Course Fundamentals of Structural Dynamics An-Najah 2013 Course Fundamentals of Structural Dynamics An-Najah 2013

3 Free Vibrations Relationships

A structure undergoes free vibrations when it is brought out of n = k m [rad/s]: Angular velocity (3.7)
its static equilibrium, and can then oscillate without any external
dynamic excitation n
f n = ------ [1/s], [Hz]: Number of revolutions per time (3.8)
2
3.1 Undamped free vibrations 2
T n = ------ [s]: Time required per revolution (3.9)
n
mu( t ) + ku ( t ) = 0 (3.1)
Transformation of the equation of motion
3.1.1 Formulation 1: Amplitude and phase angle
2
u( t ) + n u ( t ) = 0 (3.10)
Ansatz:
Determination of the unknowns A and :
u ( t ) = A cos ( n t ) (3.2)

2 The static equilibrium is disturbed by the initial displacement

u( t ) = A n cos ( n t ) (3.3)
u ( 0 ) = u 0 and the initial velocity u ( 0 ) = v 0 :
By substituting Equations (3.2) and (3.3) in (3.1):
v0 2 v0
u 0 + % ------& , tan = -----------
2 2
A ( n m + k ) cos ( n t ) = 0 (3.4) A = - (3.11)
! n" u0 n
2
n m + k = 0 (3.5) Visualization of the solution by means of the Excel file given on
the web page of the course (SD_FV_viscous.xlsx)
n = k m Natural circular frequency (3.6)

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Course Fundamentals of Structural Dynamics An-Najah 2013 Course Fundamentals of Structural Dynamics An-Najah 2013

3.1.2 Formulation 2: Trigonometric functions 3.1.3 Formulation 3: Exponential Functions

mu( t ) + ku ( t ) = 0 (3.12) mu( t ) + ku ( t ) = 0 (3.19)

Ansatz: Ansatz:
u ( t ) = A 1 cos ( n t ) + A 2 sin ( n t ) (3.13) t
u(t) = e (3.20)
2 2 2 t
u( t ) = A 1 n cos ( n t ) A 2 n sin ( n t ) (3.14) u( t ) = e (3.21)
By substituting Equations (3.13) and (3.14) in (3.12): By substituting Equations (3.20) and (3.21) in (3.19):
2 2 2
A 1 ( n m + k ) cos ( n t ) + A 2 ( n m + k ) sin ( n t ) = 0 (3.15) m + k = 0 (3.22)
2 2 k
n m + k = 0 (3.16) = ---- (3.23)
m
n = k m Natural circular frequency (3.17) k- = i
= i --- n (3.24)
m
Determination of the unknowns A 1 and A 2 :
The complete solution of the ODE is:
The static equilibrium is disturbed by the initial displacement i n t i n t
u ( 0 ) = u 0 and the initial velocity u ( 0 ) = v 0 : u ( t ) = C1 e + C2 e (3.25)

and by means of Eulers formulas

v0
A 1 = u 0 , A 2 = ------ (3.18) i i i i
n e +e e e
cos = ----------------------- , sin = ----------------------- (3.26)
2 2i
i i
e = cos ( ) + i sin ( ) , e = cos ( ) i sin ( ) (3.27)

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Course Fundamentals of Structural Dynamics An-Najah 2013 Course Fundamentals of Structural Dynamics An-Najah 2013

Equation (3.25) can be transformed as follows: 3.2 Damped free vibrations

u ( t ) = ( C 1 + C 2 ) cos ( n t ) + i ( C 1 C 2 ) sin ( n t ) (3.28) mu( t ) + cu ( t ) + ku ( t ) = 0 (3.30)
u ( t ) = A 1 cos ( n t ) + A 2 sin ( n t ) (3.29) - In reality vibrations subside
- Damping exists
Equation (3.29) corresponds to (3.13)!
- It is virtually impossible to model damping exactly
- From the mathematical point of view viscous damping is
easy to treat

s
Damping constant: c N ---- (3.31)
m

3.2.1 Formulation 3: Exponential Functions

mu( t ) + cu ( t ) + ku ( t ) = 0 (3.32)
Ansatz:
t t 2 t
u(t) = e , u ( t ) = e , u( t ) = e (3.33)
By substituting Equations (3.33) in (3.32):
2 t
( m + c + k )e = 0 (3.34)
2
m + c + k = 0 (3.35)

c 1 2
= -------- -------- c 4km (3.36)
2m 2m

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Course Fundamentals of Structural Dynamics An-Najah 2013 Course Fundamentals of Structural Dynamics An-Najah 2013

