18

Chapter 3 Methodology

3.1 Free Vibration analysis of bridge deck with distributed

properties

Flexural Vibration of Uniform Beams

Taking a short segment of beam 𝑑𝑥 the forces and moments which act on the
element are shown in the figure.

𝑚
̅ =mass per unit length

𝑝 = 𝑝(𝑥, 𝑡)=load per unit length

If deflection of the beam is small the equation of motion perpendicular to the

X-axis of the deflected beam is obtained by equating to zero the sum of the
forces in the free body diagram

𝜕𝑉 𝜕 2𝑦
𝑉 − (𝑉 + 𝑑𝑥) + 𝑝(𝑥, 𝑡)𝑑𝑥 − 𝑚
̅ 𝑑𝑥 2 = 0
𝜕𝑥 𝜕𝑡

𝜕𝑉 𝜕2 𝑦
After simplifying +𝑚
̅ 𝜕𝑡 2 = 𝑝(𝑥. 𝑡)
𝜕𝑥

𝜕2𝑦 𝜕𝑀 𝜕3𝑦
From simple bending theory, 𝑀 = 𝐸𝐼 𝜕𝑥 2 , 𝑉= = 𝐸𝐼 𝜕𝑥 3 and
𝜕𝑥
𝜕4𝑦 𝜕2𝑦
𝐸𝐼 𝜕𝑥 4 + 𝑚
̅ 𝜕𝑡 2 = 𝑝(𝑥, 𝑡)

It can be seen that the equation is a partial differential equation of the fourth-
order. Only lateral flexural deflections are considered while deflection due to
shear forces and inertial forces caused by the rotation of the cross-section
were neglected
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The solution of the equation of motion in free vibration

For free vibration [𝑝(𝑥, 𝑡) = 0] reduces to the homogeneous differential

equation

𝜕 4𝑦 𝜕 2𝑦
𝐸𝐼 + 𝑚
̅ =0
𝜕𝑥 4 𝜕𝑥 2

By the method of separation of variables

𝑦(𝑥, 𝑡) = 𝜙(𝑥) ⋅ 𝑓(𝑡)

The substitution of the equation in the differential equation leads to

𝑑 4 𝜙(𝑥) 𝑑 2 𝑓(𝑡)
𝐸𝐼𝑓(𝑡) +𝑚
̅ 𝜙(𝑥) =0
𝑑𝑥 4 𝑑𝑡 2

𝐸𝐼 𝜙 𝐼𝑉 (𝑥) −𝑓̈(𝑡)
=
𝑚
̅ 𝜙(𝑥) 𝑓(𝑡)

̅ 𝜔2
𝑚
𝜙 𝐼𝑉 (𝑥) − 𝑎4 𝜙(𝑥) = 0 and 𝑓̈(𝑡) + 𝜔2 𝑓(𝑡) = 0 where 𝑎4 = 𝐸𝐼

𝐸𝐼
So, 𝜔 = 𝐶√𝑚̅𝐿4 where 𝐶 = (𝑎𝐿)2

The equation is free vibration equation of undamped SDOF system and its
solution

𝑓(𝑡) = 𝐴 cos 𝜔𝑡 + 𝐵 sin 𝜔𝑡

A and B are integration constants

𝜙(𝑥) = 𝐶 ⋅ ⅇ 𝑠𝑥

Substituting equation into equation results in

(𝑠 4 − 𝑎4 )𝑐 ⋅ ⅇ 𝑠𝑥 = 0

For non-trivial solution

𝑠 4 − 𝑎4 = 0

The roots of the equation are

𝑠1 = 𝑎1 𝑠2 = −𝑎1 𝑠3 = 𝑎𝑖 𝑠4 = −𝑎𝑖
 20

The substitution of each of these roots into the equation provides a solution
to the equation. The general solution is then given by the superposition of
these four possible solutions, namely

𝜙(𝑥) = 𝐶1 ⋅ ⅇ 𝑎𝑥 + 𝐶2 ⋅ ⅇ −𝑎𝑥 + 𝐶3 ⋅ ⅇ 𝑖𝑎𝑥 + 𝐶4 ⋅ ⅇ −𝑖𝑎𝑥

We know that

ⅇ ±𝑎𝑥 = cosh 𝑎𝑥 ± 𝑖 sinh 𝑎𝑥

ⅇ ±𝑖𝑎𝑥 = cos 𝑎𝑥 ± 𝑖 sin 𝑎𝑥

Substituting of these relationships into equation yields

𝜙(𝑥) = 𝐴 sin 𝑎𝑥 + 𝐵 cos 𝑎𝑥 + 𝐶 sinh 𝑎𝑥 + 𝐷 cosh 𝑎𝑥

Natural frequencies and mode shapes for uniform beams both ends simply
supported

In this case displacements and bending moments must be zero at both ends
of the beam; hence boundary conditions for the simply supported beams are

