Civil Engineering

Department

Structural Analysis-
spring 2013
(single degree of freedom – Harmonic Loading)

Fawad Muzaffar
M.Sc. Structures (Stanford University)
Ph.D. Structures (Stanford University)

1
 SDOF Subjected to Harmonic Loading –
Undamped Case
• Equation of Motion: In this case, a harmonically varying load 𝑝(𝑡) is applied
to the structure. Suppose that the system is subjected to 𝑝0 𝑠𝑖𝑛𝑤𝑡

• Undamped Case:
The equation of motion becomes
---Equation 1
Complementary solution of the above equation (already evaluated for free
undamped case) is given by

The particular solution of Equation 1 is given by

Evaluating the value of 𝑣 and 𝑣 using the above equation and plugging this
value in equation 1, we get
Fawad Muzaffar 2
 SDOF Subjected to Harmonic Loading –
Undamped Case
• After rearrangement,

where

• The particular solution then becomes

𝑝0 1
𝑣𝑝 (𝑡) = 𝑠𝑖𝑛𝑤𝑡
𝑘 1 − 𝛽2
• The general solution can then be obtained by adding complementary and
particular solution

• The values of A and B are then obtained by observing 𝑣 0 = 𝑣 0 = 0

3
 SDOF Subjected to Harmonic Loading –
Undamped Case
• The response of the system then becomes

𝑝0 1
𝑣 𝑡 = (𝑠𝑖𝑛𝜔𝑡 − 𝛽𝑠𝑖𝑛𝜔𝑡 )
𝑘 1 − 𝛽2 𝑺𝒕𝒆𝒂𝒅𝒚 𝑺𝒕𝒂𝒕𝒆 𝑻𝒓𝒂𝒏𝒔𝒊𝒆𝒏𝒕 𝑹𝒆𝒔𝒑𝒐𝒏𝒄𝒆
𝚫𝒔𝒕 𝑴𝒂𝒈.𝑭𝒂𝒄𝒕. 𝑹𝒆𝒔𝒑𝒐𝒏𝒔𝒆
• Steady State Response:
Response that is directly related to
applied loading. It is the component
at the frequency of the applied load.
• Transient Response:
Response at the natural vibrating frequency.
It is the free vibrating effect controlled by
initial Condition.
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 SDOF Subjected to Harmonic Loading –
Undamped Case
• Response Ratio
The ratio of dynamic displacement to static displacement is called
response ratio.

Note:
i. Tendency of two components to
Get in and out of phase – “beating”
ii. The zero slope of total response
at time t=0.
Conclusion:
Initial velocity of transient response
cancels initial velocity of steady state
response.
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 SDOF Subjected to Harmonic Loading –
Damped Case
• For this case, the equation of motion becomes

• Dividing the above equation by m

𝑐 𝑘 𝑝0
𝑣 𝑡 + 𝑣 𝑡 + 𝑣 𝑡 = 𝑠𝑖𝑛𝑤𝑡 ----Equation 2
𝑚 𝑚 𝑚
From
𝑐𝑐 = 2𝑚𝜔 ⇒ 𝑐 𝑚 = 2𝜉𝜔 ; 𝜔2 = 𝑘 𝑚
Equation 2 becomes

The particular solution of Equation 2 is of the form

where 𝐺1 and 𝐺2 are real constants. Plugging in the particular solution into EQ-2

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 SDOF Subjected to Harmonic Loading –
Damped Case
• For this equation to hold at all values of 𝜔𝑡, the terms inside square
brackets should be equal to zero, resulting in the following system of
equations.

Solution of system of equation yield

• The complimentary solution of equation of motion for this case was

already derived for damped – freely vibrating system

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 SDOF Subjected to Harmonic Loading –
Damped Case
• The general solution for this case can then be obtained by adding
particular and general solution.
Transient Solution

Steady State Response

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 SDOF Subjected to Harmonic Loading –
Damped Case
• Steady State Response of Damped Structure
– Transient Response is not that important, steady state response is!

