‫‪Lecture No.

: 4‬‬ ‫المحاضرة الرابعة‬

‫‪1‬‬
 Forced
vibration
motion of
Damped
Structure
2
Equation Of Motion
.. .
m x+c x+k x = F
F≠0
Second order nonhomogeneous
differential equation

x = xh + xp
x = xhomogeneous + xparticular
3
m x  c x  k x  Fo Sin (ex t )

xh  e   n t
c1 Cos (D t )  c2 Sin (D t )

4
m x  c x  k x  Fo Sin (ex t )
Particular solution
x  c 3 Sin(ex t )  c 4 Cos(ex t )
1  ex n 
2
Fo
c3 
 ex n 
k 1    2 2  2  (  )2
ex n

Fo  2  (ex n )
c4 
 ex n
2

k 1      2  (  )2
2
ex n

5
m x  c x  k x  Fo Sin (ex t )
Particular solution
x  c 3 Sin(ex t )  c 4 Cos(ex t )
D cos q
1  ex n 
2
Fo
c3 
 ex n 
k 1    2 2  2  (  )2
ex n

Fo  2  (ex n )
c4 
 ex n
2

k 1      2  (  )2
2
ex n

- D sin q
6
m x  c x  k x  Fo Sin (ex t )
Particular solution

d 2  (ex n )
q
1  (ex n ) 2


d  1  ex n  
2 2
 2  (ex n )2
1
D
1   ex n 
2 2
  2  (ex n )
2
7
m x  c x  k x  Fo Sin (ex t )
Particular solution

Fo
x P  D Sin(ex t  q)
k
2  (ex n )
tan q 
1  (ex n ) 2

1
D
1   ex n  
2 2
 2  (ex n ) 2

8
m x  c x  k x  Fo Sin (ex t )
transient

xe   n t
c1 Cos ( D t )  c 2 Sin ( D t )
Fo
 D Sin (ex t  q) Steady
k state

9
To get c1, c2 , in case of zero initial conditions

xe   n t
c1 Cos ( D t )  c 2 Sin ( D t )
Fo
 D Sin (ex t  q)
k
xe   n t
c1 Cos (D t )  c 2 Sin (D t ) 
 c 3 Sin (ex t )  c 4 Cos(ex t )
At t=0, x=0 c1 = - c4
ex
At t=0, v=0 c2   c3
D

10
Total response
Steady state response

11
Example 8 :
A simple beam supports at its center a machine having
weight 160 kN. The section of beam is 25x80 cm. E=
2x107 kN/m2. The motor runs at 300 rpm. Calculate
the deflection after 10 sec. What is the amplitude of
the steady state response if the equivalent viscous
damping of the system is assumed 5% of the critical.

8m

12
Weight of beam is neglected

.25  . 83
   8m
7
48 EI 48 2 10
k 3  12
L 83
k = 20,000 kN/m Fo = 160 kN
W 160
m  m = 16 kN/m.sec2
g 10
k 20,000
n   n = 35.36 rad/sec
m 16
300  2 ex = 31.42 rad/sec
ex 
60
r  ex n r = 0.89
13
k = 20,000 kN/m
Fo = 160 kN
n = 35.36 rad 8m
ex = 31.42 rad
r = 0.89

xe   n t
c1 Cos ( D t )  c 2 Sin ( D t )
Fo
 D Sin (ex t  q)
k
Fo
x steady  D Sin (ex t  q)
k
14
k = 20,000 kN/m
Fo = 160 kN
n = 35.36 rad 8m
ex = 31.42 rad
Fo
r = 0.89
x steady  D Sin (ex t  q)
k
2  (ex n ) 2  0.05  0.89
tan q   = 0.428
1  (ex n ) 2
1  0.892

q = 0.404 rad
1
D
1   ex n 
2 2
  2  (ex n )
2

15
k = 20,000 kN/m
Fo = 160 kN
n = 35.36 rad 8m
ex = 31.42 rad
Fo
r = 0.89
x steady  D Sin (ex t  q)
q = 0.404 rad
k
1
D
1   ex n  
2 2
 2  (ex n )
2

