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HARMONIC EXCITATION OF
SINGLE DEGREE-OF-FREEDOM
SYSTEMS
Kvan Azgn
Page: 1/24
Forced Vibrations
eq
m
x c eq x k eq x F(t), x 0 x 0 , x 0 x 0
Initial Conditions
x t is the total forced vibration response (work is done on the system by external forces)
x t xh t xp t
eq
x h t is the homogenous solution, the free vibration response (soln. of m
x c eq x k eq x 0)
x p t is the particular solution and it depends on the form of F(t)
For >0, only xp(t) has contribution to the long term behavior of x(t). That is why xp(t) is
also called the steady state solution.
Kvan Azgn
Page: 2/24
Forced Vibrations
eq
m
x c eq x k eq x F(t), x 0 x 0 , x 0 x 0
Initial Conditions
xh t
xp t
x t
Kvan Azgn
Page: 3/24
Harmonic Excitation
eq
m
x c eq x k eq x F(t) F0 sin t
Amplitude of
excitation (N)
Frequency of
excitation (rad/sec)
Harmonic excitation (with single frequency) commonly occur in practical problems, thus deserves
special attention
M
c
k
Suspension
k
Sinusoidal
wavy road
Any periodic excitation can be approximated by a truncated Fourier Series (sinusoidal) Expansion
ME-302 THEORY OF MACHINES II
Kvan Azgn
Page: 4/24
F(t)
eq
m
F0
F
sin( t) OR
x n2 x 0 cos( t)
eq
eq
m
m
F (t ) F0 eit
x t Xe
i t
Kvan Azgn
Page: 5/24
F0 it
2
x n x
e
i t
m eq
x t Xe
i t
x t X i e
Where
X i e
i t
2
n
Xe
2 i
n
i t
i e e
F0 it
e
m eq
F
m eq X
Kvan Azgn
Page: 6/24
2 i
n
F0 i
i
e
m eq X
2
2
2
n
0 if n
F0
Real part :
cos
if n
m eq X
2
2
n
F0
2
n
m eq
F0
2
keq 1 2
n
F0
1
for n
2
keq
1 2
static
case
Kvan Azgn
Page: 7/24
F0 int
2
e
n
i n t
m eq
x t tXe
i t
i t
x t 2 in Xe n tX in e n
Where
2 in Xe
i n t
tX in e
i n t
2
n
t Xe
i n t
F0 int
e
m eq
F0
2in e
m eq X
i
Kvan Azgn
Page: 8/24
F0 i
2in
e
m eq X
since e i cos i sin
2n m eq X
F0
Imag. part : 2 i n
i sin sin
m eq X
F0
Real part : 0
F0
sin 1
2n m eq X
F0
F0
X
2n m eq
Kvan Azgn
Page: 9/24
X
Input : F (t ) F0 eit F0 cos t i F0 sin t
Re( F ( t ))
For n ,
F0
1
keq
2
1 2
static
case
Im( F ( t ))
0 if n
x t Xeit X cos t i X sin t where
if n
Re( x ( t ))
Output :
For n ,
x t tXe
i t
2
Im( x ( t ))
tX cos t i tX sin t
2
2
Re( x ( t ))
X
ME-302 THEORY OF MACHINES II
Im( x ( t ))
F0
2n m eq
Kvan Azgn
Page: 10/24
F(t)
eq
m
F (t ) F0 e
x t Xe
i t
Kvan Azgn
Page: 11/24
F0 it
2
x 2n x n x
e
i t
m eq
x t Xe
Where
X i e
i t
2n X i e
i t
x t X i e
2
x t X i eit
i t
2
n
Xe
i t
F0 it
e
m eq
F0
i e 2n i e e
m eq X
2
2 i
n
Kvan Azgn
Page: 12/24
2 i
n
F0 i
i 2n i
e
2
n
since e
cos i sin
2n m eq X
F0
Imag. part : 2n i
i sin sin
m eq X
F0
F0
Real part :
