Lecture # 07

Ammar Tariq

Rayleighs Energy Method: Example Problem

1.

Compute the natural frequency of this simplified model of a car hitting a bump. Assume it is a conservative system.

Free Vibration with Viscous Damping

The viscous damping force F is proportional to the velocity, c is the damping constant or coefficient of viscous damping The negative sign indicates that the damping force is opposite to the direction of velocity

Free Vibration with Viscous Damping (contd.)

Equation of motion can be derived as

We have an ODE

FV with Viscous Damping - Solution

FV with Viscous Damping Solution (contd.)

Critical Damping Constant and Damping Ratio

The critical damping is defined as the damping constant for which the radical becomes zero

The damping ratio is defined as the ratio of the damping constant to the critical damping constant. (damping ratio is a dimensionless measure describing how oscillations in a system decay after a disturbance.)

FV with Viscous Damping Solution (contd.)

Critical Damping Constant and Damping Ratio

the solution,

The nature of the roots and hence the behavior of the solution depends upon the magnitude of damping; = 0, leads to undamped vibrations 0, leads to three cases: under damped, critical, over damped

FV with Viscous Damping Solution (contd.)

Case 1: Underdamped: 1 or c cc or c / 2m k/m

In this condition, (2 1) is negative and the roots can be expressed as Putting in general solution

For initial conditions; x(t = 0) = x0 and x(t = 0) = x0

Case 1: Underdamped: (contd)

The solution and corresponding response, now will look like

Case 1: Underdamped: (contd)

The solution can be expressed as,

Where constants are,

FV with Viscous Damping Solution: Case 2: Critically damped

Critical Damped:

1 or c cc or c / 2m k/m

In this case the two roots s1 and s2 are equal,

The solution, will be: For the initial condition, x(t=0) = x0 and x(t=0) = x0 Hence:

Case 2: Critically damped (contd.)

Motion represented by the equation will be aperiodic. t Since, e n 0 as t 0 the motion will eventually diminish to zero

FV with Viscous Damping Solution: Case 3: Overdamped

1 or c cc or c / 2m k/m Overdamped In this case the two roots are s1 and s2 real and distinct

The solution, will be:

For the initial condition, x(t=0) = x0 and x(t=0) = x0

Case 3: Overdamped (contd.)

The motion represented by equation is aperiodic. Since the roots are negative, the motion diminishes exponentially with time

FV with Viscous Damping