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Lecture B4
Free Vibration of 1 DOF with Viscous Damping
Content.
Learningobjectives
Thestudentisableto
Equation of Motion
Aperiodic Motion
Damped Vibrations
Logarithmic Decrement
derivethegeneralsolutionofthe
equationofmotion(freevibrations),
forsubcritically,criticallyandsuper
criticallydampedSDOFs
explainthephysicalbehaviourinthese
differentregimes,andhowthisis
visibleinthemathematics
Explainhowthedampingcoefficient
ofasystemcanbemeasured
2
Equation of Motion
mx cx kx 0
x(t)
F t FSPRING t FDASHPOT t mx
derivetheequationofmotionofa
dampedsingledegreeoffreedom
(SDOF)system
Lecture 4
Characteristic Equation:
s 2 2ns n2 0
F(t)
Parameters:
x
k m n natural frequency
FSPRING t kx
Characteristic Exponents:
s1 n n2 n2 ,
s2 n n2 n2
of undamped vibrations
c m 2n damping factor
FDASHPOT t cx
kx = F t
mx+cx+
Lecture 4
x 2nx n2 x 0
3
n 2 km ccrit
Lecture 4
Aperiodic Motion
Case 1. n > n
Case 2. n = n
s1 n n real, negative
2
2
n
s2 n n2 n2 real, negative
x0
x t
s1 exp s2t s2 exp s1t
s1 s2
s1 s2
s1 n
real, negative
s2 n
real, negative
x0
x0
Still no vibrations!
t
Lecture 4
t
5
Lecture 4
Damped Vibrations
s1 n n2 n2 complex
s2 n n2 n2 complex
Re s1 0, Re s2 0
x t A0 exp nt cos 1t 0
v nx
A0 x02 0 0
1 1
New notation:
1 n2 n2 real, positive
s1 n i1
s2 n i1
v
nx
x t exp nt x0 cos 1t 0 0 sin 1t
1 1
v
nx
x t exp nt x0 cos 1t 0 0 sin 1t
1 1
A0exp(-nt)
A0
2
T 1=
x0
Case 3. n < n
Damped Vibrations
v nx0
0 arctan 0
x01
t
-A0 exp(-nt)
Lecture 4
x t A0 exp nt cos 1t 0
Period:
T1 2 1
Then
2
T1 =
x0
x1
exp s 1 nT1
xs
A0 exp nt
A0exp(-nt)
A0
Amplitude:
x t A0 exp nt cos 1t 0
Let x1 be a displacement at t
n2 n2
Phase angle: 0
Lecture 4
x
log 1 s 1 nT1
xs
2 n
nT1
logarithmic decrement
n2 n 2
-A0 exp(-nt)
or
1 n2 n 2 n 1
Lecture 4
n2
n
2n2
10