𝑦(0, 𝑡) = 0, 𝑀(0, 𝑡) = 0

𝑦(𝑙, 𝑡) = 0, 𝑀(𝑙, 𝑡) = 0

Because of equation and equation, these boundary conditions imply the

following conditions on the shape function 𝜙(𝑥)

𝑥 = 0, 𝜙(0) = 0, 𝜙′′(0) = 0

𝑥 = 𝑙, 𝜙(𝑙) = 0, 𝜙′′(𝑙) = 0

The substitution of the first two of these boundary conditions into equation
yields

𝜙(0) = 𝐴 ⋅ 0 + 𝐵 ⋅ 1 + 𝐶 ⋅ 0 + 𝐷 ⋅ 1 = 0

𝜙′′(0) = 𝑎2 (−𝐴 ⋅ 0 − 𝐵 ⋅ 1 + 𝐶 ⋅ 0 + 𝐷 ⋅ 1) = 0

Which reduces to

𝐵+𝐷 =0

−𝐵 + 𝐷 = 0
 21

Hence 𝐵 = 𝐷 = 0

Similarly, substituting the last two boundary conditions into the equation and
setting 𝐵 = 𝐷 = 0 leads to

𝜙(𝑙) = 𝐴 sin 𝑎𝑙 + 𝐶 sinh 𝑎𝑙 = 0

𝜙 ′′ (𝑙) = 𝑎2 (−𝐴 sin 𝑎𝑙 + 𝐶 sinh 𝑎𝑙) = 0

Which when added give

2𝐶 sinh 𝑎𝑙 = 0

From this last relation, 𝐶 = 0 since the hyperbolic sine function cannot
vanish except for a zero argument. The equation reduces to

𝐴 sin 𝑎𝑙 = 0

Excluding the trivial solution (𝐴 = 0), we obtain the frequency equation

sin 𝑎𝑙 = 0

Which will be satisfied with 𝑎𝑛 𝑙 = 𝑛𝜋, 𝑛=0,1,2……

Substitution of the roots, equation, into equation yields

𝐸𝐼
𝜔𝑛 = 𝑛2 𝜋 2 √
𝑙4

Where the subscript n serves to indicate the order of the natural frequencies.

Since 𝐵 = 𝐶 = 𝐷 = 0, it follows that the equation reduces to

𝑛𝜋𝑥
𝜙𝑛 (𝑥) = 𝐴 sin
𝐿
𝑛𝜋𝑥
Or simply, 𝜙𝑛 (𝑥) = sin 𝐿

The constant A is absorbed by the other constants in the modal response

given below by the equation.

From the equation, a modal shape or normal mode of vibration is given by

𝑦𝑛 (𝑥, 𝑡) = 𝜙𝑛 (𝑥) ⋅ 𝑓𝑛 (𝑡)

 22

Or from the equation and by equation

𝑛𝜋𝑥
𝑦𝑛 (𝑥, 𝑡) = sin [𝐴𝑛 cos 𝜔𝑛 𝑡 + 𝐵𝑛 sin 𝜔𝑛 𝑡]
𝐿

The general solution of the equation of motion in free vibration that satisfies
the boundary conditions, equation, and equation, is the sum of all the normal
modes of vibration, equation namely
∞
𝑛𝜋𝑥
𝑦𝑛 (𝑥, 𝑡) = ∑ sin (𝐴𝑛 cos 𝜔𝑛 𝑡 + 𝐵𝑛 sin 𝜔𝑛 𝑡)
𝐿
𝑛=1

The constants 𝐴𝑛 𝑎𝑛𝑑 𝐵 𝑛 are determined, as usual, from the initial condition.
If at t = 0, the shape of the beam is given by 𝑦(𝑥, 0) = 𝜌(𝑥) and the velocity
𝜕𝑦(𝑥,0)
by = 𝜓(𝑥)
𝜕𝑡