1

1  0.89 
D = 4.42
2 2
 2  0.05  0.892
16
k = 20,000 kN/m
Fo = 160 kN
n = 35.36 rad 8m
ex = 31.42 rad
Fo
r = 0.89
x steady  D Sin (ex t  q)
q = 0.404 rad
k
D = 4.42

160
x steady   4.42 Sin (31.42 t  0.404)
20,000

x steady  0.03536 Sin (31.42 t  0.404)

17
 8m

x steady  0.03536 Sin (31.42 t  0.404)

Amplitude = 3.536 cm

x10  0.03536 Sin (31.42 10  0.404)

Amplitude = - 1.256 cm

18
Exercise:
The shown steel frame supports a rotating machine
which exerts a horizontal force at the girder level ,
F(t) = 0.9 sin 5.3t kN. Assuming 5% of critical damping,
determine : (a) the steady state amplitude of vibration
and (b) the maximum dynamic stress in the columns.
Assume that the girder is rigid. E= 2x108 kN/m2.

12 kN/m

6m
2W200x52
Ix=6000 cm4
6m
19
 Fo
x steady  D Sin (ex t  q)
k
x  x static D Sin (ex t  q)
x max  x static D
x max
D
x static
1
D
1   ex n 
2 2
  2  (ex n )
2

20
ex = n Resonance ‫الرنين‬
xmax/xst

ex /n
21
 1
D
1   ex n 
2 2
  2  (ex n )
2

 = 0.01
1

0.05
10

0.1
0.2

0.5
D

0
10
0.75

=1

-1
10
0 0.5 1 1.5 2 2.5 3
ex n
22
 1
D
1   ex n  
2 2
 2  (ex n ) 2

To get Dmax, d is minimum

or d2 is minimum

d  1  ex n  
2 2
 2  (ex n ) 2


d  1 r
2

2 2
 2  r 2 r  ex n
 d2
r
 
 2 1  r 2  2r  8  2 r  0

 
1 r2  2 2  0 r2  1 2 2 r  1 2 2
r  ex n
23
 1
D
1   ex n  
2 2
 2  (ex n ) 2

r  ex n r  1 2 2 r2  1 2 2
1
D
1  1  2    4  1  2  
2 2 2 2

1
D D
1
4 2  4 4 2
1
D
r 1 2

24
 1
D
2
 = 0.01
D=10
1

0.05
10

0.1 D=5
0.2
D=2.5
0.5
D

0
10
0.75

=1

-1
10
0 0.5 1 1.5 2 2.5 3
ex n
25
Evaluation of Damping at Resonance

1
D max 
2

1 x max
 D
2 D max x static
Example 9 :
A simple beam supports at its center a machine having
weight 160 kN. The section of beam is 25x80 cm. E=
2x107 kN/m2. When the machine motor is adjusted to
rotate by 337.7 rpm, the maximum amplitude is 45
mm. What is the value of damping ratio and damping
coefficient ?

8m

27
Weight of beam is neglected

.25  . 83
   8
7
48 EI 48 2 10
k 3  12
L 83
k = 20,000 kN/m
W 160
m  m = 16 kN/m.sec2
g 10
k 20,000
n   n = 35.36 rad/sec
m 16
337.7  2 ex = 35.36 rad/sec Resonance
ex 
60
Fo W 160
x st    xst = 0.8 cm
k k 20,000
28
xst = 0.8 cm
xmax = 4.5 cm

D
x max

4.5
 5.625 8
x static 0.8
1 1
  = 0.0889 = 8.89 %
2 D max 2  5.625
m = 16 kN/m.sec2
c  2  m n
n = 35.36 rad/sec
= 2x0.0889x16x35.36
= 100.6 kN/[Link]

29