Review

2.5 Viscously damped 1DOF system Free Vibration

mx  cx  kx 0
c c c
    Damping ratio
ccr 2mn 2 mk

nd  1  2 n

x  Ae   nt sin(nd t   )

x 0   n x0 nd x0
A x02 ( ) 2  arctan
nd x 0   n x0

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Review
2.6 Logarithmic Decrement Motion

x  Ae   nt sin(nd t   )

2 1 2
T 
nd 1   2 n

Logarithmic Decrement ，
2
 Ln  nT  
1  2
1 x0
  ln
 n xn
 2 ,  
2
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Review

3.1 1DOF system Harmonic excitation — without

damping
mx  kx  F0 cos  t
x 0 X0 X0
x sin n t  x0 cos n t  cos  n t  cos  t
n 1  2
1  2


 frequency ratio
n
X0
x2  cos  t
1  2
x
2
X  t sin t   n t
x lim 0 n sin t 0
 0   t 2
n

1
 X 0n t sin n t
2 Resonance without damping
 3.2 1-DOF system under harmonic Ex.—linear
damping x(t )
EOM of 1-DOF system with damping
k
mx  cx  kx  F0 cos  t m
F0 cos  t

Introduce c
2 k F0 F0 c c
n  , X0   ,   
m k m n
2
ccr 2 n m

x  2 n x  n 2 x  X 0n 2 cos  t nd  1   2 n

General solution of homogenous
x1 e  nt ( B sin nd t  D cos nd t )
differential equation (Free response)
Particular solution of x2 X cos( t   )
EOM( steady-state response )

13:11 Steady forced vibration of 1DOF system

 Total response for this 1-DOF system under harmonic excitation
can be expressed
x e  nt ( B sin  nd t  D cos  nd t )  X cos( t  ）

The first term will decay to zero over time.

Finally , only the second part of x is left, which is

called the steady state response.

For this steady state response x2 X cos( t   )

x 2  X sin( t   ) x2  X 2 cos( t   )
Submit into EOM x  2 n x  n 2 x  X 0n 2 cos  t
2 2
(n   2 ) X cos( t   )  2 nX sin( t   ) X 0n cos( t     )

13:11 Steady forced vibration of 1DOF system

 and X are what we need.
2
2
(n   2 ) X X 0n cos 
2
2 nX X 0n sin 
2 n 2 
tan   
n 2   2 1  2
2
X 0n X0
X  
2
(n   2 ) 2  (2 n ) 2 (1   2 ) 2  (2 ) 2

The amplitude and initial phase of steady state response depend on system
parameters and external excitation, are independent of the initial condition.
In summary, total response for 1-DOF system with damping under
harmonic excitation
  n t x 0   n x0
x e ( x0 cos nd t  sin nd t )  e   nt
nd
 n cos    sin 
X (cos  cos nd t  sin nd t )  X cos( t  ）
nd
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 X 1
Define displacement amplification  
X0 (1   2 ) 2  ( 2 ) 2
ratio
For specific  ,  and  are functions of the
frequency ratio.  arctan
2 
1 2

4 180
0 0.1
0.1
3 135
0.15
0.2
2 90
β 1.0 2.0
0.3
1 0.5
0.7 45
1.0 2.0
0 0
1 2 3 1 2 3
γ γ

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 X 1
  Application ， Finding natural frequency
X0 (1   2 ) 2  ( 2 ) 2

When β reaches βmax resonance can be confirmed.

But for some ζ ， βmax is not corresponding to γ=1.