• Alternate Representation

where

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Solved Example – Calculation of
Dynamic Properties of Structure

1/2 1/2
𝑝0 1 1 𝑝0 1 1
𝜌= =
𝑘 1 − 𝛽 2 1 + 2𝜉𝛽 1 − 𝛽 2 2 𝑘 1 − 𝛽 2 1 + tan2 𝜃
𝑝0 1
cos 𝜃 -----Equation F
𝑘 1 − 𝛽2 10
 Solved Example – Calculation of
Dynamic Properties of Structure
2
𝑘 1 − 𝛽 2 = 𝑝0 𝑐𝑜𝑠𝜃 𝜌 ⇒ 𝑘 − 𝜔 𝑚 = 𝑝0 𝑐𝑜𝑠𝜃 𝜌
Unknowns: 𝑘 and 𝑚. Use two observations at known conditions

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 Solved Example – Calculation of
Dynamic Properties of Structure
From equation F,
𝜌𝑘
cos 𝜃 = (1 − 𝛽 2 )
𝑝0
From
𝑡𝑎𝑛𝜃 = 2𝜉𝛽 (1 − 𝛽 2 ) ⇒ 𝑐𝑜𝑠𝜃 = (1 − 𝛽 2 ) 2𝜉𝛽 𝑠𝑖𝑛𝜃

𝜌𝑘 2
(1 − 𝛽 2 )
1−𝛽 = 𝑠𝑖𝑛𝜃
𝑝0 2𝜉𝛽

𝑝0 𝑠𝑖𝑛𝜃 𝑝0 𝑠𝑖𝑛𝜃 𝑝0 𝑠𝑖𝑛𝜃 𝑝0 𝑠𝑖𝑛𝜃

𝜉= = = =
2𝛽𝑘𝜌 𝜔 2𝜔𝜔𝑚𝜌 𝑐𝑐 𝜔𝜌
2 𝜔 2 𝑚𝜌
𝜔
𝑝0 𝑠𝑖𝑛𝜃
𝑐=
𝜔𝜌

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Solved Example – Calculation of
Dynamic Properties of Structure

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 SDOF Subjected to Harmonic Loading –
Damped Case
• Dynamic Magnification Factor
– The ratio of resultant harmonic response amplitude to the static displacement due to 𝑝0 is
called dynamic magnification factor, D.

– Variation of D and Phase Angle with 𝛽 = 𝜔 𝜔

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 SDOF Subjected to Harmonic Loading –
Damped Case
• Resonant Response
- From Steady State Response (Using Dynamic Magnification Factor):
The dynamic magnification factor for damped-harmonically loaded
structure is given by

Evaluating dD/d𝛽 and equating to zero, the value of 𝛽 resulting in

peak D is obtained as

Note: 𝛽𝑝𝑒𝑎𝑘 becomes imaginary if 𝜉 > 1/ 2

The value of 𝐷𝑚𝑎𝑥 corresponding to 𝛽𝑝𝑒𝑎𝑘 comes out to be

For small values of 𝜉, the above equation can approximated as

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 SDOF Subjected to Harmonic Loading –
Damped Case
i. Amplitude of Undamped System tends
towards infinity as 𝛽 approaches 1.
ii. For low values of 𝜉, max response occurs at
𝛽 < 1.
• Resonant Response
- From Total Response (Using Response
Ratio):
For more complete understanding of
resonant response, consider general
response. At resonant frequency (𝛽 = 1)

From initial values i.e.

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 SDOF Subjected to Harmonic Loading –
Damped Case
• Frequency Response Curve

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 SDOF Subjected to Harmonic Loading –
Damped Case
The equation becomes

For small values of 𝜉, 1 − 𝜉 2 ≈ 1

For 𝜉 = 0, the equation is indeterminate. Using L’Hospital’s rule

The Response becomes Build up in amplitude is
Steady State in a few Cycles almost Linear because
contribution of 𝑠𝑖𝑛𝜔𝑡 is
negligible

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SDOF Subjected to Harmonic Loading –
Damped Case Rate of increase of amplitude
is directly proportional to 𝜉

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 Fundamental Principles used by Dynamic
Measurement Instruments
• Accelerometers
− Consists of viscously damped oscillator.
− The equation of motion (already derived)

− Considering a harmonic 𝑢𝑔 𝑡

𝑝𝑒𝑓𝑓 (𝑡) becomes

The steady state displacement

response is given by (already derived)
𝑚𝑣𝑔𝑜 1
2 −2
𝑢 𝑡 = 1 − 𝛽 2 2 + 2𝜉𝛽 sin(𝜔𝑡 − 𝜃)
𝑘
= 𝑅𝑑 × sin 𝜔 𝑡 − 𝜃/𝜔