For 0 ≤ 𝑥 ≤ 𝐿, it follows from the equation that

∞ ∞
𝑛𝜋𝑥 𝑛𝜋𝑥
∑ 𝐴𝑛 sin = 𝜌(𝑥) and ∑ 𝐵𝑛 𝜔𝑛 sin = 𝜓(𝑥)
𝑛=1 𝐿 𝑛=1 𝐿

Fourier coefficients are expressed as

𝐿 𝐿
2 𝑛𝜋𝑥 2 𝑛𝜋𝑥
𝐴𝑛 = 𝐿 ∫ 𝜌(𝑥) sin 𝑑𝑥 and 𝐵𝑛 = 𝜔 ∫ 𝜓(𝑥) sin 𝑑𝑥
𝐿 𝑛𝐿 2
0 0

𝑙
𝑛𝜋𝑥 𝑙 𝑛𝜋𝑥 𝑙
𝑙 ∫ 𝑠𝑖𝑛 2 𝑑𝑥 − 𝑛𝜋 [cos 𝐿 ]
∫0 𝜙(𝑥) 𝑑𝑥 0 0
𝐼𝑛∗ = 𝑙
= 𝐿 = 𝑙
∫0 𝜙 2 (𝑥) 𝑑𝑥 𝑛𝛱𝑥 1 𝑙 𝑛 𝜋𝑥 ] }
∫ sin2 2 𝑑𝑥 { [𝑥]𝑙0 − [sin
2 2𝑛𝜋 2 0
0
𝑙
− 𝑛𝜋 (cos 𝑛𝜋 − 1) 2
= = (1 − cos 𝑛𝜋)
1 𝑛𝜋
(𝑙
2 − 0)
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The first five values for the natural frequencies and normal modes for the
simply supported beam are presented below

NATURAL
FREQUENCIES NORMAL MODES
𝑛𝜋𝑥
𝐸𝐼 𝜙𝑛 = sin
𝜔𝑛 = 𝐶𝑛 √ 𝑙
̅ 𝐿4
𝑚

𝑛 𝐶𝑛 𝐼𝑛∗ SHAPE

4
1 𝜋2
𝜋

2 4𝜋 2 0

4
3 9𝜋 2
3𝜋

4 16𝜋 2 0

4
5 25𝜋 2
5𝜋

3.2 Working Principle of TMDI

The ideal inerter was conceptually defined by Smith (2002) as a linear two
terminal mechanical element of negligible physical mass/weight developing
an internal (resisting) force F proportional to the relative acceleration of its
terminals. That is,

𝐹 = 𝑏(𝑢̈ 1 − 𝑢̈ 2 )

where 𝑢1 and 𝑢2 are the displacement coordinates of the inerter terminals

and, hereafter, a dot over a symbol denotes time differentiation. In the above
 24

equation, the constant of proportionality b is the so-called inertance measured

in mass units (kg). Considering a typical mechanical realisation of the inerter
comprising a flywheel linked to a rack-and-pinion via n gears. Figure depicts
such a device for the special case of n=4. The inertance of this device is given
by
𝑛
𝛾𝑓2 𝑟𝑘2
𝑏 = 𝑚𝑓 2 (∏ 2 )
𝑟𝑓𝑝 𝑟𝑘𝑝
𝑘=1

𝑚𝑓 =mass of the flywheel

𝛾𝑓 =radius of gyration of the flywheel

𝑟𝑓𝑝 =radius of flywheel pinion

𝑟𝑘 =radii of the 𝑘𝑡ℎ gear

𝑟𝑘𝑝 =radii of the 𝑘𝑡ℎ gear pinion

 25

To prove this relation let us take a single gear system with the same gear ratio as
shown in figure below

Let 𝑑̈ be the acceleration of the TMD and 𝛼1 and 𝑀1 be the angular acceleration
𝑑̈
and torque at the centre of the gear; 𝛼1 = 𝑟
1𝑝

Let 𝛼𝑓 be the angular acceleration of the flywheel

𝛼𝑓 ⋅ 𝑟𝑓 = 𝛼1 ⋅ 𝑟1

𝛼1 ⋅ 𝑟1 𝑑̈ 𝑟1
𝛼𝑓 = = ⋅
𝑟𝑓𝑝 𝑟𝑓𝑝 𝑟𝑓𝑝

Now, torque at the centre of flywheel

𝑀𝑓 = 𝐼 ⋅ 𝛼𝑓

Where 𝐼 =Moment of inertia of the flywheel & 𝛼𝑓 =angular acceleration of the

flywheel

𝑀𝑓 𝑀1 𝑟1
Now, 𝛼𝑓 = 𝛼1 or = or 𝑀1 = 𝑀𝑓 ⋅
𝑟𝑓 𝑟1 𝑟𝑓

The amount of force generated by the inerter due to acceleration of the TMD

𝑀1 𝑀𝑓 𝑟1 𝐼 ⋅ 𝛼𝑓 𝑟1 𝐼 𝑑̈ 𝑟1 𝑟1
𝐹= = ⋅ = × = × × ×
𝑟1 𝑟𝑓𝑝 𝑟1𝑝 𝑟𝑓𝑝 𝑟1𝑝 𝑟𝑓𝑝 𝑟𝑓𝑝 𝑟𝑓𝑝 𝑟1𝑝

𝛾𝑓2 𝑟12
𝐹 = 𝑚𝑓 ⋅ ̈
2 ( 2 )×𝑑
𝑟𝑓𝑝 𝑟𝑓𝑝