4 0
0.1
1 3
 max  β 0.15
  1  2 2
2 1   2
0.2
2
0.3
1 0.5
1 0.7
 1  1.0
2 0
2.0
1 2 3
γ

In practice, for ζ<<1 ， the γ corresponding to βmax almost equals to

1, so we say that when ω=ωn resonance occurs.
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 2  
Phase angle  arc tan 180
1 2 0.1
135

when  1  90 90
1.0 2.0
45
0
1 2 3
γ
 90 can be used to confirm  1 , which means that the
phase difference for displacement response and external
excitation get to 90°, this happens no matter what the damping
ratio value is, and the corresponding frequency ratio  1 ,
which means in this case the external excitation frequency is
right equal to the natural frequency of the system.
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 Assignment 4
Demonstration: A viscously damped
1DoF system is excited by harmonic
excitation , when the frequency ratio
  1  2 2

, the corresponding displacement

amplification max is
1

2 1   2
 3.3 The energy balance in steady state vibration
Vibration energy is dissipated by damping, while external
excitation will supply energy simultaneously, finally energy
balance is built, steady state vibration is formed.
 
Work produced by E1  Fdx  F0 cos t d ( X cos(t   ))
external force
in one cycle of 
 F0 X cos t sin(t   ) dt
vibration 2
1
 F0 X  [sin(2t   )  sin  ]dt F0 X sin 
0 2
Energy dissipated by 2


damping force in one E2  (  cx ) dx  cX   sin 2 (t   ) dt
2 2 
0
cycle
1 2
 cX 2 2
 c  X 2
2 
using c 2mp, 2 X  X 0 p sin 
F0  X 0 mp 2 ,
F0 c c
X0  2
,    2  X X
2
0 n sin 

m n ccr 2 pm n

E2  F0 X sin  finally E1  E2 0

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 3.4 Steady-state response and frequency response function
Complex harmonic external excitation
Excited by cosine excitation can be
x(t )
expressed,
m x1  cx 1  kx1 F0 cos  t (3.4.1) k
F0 cos  t
Excited by sine m
excitation, c
m x 2  cx 2  kx 2 F0 sin  t (3.4.2)
(3.4.2) multiply byj   1 plus (3.4.1)
m( x1  jx2 )  c( x 1  jx 2 )  k ( x1  jx2 ) F0 (cos  t  j sin  t )

define x c  x 1  jx 2 , using Euler’s formula

j t
m x c  cx c  kx c F0 e jt (3.4.5) e cos t  j sin t

It’s a damped system, so only steady-state response is considered.

Steady state forced vibration of 1-DOF system

 x c  jX  e jt
Assume x c  X  e j t  c   2 X  e jt
x
particular
solution F0
Submit to (3.4.5),eliminatee jt , X  
k  m 2  jc is solved ou
X  complex number, called complex amplitude,
expressed in complex form F0
F0 X  c
 X e  j  arctan
k  m   jc
2 (k  m 2 ) 2  (c ) 2 k  m 2

omplex exponential solution j

e j t  X  e j ( t   )
xc  X  e 
of (3.4.5)
C 
Introduce the non-dimensional value   ,  
2 km n
Separate the real part and imaginary part of this
complex solution, they are corresponding to the
response for cosine and sine excitation respectively.
Same result will be obtained as that derived in
Section 3.2 for the cosine excitation.
Steady state forced vibration of 1-DOF system
 To describe the frequency characteristic of a
system, an important terminology is introduced
Frequency response function FRF
Complex harmonic response) ／ (Complex harmonic excit

For example, displacement response is considered,

displacement FRF (displacement/ force), share the
definition of flexibility ， is also called dynamic
Displacement FRF is denoted by Hd(ω), from EOM,
flexibility.
mxc  cx c  kxc F0 e jt
j t F0
define xc  X  e then we have X 
k  m 2  jc

According to the definition of FRF, H ( )  1

d
Displacement FRF k  m2  jc

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Steady state forced vibration of 1-DOF system
 Hd(ω) is the reciprocal of Zd (ω) ＝ (k-mω2+jcω) ， is
called dynamics stiffness. Zd displacement
F0 jt jF0
impedance xc  e 
x  e j t
k  m  jc
2 c
k  m 2  jc
If velocity response is considered
j
Velocity FRF H v ( ) 
k  m2  jc

Velocity impedance k  m2  jc

Z v ( ) 
j
If acceleration response is considered
  2 F0 j t
 2 xc  e
Acceleration FRF H a ( )  k  m 2  jc
k  m2  jc

k  m2  jc
Acceleration impedance Z a ( ) 
 2
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