MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

Lecture 12- SDOF- Periodic

Input, Fourier Series

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Response Under a General Periodic Force

mx&& + cx& + kx = F ( t )
Where for any value of t F ( t ) = F ( t + )

F(t) = General Periodic Force

2) Transient

1) Harmonic (sin, cos)

F(t))

F(t)
t

4) Random

3) Periodic

F(t))

F(t)

This force can be expressed in terms of its

Fourier Series Coefficients
Lecture 12- SDOF- Periodic
Input, Fourier Series

MEEM 3700

Time to Frequency Domain Conversion:

Amplitude

Periodic Function: F ( t ) = F ( t + T )

x (t) = x (t + )

Time

Trigonometric series representation:

(where =
T
a0
x (t ) =
+ a1 cos( t ) + a 2 cos(2 t ) + a3 cos(3 t ) + L
2
+ b1 sin( t ) + b2 sin(2 t ) + b3 sin(3 t ) + K

Conditions for application:

1.) Function is periodic F ( t ) = F ( t + T )

2.) Discontinuities are finite within any period
3.) Function has a finite number of maxima and minima during
during any period
4.) Function is absolutely integrable over any period T

x ( t ) dt <
0

Lecture 12- SDOF- Periodic

Input, Fourier Series

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Time to Frequency Domain Conversion: Fourier Series

Series coefficients are evaluated as:

2
an =

x (t ) cos( n t ) dt

bn =

x (t ) sin( n t ) dt
0

Evaluation is simplified by the Orthogonality conditions of Sine & Cosine

T

sin(m t ) sin(n t ) =
0

0 for m n

for m = n 0
2

cos( m t ) cos( n t ) =
0

Lecture 12- SDOF- Periodic

Input, Fourier Series

0 for m n

for m = n 0
2

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sin( m t ) cos( n t ) = 0
0

Time to Frequency Domain Conversion: Fourier Series

X (t)

an

x (t ) = +

bn

s in ( t ) +

4
4
4
s in (3 t ) +
s in (5 t ) +
s in ( 7 t ) + L
3
5
7

=
Lecture 12- SDOF- Periodic
Input, Fourier Series

2
T

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Time to Frequency Domain Conversion: Fourier Series

Example of 4 terms

Example of 8 terms

Lecture 12- SDOF- Periodic

Input, Fourier Series

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Harmonic Forcing Function: Example

EOM:
k

mx&& + cx& + kx = F ( t )

= F0 e jt

X ss = Xe jt

Steady State Response:

m

Becomes

F ( t ) = F0 e jt

x (t )

( m

+ j c + k Xe jt = F0 e jt

X
1
=
F0
k m 2 + j c

X
=
F0

( k m )
2

Lecture 12- SDOF- Periodic

Input, Fourier Series

+ 2c2

c
2
k m

= tan 1

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Harmonic Forcing Function: Example

To obtain the nonnon-dimensionalized forms of the previous equatiosns use:

X ss =

c
cc

r=

F0
k

(1 r ) + ( 2 r )
2

Lecture 12- SDOF- Periodic

Input, Fourier Series

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n =

k
m

2 r
2
1 r

= tan 1

Response Under a General Periodic Force

Expand the periodic force in a Fourier Series

F (t ) =

a0
+ an cos ( nt ) + bn sin ( nt )
2 n =1
n =1

where

an =

2
F ( t ) cos ( nt ) dt
T 0

bn =

2
F ( t ) sin ( nt ) dt
T 0

n = 0,1, 2, 3...

n = 0,1, 2, 3...

Therefore, the equation of motion of the system can be expressed as:

mx&& + cx& + kx =

a0
+ an cos ( nt ) + bn sin ( nt )
2 n =1
n =1

* The total solution is the sum of these responses *

Lecture 12- SDOF- Periodic
Input, Fourier Series

MEEM 3700

Response Under a General Periodic Force: Solutions

a
a
mx&& + cx& + kx = 0
steady state solution:
X ss = 0
2
2k

mx&& + cx& + kx = an cos ( nt )

an
k

n =1

(1 n r ) + ( 2 nr )

n =1

steady state solution:

X ss =

2 2

mx&& + cx& + kx = bn sin ( nt )

bn
k

n =1

(1 n r ) + ( 2 nr )

n =1

steady state solution:

