Escolar Documentos
Profissional Documentos
Cultura Documentos
Structures
Giacomo Boffi
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Part I
Introduction
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Definitions
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Definitions
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Definitions
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Definitions
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Definitions
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Definitions
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of Structures
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of Structures
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Generalized Displacements
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Generalized Displacements
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
DAlembert principle
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Variational approach
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Variational approach
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Variational approach
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Part II
Single Degree of Freedom System
Free vibrations of
a damped system
1 DOF System
Dynamics of
Structures
Giacomo Boffi
1 DOF System
1
F (y , y ) = f (y , y )
m
.
It is difficult to integrate the above equation in the general
case, but its easy when the motion occurs in a small
neighborhood of the equilibrium position.
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
f
f
(y yeq. ) +
(y 0) + O(y , y ).
y
y
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
f
f
(y yeq. ) +
(y 0) + O(y , y ).
y
y
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
a
=
2
a2
b.
4
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
x(t)
k
m
c
(a)
p(t)
fS (t)
fD (t)
fI (t)
(b)
p(t)
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
x(t)
k
m
c
(a)
p(t)
fS (t)
fD (t)
fI (t)
(b)
p(t)
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
x(t)
k
m
c
(a)
p(t)
fS (t)
fD (t)
fI (t)
(b)
p(t)
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
k
m
c
(a)
p(t)
fS (t)
fD (t)
fI (t)
(b)
p(t)
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
x(t)
Free vibrations of
a SDOF system
k
m
c
p(t)
fS (t)
fD (t)
(a)
Free vibrations of
a damped system
fI (t)
p(t)
(b)
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
fD (t) = c x(t).
Finally, the elastic force is the product of the elastic
stiffness k and the displacement,
fS (t) = k x(t).
The differential equation of dynamic equilibrium
m x(t) + c x(t)
+ k x(t) = p(t).
Note that this differential equation is a linear differential
equation of the second order, with constant coefficients.
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
st
x
(t)
1 DOF System
x(t)
k
m
c
Free vibrations of
a SDOF system
kst
p(t) fS (t)
fD (t)
(a)
W
fI (t)
p(t)
(b)
m x(t) + c x(t)
+ k x(t) = p(t) + W ,
but expressing the total displacement as the sum of a
constant, static displacement and a dynamic displacement,
x(t) = stat + x(t),
substituting in we have
m x(t) + c x(t)
+ k stat + k x(t) = p(t) + W .
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
xtot (t)
Free vibrations of
a SDOF system
k
2
k
2
c
xg (t)
x( t)
Free vibrations of
a damped system
xtot (t)
k
2
k
2
c
xg (t)
x( t)
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
xtot (t)
k
2
k
2
c
xg (t)
x( t)
While the elastic and damping forces are still proportional to relative
displacements and velocities, the inertial force is proportional to the
total acceleration,
fI (t) = m
xtot (t) = m
xg (t) + m
x (t).
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
xtot (t)
k
2
k
2
Dynamics of
Structures
x( t)
While the elastic and damping forces are still proportional to relative
displacements and velocities, the inertial force is proportional to the
total acceleration,
fI (t) = m
xtot (t) = m
xg (t) + m
x (t).
Writing the EOM for a null external load, p(t) = 0, is hence
or,
m x(t) + c x(t)
+ k x(t) = m xg (t) peff (t).
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
xtot (t)
k
2
k
2
Dynamics of
Structures
x( t)
While the elastic and damping forces are still proportional to relative
displacements and velocities, the inertial force is proportional to the
total acceleration,
fI (t) = m
xtot (t) = m
xg (t) + m
x (t).
Writing the EOM for a null external load, p(t) = 0, is hence
or,
m x(t) + c x(t)
+ k x(t) = m xg (t) peff (t).
Support motion is sufficient to excite a dynamic system:
peff (t) = m xg (t).
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Free Vibrations
Dynamics of
Structures
Giacomo Boffi
1 DOF System
m x(t) + c x(t)
+ k x(t) = p(t)
is a linear differential equation of the second order, with
constant coefficients.
Its solution can be expressed in terms of a superposition of
a particular solution, depending on p(t), and a free
vibration solution, that is the solution of the so called
homogeneous problem, where p(t) = 0.
In the following, we will study the solution of the homogeneous problem, the so-called homogeneous or
complementary solution, that is the free vibrations of the
SDOF after a perturbation of the position of equilibrium.
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
(k + s m) = 0 s =
k
m
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
k
,
m
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
k
,
m
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
x(0)
= x 0
= x 0
x(t) =
exp(i n t) exp(i n t) x 0
exp(i n t) + exp(i n t)
x0 +
2
2i
n
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
exp(i n t) + exp(i n t)
exp(i n t) exp(i n t) x 0
x0 +
2
2i
n
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
exp(i n t) + exp(i n t)
exp(i n t) exp(i n t) x 0
x0 +
2
2i
n
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
exp(i n t) + exp(i n t)
exp(i n t) exp(i n t) x 0
x0 +
2
2i
n
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
B=
x 0
.
n
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
B=
x 0
.
n
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
x(t)
Free vibrations of
a damped system
arctan x 0
x0
t
T =
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
m x(t) + c x(t)
+ k x(t) = 0,
substituting the solution exp st in the preceding equation
and simplifying, we have that the parameter s must satisfy
the equation
m s2 + c s + k = 0
or, after dividing both members by m,
s2 +
c
s + n2 = 0
m
2m
c2
n2 .
4m2
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Critical Damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Critical Damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Critical Damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Critical Damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Damping Ratio
Dynamics of
Structures
Giacomo Boffi
1 DOF System
c
,
ccr
c = ccr = 2n m
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
x(t) + 2n x(t)
+ n2 x(t) = 0
Dynamics of
Structures
Giacomo Boffi
1 DOF System
p
s = n n 1 1 2 = n i D
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Initial Conditions
Dynamics of
Structures
Giacomo Boffi
Free vibrations of
a SDOF system
Free vibrations of
a damped system
exp(i D t) + exp(i D t)
u0 +
2
exp(i D t) exp(i D t) v0 + n u0
.
2i
D
x(t) = exp(n t)
1 DOF System
B=
v0 + n u0
.
D
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
x(t)
x0
t
=
T =
x20 +
x 0 +x0
D
2
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
where
s = n n 2 1 = n
p
= n 2 1
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
s = n n 2 1 = n
where
p
= n 2 1
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
s = n n 2 1 = n
where
p
= n 2 1
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Measuring damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Logarithmic Decrement
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
p
Substituting D = n 1 2 and taking the logarithm of
both members we obtain
ln(
un
un+m
) = 2m p
1 2
ln
=r
(2m)2
un
un+m
2 .
un
+ ln un+m
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Simplified solution
Dynamics of
Structures
Giacomo Boffi
Starting from
un
un+m
2m
,
= exp p
1 2
exp
Solving for ,
2m
1 + 2m +
1
1 un un+m
.
2m un+m
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Simplified solution
Dynamics of
Structures
Giacomo Boffi
Starting from
un
un+m
2m
,
= exp p
1 2
exp
Solving for ,
2m
1 + 2m +
1
1 un un+m
.
2m un+m
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Errors
Dynamics of
Structures
Giacomo Boffi
Free vibrations of
a SDOF system
m=1
m=2
0.875
/ '
1 DOF System
Free vibrations of
a damped system
Under-critically damped
SDOF
0.75
0.625
0.5
Measuring damping
0.05
0.1
0.15
0.2
'