOF Subjected to Harmonic Loading –
Damped Case
The equation becomes
18
SDOF Subjected to Harmonic Loading –
Damped Case Rate of increase of amplitude
is directly proportional to 𝜉
19
Fundamental Principles used by Dynamic
Measurement Instruments
• Accelerometers
− Consists of viscously damped oscillator.
− The equation of motion (already derived)
− Considering a harmonic 𝑢𝑔 𝑡
20
Vibration Isolation of Equipment
Notes:
i. At 𝛽 = 𝜔 𝜔 = 2,
transmitted quantity is
equal to source.
ii. For 𝛽 > 2, increasing
𝜉 increases
transmission of
quantity of interest.
iii. For 𝛽 < 2, increasing 𝜉 decreases transmission of quantity of interest.
iv. For rapidly moving systems, c is undesirable.
v. Because TR is low for high values of 𝛽, systems are operated at high 𝛽 for
isolation of base
21
Fundamental Principles used by Dynamic
Measurement Instruments
• Objective of Instrument Design
− To make 𝑹𝒅 and 𝜽/𝝎 independent of 𝝎 so that each harmonic
component of acceleration will be recorded with the same modification
factor and the same time lad to obtain response due to general loading.
• Plots of R d and against 𝛽
23
Vibration Isolation of Equipment
• Vibration Isolation
− Objectives
− Prevent Support Structure from Machine Vibrations
− Prevent Equipment from Vibrations in Support Structure
− Force Transmitted to Structure from Machinery
In this case, the force produced by machinery is given by
𝑝 𝑡 = 𝑝0 𝑠𝑖𝑛𝜔𝑡
The displacement response of this system has
been evaluated previously as
𝑃0 = 𝑣𝑔0 𝑘 1 + 2𝛽𝜉 2
and
−1
𝑘𝑣𝑔0
𝜃 = tan
𝑐𝜔𝑣𝑔0
Equation B then becomes
𝑚𝑣 𝑡 + 𝑐𝑣 𝑡 + 𝑘𝑣 𝑡 = 𝑃0 × sin(𝜔𝑡 − 𝜃 )
26
Vibration Isolation of Equipment
• The solution of the above equation has already been calculated as
𝑃0 𝑣𝑔0 𝑘 1 + 2𝛽𝜉 2
𝑡
𝑣 𝑡 = 𝐷 × sin 𝜔𝑡 − 𝜃 − 𝜃 = 𝐷 × sin 𝜔𝑡 − 𝜃 − 𝜃
𝑘 𝑘
or
𝑣 𝑡 𝑡 = 𝑣𝑔0 1 + 2𝛽𝜉 2 × 𝐷 × sin 𝜔𝑡 − 𝜃 − 𝜃 ----Equation C
where
− Advantages:
i. Simplest and most frequently used method.
ii. Equipment and instrumentation requirements are minimal.
− Disadvantages:
i. Damping so obtained is often dependent on amplitude (because
damping are not exactly proportional to velocity).
ii. Generally, smaller amplitudes results in smaller values of damping.
28
Evaluation of Viscous Damping Ratio
• Resonant Amplification Method:
− Procedure:
i. Select amplitude of applied dynamic
loading.
ii. Load structures at discrete frequencies,
measure maximum amplitude of steady
state response.
iii. Plot these values to obtain frequency-
response curve.
iv. Calculate 𝜉 using
𝜌𝑚𝑎𝑥 1 𝑓𝑜𝑟 𝐿𝑜𝑤 𝜉 1
𝐷𝑚𝑎𝑥 = =
𝜌0 2𝜉 1 − 𝜉 2 2𝜉
− Disadvantages:
i. 𝜌0 is not always known since typical
loading system cannot produce loading at
zero load.
ii. 𝜉 is dependent on amplitude of loading. 29
Evaluation of Viscous Damping Ratio
• Resonant Amplification Method:
− Procedure:
Same as Resonant Amplification Method
− Derivation:
1
From Resonance Analysis: 𝐷𝑚𝑎𝑥 = 2
2𝜉 1−𝜉
2 2 2 −1/2
The Dynamic Mag. Fact: 1 − 𝛽 + 2𝜉𝛽
The value of 𝛽 at which 𝐷 = 𝐷𝑚𝑎𝑥 2
--- Equation E
From equations D & E
Advantage:
i. ρ0 does not need to be calculated for this
case.
Disadvantage:
i. The shape of the frequency response
curve has to be determined carefully.
31