Critical damping when: c 2 4km = 0 Types of vibrations

1
c cr = 2 km = 2 n m (3.37) Underdamped vibration

Damping ratio Critically damped vibration

Overdamped vibration
c c c 0.5
= ------ = --------------- = -------------- (3.38)
c cr 2 km 2 n m

u(t)/u0 [-]
Transformation of the equation of motion
0
mu( t ) + cu ( t ) + ku ( t ) = 0 (3.39)
c k
u( t ) + ---- u ( t ) + ---- u ( t ) = 0 (3.40) -0.5
m m
2
u( t ) + 2 n u ( t ) + n u ( t ) = 0 (3.41)
-1
Types of vibrations: 0 0.5 1 1.5 2 2.5 3 3.5 4
t/Tn [-]
c
= ------ < 1 : Underdamped free vibrations
c cr
c
= ------ = 1 : Critically damped free vibrations
c cr
c
= ------ > 1 : Overdamped free vibrations
c cr

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Course Fundamentals of Structural Dynamics An-Najah 2013 Course Fundamentals of Structural Dynamics An-Najah 2013

Underdamped free vibrations < 1 The determination of the unknowns A 1 and A 2 is carried out as
usual by means of the initial conditions for displacement
By substituting: ( u ( 0 ) = u 0 ) and velocity ( u ( 0 ) = v 0 ) obtaining:
c c c 2 k v 0 + n u 0
= ------ = --------------- = --------------- and n = ---- (3.42)
c cr 2 km 2 n m m A 1 = u 0 , A 2 = --------------------------- (3.51)
d
in:
3.2.2 Formulation 1: Amplitude and phase angle
c 2 k
= -------- -------- c 4km = -------- % --------& ----
c 1 2 c
(3.43)
2m 2m 2m ! 2m" m Equation (3.50) can be rewritten as the amplitude and phase
angle:
it is obtained:
n t
u ( t ) = Ae cos ( d t ) (3.52)
2 2 2 2
= n n n = n n 1 (3.44)
with
2
= n i n 1 (3.45) v 0 + n u 0 2 v 0 + n u 0
u 0 + % ---------------------------& , tan = ---------------------------
2
A = (3.53)
! d " d u0
2
d = n 1 damped circular frequency (3.46)

= n i d (3.47)
The motion is a sinusoidal vibration with
The complete solution of the ODE is: n t
circular frequency d and decreasing amplitude Ae
( n + i d )t ( n i d )t
u ( t ) = C1 e + C2 e (3.48)

n t i d t i d t
u(t) = e ( C1 e + C2 e ) (3.49)

n t
u(t) = e ( A 1 cos ( d t ) + A 2 sin ( d t ) ) (3.50)

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Course Fundamentals of Structural Dynamics An-Najah 2013 Course Fundamentals of Structural Dynamics An-Najah 2013

Notes 3.3 The logarithmic decrement

- The period of the damped vibration is longer, i.e. the vibra- 20
tion is slower Td Free vibration
15 u0
1
u1
10
0.9

Displacement
0.8 5
0.7
0
0.6 2
d = n 1
Tn/Td

-5
0.5
0.4 Tn -10
T d = ------------------
0.3
03 2
1 -15
0.2
-20
0.1 0 1 2 3 4 5 6 7 8 9 10
0 Time (s)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Damping ratio Amplitude of two consecutive cycles
t
- The envelope of the vibration is represented by the follow- u0 Ae n cos ( d t )
ing equation: ----- = --------------------------------------------------------------------------------
n ( t + T d )
(3.55)
u1 Ae cos ( d ( t + T d ) )
n t v 0 + n u 0 2
u 0 + % ---------------------------&
2 with
u ( t ) = Ae with A = (3.54)
! d "
n ( t + T d ) n t n T d
e = e e (3.56)
- Visualization of the solution by means of the Excel file giv-
en on the web page of the course (SD_FV_viscous.xlsx) cos ( d ( t + T d ) ) = cos ( d t + d T d ) = cos ( d t ) (3.57)

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Course Fundamentals of Structural Dynamics An-Najah 2013 Course Fundamentals of Structural Dynamics An-Najah 2013

we obtain: Evaluation over several cycles

u0 1 T u u u uN 1 T N N n T d
----- = ----------------- = e n d
u1 n T d
(3.58) -----0- = ----0- ----1- ------------
- = (e n d) = e (3.61)
e uN u1 u2 uN

Logarithmic decrement u0
= ---- ln % ------&
1
(3.62)
u0 N ! u N"
= ln % -----& = n T d = ------------------ 2 (if small)
2
(3.59)
! u 1" 2 Halving of the amplitude
1
The damping ratio becomes: u
---- ln % -----0-&
1 1
N ! u N" ---- ln ( 2 )
N 1 1
= ------------------------- ------ (if small) (3.60) = ---------------------- = ------------------ = ------- ---------- (3.63)
2 2 2
2 2 9N 10N
4 +
10
Useful formula for quick evaluation
Exact equation
9
Approximation Watch out: damping ratio vs. damping constant
Logarithmic Decrement

8
7 Empty Full
6
5
4
3
2
1 m 1, k 1, c 1 m2>m1, k1, c1
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
c1 c1
1 = -------------------- 2 = -------------------- < 1
Damping ratio 2 k1 m1 2 k1 m2

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