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 Vibration Isolation of Equipment
Notes:
i. At 𝛽 = 𝜔 𝜔 = 2,
transmitted quantity is
equal to source.
ii. For 𝛽 > 2, increasing
𝜉 increases
transmission of
quantity of interest.
iii. For 𝛽 < 2, increasing 𝜉 decreases transmission of quantity of interest.
iv. For rapidly moving systems, c is undesirable.
v. Because TR is low for high values of 𝛽, systems are operated at high 𝛽 for
isolation of base

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 Fundamental Principles used by Dynamic
Measurement Instruments
• Objective of Instrument Design
− To make 𝑹𝒅 and 𝜽/𝝎 independent of 𝝎 so that each harmonic
component of acceleration will be recorded with the same modification
factor and the same time lad to obtain response due to general loading.
• Plots of R d and against 𝛽

− Note: For small values of 𝛽 and 𝜉 ≈ 0.7, 𝑅𝑑 ≈ 1 and 𝜃 𝜔 ≈ 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

− For 𝛽 = 𝜔 𝜔 ≤ 0.6 ⇒ 𝑢 𝑡 ∝ 𝑢𝑔
− Such an instrument can be used to measure acceleration.
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 Fundamental Principles used by Dynamic
Measurement Instruments
• Displacement Meters
Consider the case when the support displacement is given by

The acceleration due to the above support displacement

⇒
The steady state displacement response is given by (already derived)
𝑚𝜔𝑣𝑔𝑜 2 2
1
2 −2
𝑢 𝑡 =− 1−𝛽 + 2𝜉𝛽 sin(𝜔𝑡 − 𝜃)
𝑘
= 𝜔 𝜔2 𝑅𝑑 × sin 𝜔 𝑡 − 𝜃/𝜔 = 𝛽 2 𝑅𝑑 × sin 𝜔 𝑡 − 𝜃/𝜔

Note: For all 𝜉, and 𝛽 > 2

𝛽𝑅𝑑 & 𝜃 𝜔 ≈ 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡.
Hence
𝑢 𝑡 ∝ 𝑣𝑔𝑜

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 Vibration Isolation of Equipment
• Vibration Isolation
− Objectives
− Prevent Support Structure from Machine Vibrations
− Prevent Equipment from Vibrations in Support Structure
− Force Transmitted to Structure from Machinery
In this case, the force produced by machinery is given by
𝑝 𝑡 = 𝑝0 𝑠𝑖𝑛𝜔𝑡
The displacement response of this system has
been evaluated previously as

Assuming deflection of supporting structure to be negligible,

Force in spring =>
Force in Damper =>
Note: Spring and Damping forces at 900 phase out with each other.
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 Vibration Isolation of Equipment
The resultant of the two forces is given by

The ratio of 𝑓𝑚𝑎𝑥 to 𝑝𝑜 then becomes

Transmissibility =
Displacement Transmitted to Machinery from Structure
For this case, the equation of motion is given by
𝑚𝑣 𝑡 + 𝑐 𝑣 𝑡 − 𝑣𝑔 + 𝑘 𝑣 𝑡 − 𝑣𝑔 = 0
or
𝑚𝑣 𝑡 + 𝑐𝑣 𝑡 + 𝑘𝑣 𝑡 = 𝑐𝑣𝑔 + 𝑘𝑣𝑔 --Equation A
Now
𝑣𝑔 = 𝑣𝑔𝑜 × 𝑠𝑖𝑛𝜔𝑡
and
𝑣𝑔 = 𝜔𝑣𝑔𝑜 × cos 𝜔𝑡
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 Vibration Isolation of Equipment
• Plugging back the values of 𝑣𝑔 and 𝑣𝑔 into equation A
𝑚𝑣 𝑡 + 𝑐𝑣 𝑡 + 𝑘𝑣 𝑡 = 𝑘𝑣𝑔0 𝑠𝑖𝑛𝜔𝑡 + 𝑐𝜔𝑣𝑔0 𝑐𝑜𝑠𝜔𝑡 ---Equation B
Combining force terms as before
2
𝑐𝜔 𝜔
𝑃0 = 𝑣𝑔0 𝑘 2 + 𝑐𝜔 2 = 𝑣𝑔0 𝑘 1 + ×
𝑘 𝜔
2
𝑃0 = 𝑣𝑔0 𝑘 1 + 𝛽𝑐𝜔/𝑘 2 = 𝑣𝑔0 𝑘 1 + 𝛽𝑐 × 𝑘 𝑚 /𝑘
2
𝑃0 = 𝑣𝑔0 𝑘 1 + 𝛽𝑐/ 𝑘𝑚 = 𝑣𝑔0 𝑘 1 + 2𝛽𝑐/𝑐𝑐 2

