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4.SDOF Systems in Free Vibration

This document discusses the free vibration response of a single degree of freedom (SDOF) structural system due to initial conditions. It presents the general equation of motion for a SDOF system under free vibration and its solution. The solution depends on whether the system is critically damped, overdamped, or underdamped. For underdamped systems, the response consists of exponentially decaying oscillations at the damped circular frequency. The natural period is also defined. Initial conditions can be used to determine the integration constants and fully define the time-dependent response of the damped SDOF system.

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177 views5 pages

4.SDOF Systems in Free Vibration

This document discusses the free vibration response of a single degree of freedom (SDOF) structural system due to initial conditions. It presents the general equation of motion for a SDOF system under free vibration and its solution. The solution depends on whether the system is critically damped, overdamped, or underdamped. For underdamped systems, the response consists of exponentially decaying oscillations at the damped circular frequency. The natural period is also defined. Initial conditions can be used to determine the integration constants and fully define the time-dependent response of the damped SDOF system.

Uploaded by

shamshiri
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Free vibration response due to initial conditions

Solution to the equation of motion of a SDOF system under free vibration


If there is no excitation force then the equation of motion of a SDOF system becomes:
& & M *Y&(t ) + C *Y (t ) + K *Y (t ) = 0 (fv.1)

The above equation of motion is a 2nd degree differential equation with constant coefficients; the solution of the equation is the displacement response Y (t ) , if this is assumed to be: Y (t ) = Ae t (fv.2) Then the velocity and the acceleration responses will be given as: dY (t ) & = Ae t (fv.3) Y (t ) = dt

& dY (t ) & Y&(t ) = = A2 e t dt

(fv.4)

& & Substituting the above functions Y (t ) , Y (t ) and Y&(t ) in the equation of motion (fv.1)

M * A2 e t + C * Ae t + K * Ae t = 0 Dividing everything by Ae t
M *2 + C * + K * = 0 characteristic equation The solution to this equation is

(fv.5)

(fv.6)

=
or

C * C *2 4M * K * 2M * C*

* * C* 4M K = * 2M * 4M *2 2M

C*

(fv.7)

* C* K = * 2M * M* 2M

(fv.8)

But if we change the variables of eqn (fv.8) using:

K* = [rad/sec] = undamped circular frequency M*

(fv.9)

C* 2M *

= damping ratio

(fv.10)

J. Enrique Martinez-Rueda

Dynamics of Structures 1

Free vibration response due to initial conditions

Then eqn. (fv.8) can be rewritten as:

= 2 2 2 = 2 1
Now, there are three possibilities for

(fv.11)

case 1. =1.0 i.e., critically damped system

=1 = 2 = - (i.e., the two values of are equal)

(fv.12)

The Theory of Differential Equations (TED) shows that, in this case, the solution is:

Y (t ) = C1e t + C2te t
or or

(fv.13) (fv.14) (fv.15)

Y (t ) = C1e t + C 2te t Y (t ) = C1e t (1 + C2t )

case 2. > 1.0 i.e., overdamped system

1 2 and TED shows the solution is:


Y (t ) = C1e 1t + C2 e 2 t or
Y (t )
t 2 1 = C1e t + 2 1 e

(fv.16)

+ C2

(fv.17)

case 3. < 1.0 i.e., underdamped system


Now the term 2 1 is imaginary and hence 1 and 2 are complex numbers
2 1 = 1 1 2 = i 1 2 = i 1 2 or (fv.18) (fv.19) (fv.20)

= i d

where d = 1 2 [rad/sec] damped circular frequency (d < ) (fv.21) Finally, TED shows that the solution in this case is: Y (t ) = e t (C1 cos d t + C2 sin d t ) (fv.22)

J. Enrique Martinez-Rueda

Dynamics of Structures 2

Free vibration response due to initial conditions

Physical interpretation of the above solutions


1. systems with critical damping ( = 1)

Y(t)
1.0

0.8

0.6

0.4

=1

0.2

0.0 0.0

0.1

0.2

0.3

0.4

0.5

2. overdamped systems ( > 1)

Y(t)
2.0

1.5

1.0

>1
0.5

0.0 0.0

0.1

0.2

0.3

0.4

0.5

In both of the above cases: the displacement response Y(t) is characterised by exponential decay with no oscillation in general the theory of systems with 1 is used for the design of shock absorvers or damping mechanisms of doors.
J. Enrique Martinez-Rueda Dynamics of Structures 3

Free vibration response due to initial conditions

3. underdamped systems ( < 1)

Y(t)

Td
infinite number of oscillations (in theory) amplitude of oscillations decay in an exponential fashion in conventional structures is typically assumed to be 2-5% but in special structures it can be as high as 20% the system vibrates at the damped frequency d with a damped period Td :
Td =

[sec]

(fv.23)

For systems with no damping, we define:


T= f =

[sec] = natural period or period of vibration

(fv.24) (fv.25)

1 = [Hertz = cycles/sec ] = natural frequency T 2

The natural period can be seen as the time required by the system to complete a full cycle of vibration.
J. Enrique Martinez-Rueda Dynamics of Structures 4

Free vibration response due to initial conditions

Response of damped SDOF system in free vibration due to initial conditions


The displacement response of this system is given by:
Y (t ) = e t (C1 cos d t + C2 sin d t )

(fv.26)

where C1 & C2 are integration constants that can be found invoking the initial i.e. boundary conditions of the problem. Deriving the above eqn. with respect to time we get
& Y (t ) = e t ( C1 d sin d t + C2 d cos d t ) e t (C1 d cos d t + C2 sin d t ) (fv.27)

Now, let us assume we know the initial conditions (initial displacement Yo and initial & velocity Yo ) of the response Y(t):
Yo = Y(0) at t = 0

(fv.28) (fv.29)

& & Yo = Y (0) at t = 0

Substituting the above initial conditions into eqns (fv.26) and (fv.27) we get:
Yo = 1 (C1 + 0) Yo = C1

(fv.30)

& Y + Yo & Yo = 1(-0 + C2d) - C1 C2 = o

(fv.31)

Hence the displacement response of the system will be:


& Y + Yo sin d t Y (t ) = e t Yo cos d t + o d

(fv.32)

It can be shown that if the initial conditions are invoked for time 0 then the response of the system is given by:
& Y ( ) + Y ( ) sin d (t ) Y (t ) = e (t ) Y ( ) cos d (t ) + d

(fv.33)

J. Enrique Martinez-Rueda

Dynamics of Structures 5

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