Example 3.

5
A single-degree-of-freedom spring-mass-damper system has a mass og 60 kg and a spring
stiffness of 6000 N/m. Determine:
(a) the critical damping coefficient
(b) the damped natural frequency when c 2Cc / 3
(c) the logarithmic decrement.
Solution:
(a) Cc 2 km 2 6000 60 600 Ns/m
(b) c

2Cc
400 Ns/m
3

Damped natural frequency is d n 1

2

c
k
1
m
Cc

Example (damped vib).

FiG

-The amplitude of vibration is

observed to decrease to 25% of
the initial value after five
consecutive cycles of motion as
shown in Fig.
-

Find

k 20 N/mm 20kN/m

Fig
x Ce J nt sin d t

Maximum amplitude in a cycle occurs when sin d t 1

x1 Ce J n t1

x2 Ce J n t2
2

J n
x1
e J n t1 t2 e
x2

2 J

1 J 2

Since t1 t2 T and d n 1 J 2

C ?

 x1
2 J

x
1 J 2
2

ln

logarithmic decrement.

c 2 J km

We have
x1
x x x x x
1

4 1. 2. 3. 4. 5
x6 0.25
x2 x3 x4 x5 x6

x2
x4 x5
x1
x3
ln ln ln ln
x2
x3
x4
x5 x6
2 J
5 0.28
1 J 2

ln 4 l n

J 0.044

c 2 J km

c 2 0.044 20 103 1 12.445

N-aec
m

Energy dissipated by damping:

- Damping is present in all oscillatory systems.
-

Its effect is to remove energy from the systems.

Energy in a vibrating system is either dissipated into heat or radiated way.

Dissipation of energy into heat can be experienced simply by bending a piece of

metal back and forth a number of times.

We are all aware of the sound which is radiated from an object for given a sharp
blow.

When a busy (float) is made to bob up and down in the water, waves radiate out
and away from it, thereby resulting in its loss of energy.

In vibration analysis, we are generally concerned with damping in terms of

system response.

The loss of energy from the oscillatory system results in the decay of amplitude of
free vibration.

In steady-state forced vibration, the loss of energy is balanced by the energy

which is supplied by the excitation.

A vibrating system may encounter many different types of damping forces, from
internal molecular friction to sliding friction and fluid resistance.

Generally their mathematical description is quite complicated and not suitable for
vibration analysis.

Thus simplified damping models have been developed that in many cases are
found to be adequate in evaluating the system response.

For example, the viscous damping model, designated by the dashpot, which leads
to manageable mathematical solutions.

Energy dissipation is usually determined under condition of cyclic oscillations.

Depending on the type of damping present, the force-displacement relationship

when plotted may differ greatly.

In all cases, however, the force-displacement curve will enclose an area, referred
to as the hystersis loop, that is proportional to the energy lost per cycle.

The energy lost per cycle due to damping force Fd is computed from the general
equation.
Wd Fd dx
(1)
In general, Wd depends on many factors, such as temperature, frequency, or
amplitude.

We consider the simplest case of energy dissipation, that of a spring-mass system

with viscous damping.

The damping force in this case is Fd cx

With the steady-state displacement and velocity

x X sin t

X& X cos t

(2)
the energy dissipated per cycle, from eqn,(1), becomes (for viscous damping)
& cx&2 dt
Wd cxdx
c 2 X 2 cos 2 t dt c 2 X 2

2 /

cos 2 t dt

c 2 X 2

2 /

1
2 1 cos 2 t dt
0

sin 2 t
c X

2
2

2 /

c 2 X 2 2 0 0

2
2

Wd c X 2

(3)

Of particular interest is the energy dissipated in forced vibration at resonance.

Substituting n

k
m

and C JCc 2 J km , in eqn.(3)

We get,

Wd 2 J km

k 2
X 2 J kX 2
m

(4)

The energy dissipated per cycle by the damping force can be represented
graphically as follows.

The velocity can be written as

x& cos t 1 sin 2 t X 2 x 2

(5)

The damping force becomes

(6)

Fd Cx& c X 2 x 2
Fd2 c 2 2 X 2 x 2

or

or

2
d

F
x2 X 2
c 2 2

Fd
x
c X X 1

(7)

Eqn. (7) is the equation of an ellipse with Fd and x plotted along the vertical and
horizontal axes, as shown in Fig 1(a).
FIG
-

The energy dissipated per cycle is then given by the area enclosed by the ellipse.

If we add to Fd the spring force kx (i.e. of the losses spring), the hysteresis loop
is rotated as shown in Fig 1.(b)
x0

Fd kx Fd 0 c X

xX

Fd kx 0 kX

Location at which curve intersect x- axis

Fd kx c X 2 x 2 kx 0
c
2

or

x 2 k 2 c 2 2 c 2 2 X 2 x 2

c 2 2 X 2

c 2 2

c X
k c 2 2
2

. It is the location where Fd kx 0

The Fig. 1(b) conforms to the Voigt model, which consists of a dashpot in
parallel with a spring.
Specific damping capacity: is defined as the loss per cycle Wd divided by the peak
potential energy U.
Wd
U

(8)

Loss coefficient : is defined as the ratio of damping energy loss per radian Wd / 2
divided by the peak potential or strain energy U.

Wd
2 U

(9)

For the case of linear damping where the energy loss is proportional to the square
of he strain or amplitude (eq.4) the hysteresis curve is an ellipse.
When the damping loss is not a quadratic function of the strain or amplitude, the
hysteresis is no longer as ellipse.

Equivalent Viscous Damping:

-

The primary influence of damping on oscillatory system is that of limiting the

amplitude of response at resonance.
The damping has little influence on the response in the frequency regions away
from resonance.
The equivalent damping Ceq is found by equating the energy dissipated by the
viscous damping to that of the non-viscous damping force with assumed harmonic
motion.
Ceq X 2 d
(11)
where d must be evaluated from the particular type of damping force.

In the case of viscous damping, the amplitude at resonance, equation was found to
be
X

F0
Cn

(10)

For other types of damping, no such simple expression exists. It is possible,

however, to approximate the resonant amplitude by substituting an equivalent
damping Ceq in the above equation.

Example 3.3
A single degree-of-freedom viscosity damped system has a spring stiffness of 6000
N/m, critical damping constant 0.3 Ns/mm, and a damping ratio of 0.3. If the system I
given an initial velocity of 1 m/sec, determine the maximum displacement of the system.
Solution:
The natural frequency of the system is given by
n

Given

k
m

Cc 0.3 Ns/mm 300 Ns/m 2 km 2 6000m

m 3.75 kg

or
hence

6000
40 rad/sec
3.75

Damping ratio

or

c
0.03
Cc

c Cc 0.3 0.3 0.3 0.09 Ns/mm 90 Ns/m

Now assuming x0 0 and x&0 1 m/s, the general expression for displacement is:
x t e n t

x&0

n 1 2

sin 1 2 n t

For maximum displacement xmax : n t

Hence

xmax e

0.3

and sin 1 2 n t 1
2

1
40 1 0.32

1 0.01636 m