Lecture 12- SDOF- Periodic

Input, Fourier Series

X ss =

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2 2

10

Response Under a General Periodic Force: Solutions

The complete solution is the summation from the
principle of superposition

a
xss ( t ) = 0 +
2k n =1

an
k

(1 n r ) + ( 2 nr )
2 2

n =1

bn
k

1 n2r 2

+ ( 2 nr )

cos ( n t n ) + ...

sin ( n t n )

2 nr
2 2
1 n r

n = tan 1
Lecture 12- SDOF- Periodic
Input, Fourier Series

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11

Response Under a General Periodic Force:

Notes:
1.) If n = n for any n, the amplitude of the corresponding
harmonic will be very large.
2.) As n becomes larger, the amplitude becomes smaller. Thus
the first few terms are generally sufficient to obtain the
the
response with resonable accuracy.

Lecture 12- SDOF- Periodic

Input, Fourier Series

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12

F (t )

Fourier Series Example

c

F (t )

Jo

Fo

x (t )

Given:

J o = 10 kg m 2
c = 40

l = 1m

N sec
m

k = 4000

N
m

Initial Conditions:

Find x(t)

Lecture 12- SDOF- Periodic

Input, Fourier Series

x ( 0) = 0

Fo = 10

x& ( 0 ) = 0

T = 1 sec

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Fourier Series Example: FBD & EOM

l
F (t )
M 0 = J 0&&
c &
2

x (t )

l
k
2
x = l for small angles

Lecture 12- SDOF- Periodic

Input, Fourier Series

kl 2
cl 2
& + F ( t ) l = J 0&&
4
4
2
cl
kl 2
J 0&& +
& + = F ( t ) l
4
4

x
l

J0
cl
kl
&&
x + x& + x = F ( t ) l
4
4
l
J0
c
k
&&
x + x& + x = F ( t )
4
4
l2

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Fourier Series Example: Determining Fourier Coeff.

Coeff.
a
F ( t ) = 0 + an cos (t ) + bn sin (t )
2
n
n

2
T

a0 =

2F
2 T F0
t dt = 02 t 2 |T0 = F0

0
T T
2T

an =

2F
2 T F0
2 n
t dt = 20
t cos
T 0 T
T
T

2 n
t dt
t cos
T

2 nt
2 nt sin

F0 2 nt
T

an = 2 2 cos
+
2 n T
T

an = 0 for n = 1, 2,3, 4...

Lecture 12- SDOF- Periodic
Input, Fourier Series

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15

Fourier Series Example: Determining Fourier Coeff.

Coeff.

bn =

2 T F0
2 nt
t sin
dt

T 0T
T

2 F0t
2 nt
sin

2
T
T
F
F
b1 = 0 , b2 = 0

2
bn =

F (t ) =

, b3 =

F0
3

, ...

F0 F0
F
F
F
sin (t ) 0 sin ( 2t ) 0 sin ( 3t ) ... 0 sin ( nt )
2
2
3
n

Lecture 12- SDOF- Periodic

Input, Fourier Series

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Xk
F

Fourier Series Example: Solving with Numbers

10 &&
x + 10 x& + 1000 x = 5 10sin ( 2 t ) 5sin ( 4 t ) 3.33sin ( 6 t ) + ...

n =

1000
= 10 rad
sec
10

10
= 0.05
2 10000

d n

x ( t ) = e 0.5t ( A cos (10t ) + B sin (10t ) ) + X 0 + X 1 sin ( 2 t ) + X 2 sin ( 4 t ) + X 3 sin ( 6 t ) + ...

Lecture 12- SDOF- Periodic

Input, Fourier Series

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17

Fourier Series Example: Solving with Numbers

Xk
F

0.05

1.00

0.0157

/5

0.05

1.64 -10.00 -0.016

2 4/10

0.05

1.68 -5.00 -0.0084

3 6/10

0.05

0.39 -3.33 -0.0013

x( t ) = e0.5t ( Acos(10t ) + Bsin(10t ) ) + 0.0157 0.016sin( 2t ) 0.0084sin( 4t ) 0.0013sin( 6t ) +...

Apply initial conditions to solve for A and B

Lecture 12- SDOF- Periodic
Input, Fourier Series

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