Transient Vibration of SDOF Systems

Contents

Introduction

Impulse excitation

Arbitrary excitation

Laplace transform formulation

Pulse excitation and rise time

Shock response spectrum

Finite difference numerical computation

Introduction
Transient vibration is defined as a
temporarily
sustained vibration of a mechanical system. It may
consist of forced or free vibrations, or both.
F = F (t)dt

Examples:-Forging hammer, bump on road

Impulse excitation
Impulse is the time integral of force.

F = F (t)dt

As 0, F , impulse F is finite
Such a force is called as unit impulse
or delta function
It has following properties :(t )=0 for all t

(t )dt =1.0

0< <

If this function is multiplied times any forcing function then the

product will result in only one value at t = and zero elsewhere

f (t ) (t ) dt = f ()
0

0< <

Contd..
Now, a sudden change in velocity is equal to the actual
applied input divided by the force.
x (0)
x= sin n t+ x (0)cos n t
n
Then the velocity initial condition gives :F

x=
sin n t= Fh(t)
m n
where , h(t)=

1
sin n t
m n

Response to unit
impulse

Contd..
Similary for damping case,
t
F
2
n
x=
e
sin
1
n t

2
m n 1
x= F h(t)

Arbitrary excitation
Using the unit impulse response function, the
response due to arbitrary loadings can be determined.
Arbitrary force is considered as a series of impulses.
thus , we can write
t

x (t)= f ()h(t) d
F = f ()
Response at time t , f () h(t)

This integral is called

Convolution
integral
and also called as
superposition integral

Contd..
Q. Use the convolution integral to determine the
response of an undamped 1DOF system of natural
frequency n and mass m when subject to a constant
force of magnitude F0. The system is at rest in
equillibrium at t=0
1 t
f (t)=F 0, x (t)=
F 0 sin n (t) d
m n 0
F0
=t
=
cos

(t)
|
n
2
=0
m n
F0
=
2 (1cos n t)
m n

Contd..
Q. Same problem but with damping factor. Find the
response.
Q. Same problem without damping and force is
f (t)=F 0 sin ( t) with n
1 t
x (t)=
F 0 sin sin n (t)d
0
m n
Simplification gives ,
F0
x (t)=
2
2 ( sin n t n sin t)
m n ( n)

Laplace Transfrom Formulation

ts

L( f (t ))=F (s)= e

f (t)dt

Contd..
Q. Find the response for the Force F 0 using Laplace
transformation when at t=0, body is at rest
F (t )= F 0
F0
F ( s)=
s
For D.E. m x + c x + kx= F 0
F0
1
X ( s)=
ms ( s 2+ 2n )
F0 1
s
X (s)=
( 2
)
2
2
m n s s + n

Taking inverse laplace transform ,

F0
1
1 1
1
x (t)=
2 ( L ( )L ( 2
2 ))
s
m n
s + n
F0
x(t)=
2 (1cos n t)
m n

Q. Find the response for the Force F 0 sin t using Laplace

transformation when at t=0, body is at rest

Pulse Excitation and Rise Time

If a force F0 is not applied untill t0, it can be expressed
using a delayed unit step function:-

Eg.Use the unit step function to write a unified

mathematical expression for each of the forces

Contd..

F (t)= F 0 [u(t)u(tt 0)]

Contd..

F0t
F (t)=
[u [t]u [tt 0 ]]+ F 0 [u[tt 0 ]u [t3t 0 ]]
t0
t
+ F 0 [4 ][u [t3t 0 ]u [t4t 0 ]]
t

Contd..
Q. Find the response for the triangular pulse as
shown:F0

t0/2

t0

t0
For t<
2,
t
2 F0
1
x(t )=
(
) sin n (t) d

m n 0 t 0
2F0
sin n t
=
(t
)
2
n
m n t 0

Contd..
For t 0 /2t< t 0
t0
2

2F0

1
x(t )=
(
)

sin

(t)
d
+
2
F
(1
)sin n (t) d

n
0
m n 0 t 0
t0
t
0

2F0

t0
t 1
=
(1 +
[2sin n (t )sin n t ])
2
t 0 n t 0
2
m n t 0

For tt 0,
t0
2

t0

2F 0

1
x (t )=
(
)
sin

(t)d
+
2F
(1
)sin n (t) d

n
0
m n 0 t 0
t0
t
0

2F 0

t0
=
[2 sin n (t )sin n tsin n (tt 0 )]
2
2
m n

Contd..
Q. Develop a mathematical expression for the
excitation using unit step function

Shock Response Spectrum

Plot of maximum response(s,v,a) of the system
against the natural frequency of the system is called
Shock Response Spectrum for that particular
disturbance.
Useful for the designer to know the maximum
response of a structure as a function of system
parameters.

Contd..
Q. Determine the Shock Spectrum of a rectangular pulse.
F0
x (t)= (1cos n t)for 0< tT
k
This is initial shock spectrum
2F0
Maximum value of x (t)is : x max=
at t=
n
k
Now , tT or
n T n T
Maximum value of the response is
x max
=2
F 0/ K

Shock Isolation
For shock isolation, peak response must be less than
unity.
For rectangular pulse ,
t1
2 sin( )< 1.0
t1
o
Thus , < 30 =
6
t1 1
< 6
n<
3t 1

Finite Difference Numerical Computation

Runge Kutta method:- A method to solve ODE. Most
commonly used method is 4th order approximation
Runge Kutta method.
Initial conditions : y (x 0)= y 0
dy
ODE ,
= f (x , y)
dx
Recurrence formula , y n+ 1= y n+ h g y (x n , y n , h)
1
g y = (k 1+ 2k 2+ 2k 3+ k 4)
6
h
h
k 1= f ( x 1 , y 1); k 2 = f ( x+ , y+ k 1)
2
2
h
h
k 3= f (x+ , y+ k 2); k 4= f (x+ h , y+ hk 3)
2
2

Contd..

dy
2
=3x y
dx
Initial conditions , x 0 =1, y 0=2
Take step size=0.1
y 1= y 0+ hg y ( x 0, y 0, h)
0.1
y 1=2+
(k 1+ 2k 2+ 2k 3+ k 4 )
6
k 1= f ( x 0, y 0 )=6
h
k 2 = f ( x 0 + h/2, y 0 + k 1 )=7.607
2
h
k 3= f ( x 0+ h/ 2, y 0 + k 2 )=7.872
2
k 4 = f ( x 0+ h , y 0 + h)=10.117
h
y 1= y 0+ [k 1+ 2k 2 + 2k 3+ k 4 ]=2.987
6
Q. Find y (1.1) with step size h=0.05
dy
=x (1+ y ) , with y (1)=2
dx
Find y (1.01) for

Q . Solve the differential equation

4 x +2000 x=F (t )
withinitial conditions , x1 = x1=0

The problem can be solved in

the same manner
as we solve single order ODE
x = y will solve the problem

Q . Find y (3.2)with step size h=0.1

2 dy
4 x y 2 y= x , with y (1)=3
dx

End of Chapter