𝑃0 = 𝑣𝑔0 𝑘 1 + 2𝛽𝜉 2

and
−1
𝑘𝑣𝑔0
𝜃 = tan
𝑐𝜔𝑣𝑔0
Equation B then becomes
𝑚𝑣 𝑡 + 𝑐𝑣 𝑡 + 𝑘𝑣 𝑡 = 𝑃0 × sin(𝜔𝑡 − 𝜃 )
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 Vibration Isolation of Equipment
• The solution of the above equation has already been calculated as
𝑃0 𝑣𝑔0 𝑘 1 + 2𝛽𝜉 2
𝑡
𝑣 𝑡 = 𝐷 × sin 𝜔𝑡 − 𝜃 − 𝜃 = 𝐷 × sin 𝜔𝑡 − 𝜃 − 𝜃
𝑘 𝑘
or
𝑣 𝑡 𝑡 = 𝑣𝑔0 1 + 2𝛽𝜉 2 × 𝐷 × sin 𝜔𝑡 − 𝜃 − 𝜃 ----Equation C

Transmissibility is defined as the maximum amplitude of vibration of the

equipment to the maximum amplitude of vibration of the supports. or
𝑡
𝑣𝑚𝑎𝑥 2
𝑇𝑅 ≡ = 𝐷 × 1 + 2𝛽𝜉
𝑣𝑔𝑜
Note: Transmissibility of Acceleration is Equal to Transmissibility of displacement
Exercise:
Differentiate 𝑣𝑔 = 𝑣𝑔𝑜 × 𝑠𝑖𝑛𝜔𝑡 twice. Then differentiate Equation C twice.
Calculate 𝒗𝒕𝒎𝒂𝒙 𝒗𝒈𝒐
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 Evaluation of Viscous Damping Ratio
Free-Vibration Decay Method:
− Procedure:
Deflect the structure, remove force instantaneously, measure peaks m
cycles apart.
− The damping ratio:

where

− Advantages:
i. Simplest and most frequently used method.
ii. Equipment and instrumentation requirements are minimal.

− Disadvantages:
i. Damping so obtained is often dependent on amplitude (because
damping are not exactly proportional to velocity).
ii. Generally, smaller amplitudes results in smaller values of damping.
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 Evaluation of Viscous Damping Ratio
• Resonant Amplification Method:
− Procedure:
i. Select amplitude of applied dynamic
loading.
ii. Load structures at discrete frequencies,
measure maximum amplitude of steady
state response.
iii. Plot these values to obtain frequency-
response curve.
iv. Calculate 𝜉 using
𝜌𝑚𝑎𝑥 1 𝑓𝑜𝑟 𝐿𝑜𝑤 𝜉 1
𝐷𝑚𝑎𝑥 = =
𝜌0 2𝜉 1 − 𝜉 2 2𝜉
− Disadvantages:
i. 𝜌0 is not always known since typical
loading system cannot produce loading at
zero load.
ii. 𝜉 is dependent on amplitude of loading. 29
 Evaluation of Viscous Damping Ratio
• Resonant Amplification Method:
− Procedure:
Same as Resonant Amplification Method
− Derivation:
1
From Resonance Analysis: 𝐷𝑚𝑎𝑥 = 2
2𝜉 1−𝜉
2 2 2 −1/2
The Dynamic Mag. Fact: 1 − 𝛽 + 2𝜉𝛽
The value of 𝛽 at which 𝐷 = 𝐷𝑚𝑎𝑥 2

Squaring both sides, solving resulting quadratic

Taking square root of the above expression and

using Taylor series i.e.

Subtracting the roots from each other

-- Equation D 30
 Evaluation of Viscous Damping Ratio
Adding both roots results in

--- Equation E
From equations D & E

Advantage:
i. ρ0 does not need to be calculated for this
case.
Disadvantage:
i. The shape of the frequency response
curve has to be determined carefully.

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