cos cos
m eq X
2
2
n
2
2
n m eq X
F0
Kvan Azgn
Page: 13/24
2n m eq X
F0
, cos
2
n
2 m eq X
F0
arctan 2 n2 2 , 2n
And,
2 2n i n2
F0
e i
m eq X
1
n2 2 2n
F0
X
m eq
X
F0
keq
2
n
2 2
2
n
1
2
n
n
F0
m eq X
F0
m eqn2
1
2
n
n
Kvan Azgn
Page: 14/24
Output : x t Xe
i t
Im( F ( t ))
X cos t i X sin t
Re( x ( t ))
Im
Im( x ( t ))
x(t ) Xe
i t
Im
F (t ) F0 eit
Re
r F0
Re
rX
Kvan Azgn
F0
keq
1
2
1 2 2
n n
Page: 15/24
x 2n x x
meq
m eq
2
n
s 2 2n s n2 X ( s )
G ( s)
G (i )
F (s)
m eq
X ( s)
1
F ( s) m eq s 2 2n s n2
X (i )
1
1
1
1
F (i ) m eq i 2 2n i n2 m eq n2 2 i 2n
n2 2 i 2n
1
1
1
1
G (i )
m eq n2 2 i 2n m eq 2 2 2 2 2 keq
n
n
1
2
n
n
X
F0
2
2
1 n i 2n
2
2
G (i )
arctan
, 2n
2
n
2
m eq 2 2 2 2
n
n
Kvan Azgn
Page: 16/24
n
Xmn2
M
F0
Xk
F0
X
X Amplitude of forced response
:
F0
0
Static deflection due to F0
k
1
2 2
1 2
ME-302 THEORY OF MACHINES II
2
, = arctan 2
1
Kvan Azgn
Page: 17/24
1
2
2 2
is a minimum
2
M
dR
2 1 2 2 2 2 2 0
d
4 2 1 2 2 0
1 2 2
1
2 1 2
Kvan Azgn
Page: 18/24
2 2
REMARKS:
M=1 when 0 for all values (this is static case where 0)
M 0 when (Due to inertia, i.e.,
x= 2 x)
Increasing decreases M for a given .
For =0, M at 1 (i.e., n )
For 0.5 M reaches a maximum (resonance) at res 1 2 2
with a value M max
1
2 1 2
dM
For 0.5,
0 at 0, for 0.5 M decreases monotonically
d
with increasing , there is no resonance peak.
ME-302 THEORY OF MACHINES II
Kvan Azgn
Page: 19/24
2 2
1 2
=0
=0.5
=0.707
Increasing
Kvan Azgn
Page: 20/24
= arctan
REMARKS:
For =0, response and excitation are in-phase for 1
and out-of-phase for 1
For 0, response and excitation are in-phase only when 0
For 1 phase is -90 regardless of damping and
excitation is in-phase with velocity.
For 1, - -
2
For
1,
1 - , response is opposite to excitation.
Kvan Azgn
Page: 21/24
=0
2
= arctan 2
1
Increasing
Increasing
Kvan Azgn
Page: 22/24
2
For 1 , 1 1
0.2 1 M 1
n 10
X1
F0
50
M
k
1000
For 2 , 2
X2
1 0.2
2 2
0
.
005
5 mm
1
5.208 mm
0.96
2 20
2 1 M 1
n 10
F0
50
M
k
1000
1 2
2 2
1
0
.
005
3 1.67 mm
5 mm
Kvan Azgn
Page: 23/24
2 2
31.42
Tres 0.2
k
k
1 2 2 31.42, "k" and " " are unknown (1) 1 2 2 987.21
m2
2
X
1
0.012
1
res
res n 1 2 2
M max M res
k
2.8
1
2 987.21
=
, let u= 2 561.35u 1 u 1.96 1 4u 4u 2
2
2
0.012 2 1
1 2
561.35u 561.35u 2 1.96 7.87u 7.87u 2 569.22u 2 569.22u 1.96 290.40u 2 290.40u 1 0
u 0.996545 1 u1 0.99827
Which one? Note that there would be no resonance if 0.707
u 0.034554 2 u2 0.05878
0.05878 substitute in (1) or (2) k 1988.169
c 2 km 2 0.05878 1988.169 2 7.4135 Ns / m
ME-302 THEORY OF MACHINES II
Kvan Azgn
Page: 24/24