ME F430
Fluid-Structure Interactions
Vibrations of 1 and 2 DoF systems
Vaibhav Joshi, Ph.D.
K K Birla Goa Campus Department of Mechanical Engineering
Introduction
❑ Vibrational response of one and two degrees-of-freedom
systems
❑ Body is rigid and non-deformable
❑ Elastically mounted on spring-damper
𝑚
𝑘
𝑘 𝑐
ME F430 2
One degree-of-freedom system
Undamped system
❑ Consider the body mounted on a spring with stiffness 𝑘
❑ Spring can extend/compress in the transverse direction
❑ Governing equation for the system:
❑ Second-order ordinary differential equation
❑ Boundary conditions can be given as 𝑦
𝑚
❑ Assume solution of the form
ME F430 3
One degree-of-freedom system
Undamped system
❑ Substituting the assumed solution in the governing
equation, we get
❑ Natural frequency of the system:
• Independent of any external force 𝑚
ME F430 4
One degree-of-freedom system
Undamped system
❑ Substituting the boundary conditions in the general
solution and simplifying
❑ Using boundary conditions and sin2 𝜙 + cos 2 𝜙 = 1,
𝑚
❑ General solution:
ME F430 5
One degree-of-freedom system
Damped system
❑ Consider the body mounted on a spring with stiffness 𝑘
and damper with damping coefficient 𝑐
❑ Governing equation for the system:
❑ Damping force is proportional to velocity of the structure
(Viscous damping)
𝑦
❑ Do not consider Coulomb damping, which
represents damping due to friction with 𝑚
a rough surface
𝑘 𝑐
ME F430 6
One degree-of-freedom system
Damped system
Damping ratio
❑ Damping term can be written as
Critical damping
❑ The damping ratio can be written as
𝑦
❑ Governing equation: 𝑚
❑ Assumed general solution:
𝑘 𝑐
ME F430 7
One degree-of-freedom system
Damped system
❑ Substituting assumed solution in the governing equation:
❑ Underdamped system: 𝜁 < 1
❑ Critically damped system: 𝜁 = 1
❑ Overdamped system: 𝜁 > 1 𝑦
❑ Only underdamped system is considered 𝑚
as only it will result in oscillatory motion
𝑘 𝑐
❑ Solution is a real combination of
ME F430 8
One degree-of-freedom system
Damped system
❑ Solution will be a combination of
❑ Using 𝑒 𝑖𝜙 = cos 𝜙 + 𝑖 sin 𝜙, real solution will be of the form
❑ General solution
❑ Term 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 is called damped natural
frequency
ME F430 9
One degree-of-freedom system
Damped system
❑ Let us assume 𝑎1 = 𝐴 sin 𝜙 and 𝑎2 = 𝐴 cos 𝜙 :
❑ Using initial conditions:
❑ Using sin2 𝜙 + cos 2 𝜙 = 1
❑ Solution:
ME F430 10
One degree-of-freedom system
Damped system
❑ Solution:
Response of 1-DOF system at 𝑓𝑛 = 0.2 Hz, 𝑦0 = 0.1 m, 𝑣0 = 1 m/s at different
damping ratios 𝜁
ME F430 11
One degree-of-freedom system
Measurement of structural damping
❑ Decay of response correspond to 𝑒 −𝜁𝜔𝑛 𝑡
❑ Find an exponential curve which fits the decay in the
response: get the value of 𝜁𝜔𝑛
❑ Find the damped natural frequency (𝜔𝑑 ) of the decaying
response using Fourier transform
❑ Solve for 𝜁:
ME F430 12
One degree-of-freedom system
Forced excitation
❑ Body experiences an external force
❑ Let us assume sinusoidal variation in the excitation
𝐹(𝑡)
𝑦
❑ Second-order ODE with non-zero RHS 𝑚
Particular to 𝑘 𝑐
Natural response of damped system external force
(will go to zero after some time)
ME F430 13
One degree-of-freedom system
Forced excitation
❑ Homogeneous solution
❑ Let us assume particular solution
• Frequency of particular solution equal to the forcing frequency
❑ Substituting 𝑦𝑝 in the governing equation and solving for
𝐴𝑝 and 𝜃:
❑ Let 𝑟 = 𝜔/𝜔𝑛 :
ME F430 14
One degree-of-freedom system
Forced excitation
❑ 𝐹0 /𝑘 is the static deflection
Resonance
Maximum
amplitude not at
resonance!
ME F430 15
One degree-of-freedom system
Forced excitation
❑ To get the maximum amplitude, 𝑑𝐴𝑝 /𝑑𝑟 = 0
Smaller than 1
❑ Since 𝑟 is physically meaningful if it is positive real number
Maximum amplitude exists
only for this condition!
❑ To summarize:
ME F430 16
Two degree-of-freedom system
𝑘3
❑ 2 DoF system: 2 independent coordinates
𝑦2
to describe the motion of the system
❑ Example: 𝑚2
𝑘2
❑ Coupled ODE equations- need to solve
simultaneously 𝑦1
𝑚1
𝑘1
ME F430 17
Two degree-of-freedom system
❑ Assume the solution as
❑ Trivial solution: 𝑌1 = 𝑌2 = 0
❑ To obtain non-trivial solution, the two equations should be
linearly independent:
❑ Characteristic equation
ME F430 18
Two degree-of-freedom system
❑ Only positive frequencies can be considered as physical!
❑ Let 𝜔1 and 𝜔2 denote the two frequencies
❑ One can use the frequencies to obtain the ratio of the
response of the two bodies
❑ Let 𝑚1 = 𝑚2 = 𝑚 and 𝑘1 = 𝑘2 = 𝑘3 = 𝑘, the characteristic
equation becomes
ME F430 19
Two degree-of-freedom system
❑ Frequencies can be obtained as
❑ The ratio of responses can thus be obtained
❑ First mode: 𝑌1 = 𝑌2 [Both bodies move in same direction]
❑ Second mode: 𝑌1 = −𝑌2 [Bodies move in opposite
directions]
ME F430 20
Two degree-of-freedom system
❑ Generic response will be a combination of the two modes
❑ 𝑌1 , 𝑌2 , 𝜙1 , 𝜙2 can be found using initial conditions
ME F430 21