1 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Introduction to Aerospace
Structural Dynamics

Prof. D. K. Maiti
Department of Aerospace Engineering
IIT Kharagpur
Email: dkmaiti@[Link], dkmaiti@[Link]

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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Content/Syllabus
(a) Discrete System

• Introduction
• Free response of single-degree-of-freedom system (SDOF)
• Force response of SDOF linear system
• Response due to support system
• Force response of SDOF due to arbitrary load in time scale
• Numerical solutions
• System with 2DOF – Free & Force response
• Co-ordinate Coupling
• Eigen value analysis / Modal Analysis of MDOF

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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(b) Continuous System

• Exact Solutions
a. Vibration Analysis of String
b. Axial Vibration of Bar
c. Torsional Vibration of Rod
d. Bending Vibration of Beams

(C) Approximate Method

• Work & Energy
• Principle of Virtual Work
• D’ Alembert’s Princple
• Rayleigh’s Method
• Rayleigh-Ritz Method
• Galerkin Method

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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(d) Lagrange’s Equation of Motion

• Introduction to Finite Element Method

References

1) Theory of Vibration with application – W. T Thomson

2) Elements of Vibration Analysis – L. Meirovitch

3) Structural Dynamics: Theory & Computation – Mairo Paz

4) Dynamics of Structures – Anil Chopra

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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Introduction to Aircraft Structural Dynamics

• History of vibration starts with the invention of the musical instrument like
whistle and drum. Musical instruments are appreciated by Chinese, Japanese,
Hindus and Egyptians as long ago as 4000 B.C.

• The philosopher and mathematician Pythagoras (582-507 B.C.) is the first person
to conduct scientific experiments on vibrating strings using simple apparatus
called a monochord.

• Though the concept of pitch of sound was developed by the time of Pythagoras
the relation between the pitch and frequency was not clear until the sixteenth
century.

• The oldest book available on the subject of music is written by Aristoxenus, a

pupil of Atistotle and the name of the book is 'Elements of Harmony' (320 B.C.).
After this Euclid wrote 'Introduction of Harmony' in 300 B.C.

• In the year 20 B.C. famous roman architect Vitruvius wrote 'D Architectur Libri
Decem' on the acoustic properties of theaters.

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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Understanding vibration involving acoustic effects like designing a musical

instrument or an auditorium is followed by the invention of the worlds first
seismograph in the year 132 A.D. Seismograph is an instrument to measure
earthquakes. The famous historian and astronomer, Zhang Heng, invented the
wine-jar shaped instrument.

Figure 1: Replica of Zhang

Heng's seismoscope

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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• Afterwards in the seventeenth century, founder father of modern experimental

science Galileo Galilei (1564-1642) discussed about vibrating bodies in his book
'Discourses Concerning Two New Sciences' published in 1638.

• In this book he has discussed about the relationship between frequency, length,
tension and density of a vibrating stretched string.

• The book 'Harmonicorum Libre' (1636) authored by the father of acoustics

Marin Mersenne (1588-1648), came two year before because of the prohibition
imposed by the Inquisitor of Rome until 1638.

• This experimental study is further carried by Robert Hooke (1653-1703) to find

the relation between the pitch and frequency of vibration of a string. Later Joseph
Sauveur (1653-1716) coined the term “acoustics”, John Wallis (1616-17030)
observed the mode shape phenomenon.

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 8 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

• The foundation stone of theoretical study of vibration is layed by Brook Taylor

(1685-1731). Natural frequency of vibration derived by Taylor matches well with
experimental values observed by Galileo Galilei and Mersenne.

• The derivation is further enhanced by Daniel Bernoulli (1700-17820), Jean

D'Alembert (1717-1783) and Leonard Euler (1707-1783).

• Credit of studying first time the vibration of thin beams with different boundary
conditions goes to the famous mathematicians Euler (1744) and Bernoulli (1751)
and their modeling is known as Euler-Bernoulli thin beam theory.

• Charles Coulomb have studied and derived the equation of motion for the
torsional vibration of the suspended cylinder first time in the year 1784. He found
that the period of oscillation is independent of the angle of twist.

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 9 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

• In case of theory related to the vibration of plate, it is first derived by the German
scientist E.F.F. Chaldni (1756-1824).

• It is later corrected by G.R. Kirchhoff (1824-1887) by providing the proper

boundary conditions in the year 1850.

• In relation to this the problem related to the vibrating membrane (sound emitted
by drum) is first studied by Simon Poisson (1781-1840).

• In 1877 Lord Baron Rayleigh published his classic book on 'Theory of Sound'.
The effort continues with the contributions of the famous scientists like Stodola,
De Laval, Timoshenko, Mindlin and many other scientist.

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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• From the history of development of theory of vibration we may start thinking

about the inspiration behind the development. In a human body, three most
prime interactions are through eye, ear and voice.

• Eye can differentiate between the different frequencies and wave lengths and
make us see anything.

• Ear absorbs sounds of different frequencies and distinguish those properly from
each other.

• In case of our voice we vibrate our voice-box in different frequencies and

amplitude with proper co-ordination to communicate.

• If we look back to the activities we were discussing, all are time dependent
phenomenon and also periodic in nature.

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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 These may be categorized as the type of dynamic behaviour where oscillation takes
place about a certain equilibrium position and it may be defined as the vibratory
motion or vibration.

 To understand the properties and characteristics related to vibration we need to

model a physical system.

 A physical system in general is very complex in nature and difficult to analyse. It

consists of various components.

 We need to identify the physical properties of the components. More precisely the
properties governing the dynamic behaviour of the system must be modeled
mathematically.

 Parameters are defined to represent physical properties of a system. A physical

system is continuous with distributed parameters.

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 12 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

 There are two different ways of modeling a physical system a) lumped parameter
system and b) continuous or distributed parameter system. Before we go further
into the analysis of problems related to vibration, let us observe a few
remarkable examples of vibration through the links provided below.

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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Definition

We assume the Aircraft to be a rigid body

=> Translational Motion

=> Oscillatory motion

In case of Vibration -- 3 types of motion

1) Rigid body motion

2) Elastic Deformation
3) Periodic motion

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 14 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Rigid Body Pitch Motion

Rigid Body Yaw Motion

Rigid Body Roll Motion

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 16 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Mode Shapes Mode Shapes

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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Mode Shapes Mode Shapes

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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SUSPENSION SYSTEM FOR GVT

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
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Symmetric Mode
Analytical Experimental Description

10.18 9.208 First Wing symmetric bending

32.12 32.27 Wing chordwise second bending

51.33 45.14 Elevon rotation out of phase

Antisymmetric Mode
Analytical Experimental Description

12.88 13.58 First Wing anti-symmetric bending

17.83 18.75 Fin bending

29.34 29.76 Fin bending & rudder rotation

45.19 42.65 Rudder rotation & fin twisting

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 20 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 21 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 22 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 23 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 24 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 25 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 26 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 27 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 28 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti
 29 AEROSPACE STRUCTURAL DYNAMICS, AE31002, LTP : 3-1-0, CRD : 4

Department of Aerospace Engineering, IIT Kharagpur -721 302, WB, Course Materials Prepared by Dr. D. K. Maiti