14.

205 Dynamics

Spring 2010

Viscous Damped Free Vibration of SDOF Systems

General In reality a vibration without decay in amplitude is never realized. The progressively-reduced amplitude of vibration is caused by the presence of damping forces that dissipate the input energy in a nonconservative system. Types of damping in dynamics Viscous damping: Results when a system vibrates in a uid (e.g., air, oil, water). Examples include shock absorbers, hydraulic dashpots, and sliding of a body on a lubricated surface. For air damping fDj = cj u 2 (1) j For liquid damping, fDj = cj u j (2) where cj is the viscous damping coecient characterizing the damping mechanism of the j th DOF. Notice that u j denotes relative velocity. Structural damping (hysteresis damping): Due to internal friction within the material or at connections between elements of a structural system. The resulting damping forces are a function of the strain (or deections) in the structure. For an elastic system the j th (or the j th DOF) structural damping force fDj is proportional in magnitude to the internal elastic force fS and opposite in direction to the velocity vector u j. fDj = igfSj (3)

where i = 1 is the imaginary number and g is a constant. An equivalent viscous damping coecient ce for structural damping can be dened by k ce = (4) where is a dimensionless structural damping coecient for the material and k is the equivalent stiness of the system. Prof. T-Y Yu 1

14.205 Dynamics

Spring 2010

Coulomb damping (dry friction): Results from the motion of a body sliding on a dry surface. The resulting damping force is almost constant, depending on the normal pressure N between the moving body and the surface with a coecient kinetic friction . (5) fD = N An equivalent viscous damping coecient ce for Coulomb damping can be dened by 4fD ce = (6) u Negative damping: Results when the nature of the damping contributes energy to the vibration. This could occur in the aerodynamics of cables in a bridge. In most actual physical systems it is very dicult to nd the exact expression for the damping force; viscous damping model is widely chosen for its ease in mathematical treatment. Other damping mechanisms in physics Electrical resistance damping: Originates from the delayed response of resistance in circuits (Kirchhos rule) Electromagnetic damping: Originates from the delayed response of electrons in restoring their original positions. Examples include ballistic galvanometers and eddy current damping. Collision damping: In plasma vibrations the cooperative behavior of the participating electrons is based on the random motion of thermal agitation. Every electron is associated with a probability function to collide with another randomly moving particle. Once collision occurs, the vibrational energy is reduced in a fractional rate of energy loss. This happens in ionosphere and in metals. Viscously damped SDOF systems Damped: There is damping considered in the systems. Solution to the free vibration problem (ODE) of damped SDOF systems is a particular solution to the ODE. Governing equation of a damped SDOF mass-damper-spring system: mu + cu + ku = 0 (7) Prof. T-Y Yu 2

14.205 Dynamics

Spring 2010

Critical damping, cc = 2m Damping ratio, = c c = cc 2m

Critically-damped systems u(t) = [u0 + (u 0 + u0 ) t] exp(t) Undercritically-damped or under-damped systems u(t) = u0 cos D t + u 0 + u0 sin D t exp(t) D (9) (8)

Overcritically-damped or over-damped systems u(t) = A exp ( + where u0 + + 2 1 u0 A= 2 2 1 u0 2 1 u0 B= 2 2 1 Eect of initial conditions (I.C.) u0 = 1 in and u 0 = 0 in/s (Figure 1) u0 = 1 in and u 0 = 10 in/s (Figure 2) u0 = 1 in and u 0 = 10 in/s (Figure 3) u0 = 0 in and u 0 = 10 in/s (Figure 4) Eects of damping on free vibration (11) (12) 2 1)t + B exp ( 2 1)t (10)

Reading
[Dynamics by Hibbeler: Chap. 22, Sec. 4] Prof. T-Y Yu 3

14.205 Dynamics

Spring 2010

u0 = 1 in, du0/dt = 0 in/s 1 Underdamped Criticaldamped Overdamped 0.5

Displacement (in)

-0.5 0 5 10

[ m=500 lb, k=2000 lb/in, =[0.1 1 4]

15 Time (sec) 20 25

Figure 1: I.C. case 1: u0 = 1 and u 0 = 0

u0 = 1 in, du0/dt = 10 in/s 4 3 Displacement (in) 2 1 0 -1 -2 -3 0 5 10 Time (sec) Underdamped Criticaldamped Overdamped

[ m=500 lb, k=2000 lb/in, =[0.1 1 4]

15 20 25

Figure 2: I.C. case 2: u0 = 1 and u 0 = 10

Prof. T-Y Yu

14.205 Dynamics

Spring 2010

u0 = 1 in, du0/dt = -10 in/s 3 2 Displacement (in) 1 0 -1 -2 Underdamped Criticaldamped Overdamped

[ m=500 lb, k=2000 lb/in, =[0.1 1 4]

-3 -4 0 5 10 Time (sec) 15 20 25

Figure 3: I.C. case 3: u0 = 1 and u 0 = 10

u0 = 0 in, du0/dt = 10 in/s 4 3 Displacement (in) 2 1 0 -1 -2 -3 0 5 10 Time (sec) 15 20 25 Underdamped Criticaldamped Overdamped

[ m=500 lb, k=2000 lb/in, =[0.1 1 4]

Figure 4: I.C. case 4: u0 = 0 and u 0 = 10

Prof. T-Y Yu

14.205 Dynamics

Spring 2010

Figure 5: Free vibration of damped SDOF systems [Source: A.K. Chopra (2007)]

Figure 6: Free vibration of SDOF with dierent damping coecients [Source: A.K. Chopra (2007)]

Prof. T-Y Yu