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m
3 cases: 1. >1 (overdamped) two real solutions 2. =1 (critically damped) double real solution 3. <1 (underdamped) two complex solutions (most practical systems)
Case 1: Overdamped ( 1)
x(t ) = c1e
( + 2 1) n t
+ c2 e
( 2 1) n t
x(t)
x(0)
=5
t
c1 = c2 = x(0) + ( + 2 1 ) n x (0) 2 n 2 1 x(0) + ( +
2
= 1.1
1 ) n x ( 0)
2 n 2 1
Observations: Free vibration response is an exponentially decaying function. The higher the damping factor the slower the decay is. Case 2: Critically damped ( =1)
x(t ) = c1e nt + c2 te nt
c1 = x (0),
c 2 = n x (0) + x ( 0)
x(t)
x(0)
Observations: Free vibration response is an exponentially decaying function, like the response of overdamped systems. The decay is the smaller than that of overdamped systems.
Case 3: Underdamped systems ( <1) Consider special case where there is no damping (i.e. system is undamped) first (i.e. =0): k
m m + kx = 0 x
2 + n x = 0 x
where:
n =
k , m A = [ x ( 0) 2 + {
x ( 0) 2 1 / 2 x (0) } ] , = tan -1 ( ) n n x (0 )
.
1 0.75 0.5 0.25 x ( t) 0 0.25 0.5 0.75 1 0 3.14 6.28 t 9.42 12.56
T=
2 n
.
4 3 2 x ( t) xd ( t) xdd ( t) 1 0 1
acceleration
2 n A
velocity
n A
displacement
k m
rad/sec. This frequency depends only on the system- not on the initial conditions. The higher the spring rate, the higher the frequency of oscillation is. The lower the mass, the higher the frequency of oscillation is.
n 2
Velocity is also a harmonic wave. Leads the displacement by a quarter period or 90 degrees. Acceleration is also a harmonic wave. Leads the displacement by a half period or 180 degrees.
Harmonic motion: three representations 1. x(t ) = c1e j nt + c2 e jnt 2. x(t ) = A1 cos( n t ) + A2 sin( n t )
x(t ) = A cos( n t )
3.
1 2 where A = ( A 2 + A2 ) 2 1
A and = tan -1 ( 2 ) A1
Therefore:
x(t ) = e n t A cos( d t )
1 2 2 A = ( A1 + A2 ) 2
A = tan 1 ( 2 ) A1
10
Ae
n t
x( t )
Td =
0.731 1 0 0 1
2 d
2 t 3 3
Free vibration response is an oscillating function. The amplitude decays with time.
The higher the damping ratio, the faster the decay is.
than the undamped natural frequency n . But for small values of the damping ratio (say 0.1) the two frequencies are practically equal. Estimating damping from records of free vibration response
=
4 2 + 2
where
= logarithmic decrement=
ln[
x (t ) ] x(t + Td )
12