2.

1 Forced vibration (F(t)  0)

Subject CSE40418: m x(t )  c x (t )  k x (t )  F (t )

Advanced Structural Analysis 2.1.1 Undamped harmonic vibration (c = 0)

The SDOF system without damping (c=0) specializes to

Phase I:
Structural Dynamics (2) m x(t )  k x (t )  F0 sin  t
where F0 is the excitation amplitude and  is the exciting
Dr. Y.Q. Ni (Dr. Ngai) frequency. The initial conditions are
Office: ZS930 (CEE)
Phone: 2766 6004 x(t ) t  0  x(0)  y0
E-mail: [email protected]
x (t ) t 0  x (0)  v0
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The solution can be expressed as After determining the constants A and B by imposing the initial
conditions, we have
x (t )  xc (t )  x p (t )
where xc(t) is the complementary solution satisfying the v F  
x(t )  y0 cos t   0  0 sin t
homogeneous equation. xp(t) is the particular solution to the  k 1  (  ) 2 

non-homogeneous equation. The particular solution is  
 
transient
F 1 F 1
x p (t )  0 sin  t   0 sin  t
k 1  (  )2 k 1  (  ) 2
 
The complementary solution is the free vibration response steady state

xc (t )  A cos t  B sin t where the steady state response is

And the complete solution is the sum of them:
F0 1 F0
F0 1 x s (t )  sin  t  sin  t
x(t )  A cos t  B sin t  sin  t k 1  (  ) 2
k  m 2
k 1  (  ) 2

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 The response contains two distinct vibration components:

(i) the sint and cost terms, giving an oscillation at the

natural frequency  of the system. It is the transient
vibration, which depends on the initial displacement and
velocity. It exists even if y0 = v0 = 0.

(ii) the sint term, giving an oscillation at the exciting

(forcing) frequency . It is the steady-state vibration or
forced vibration. It is present due to the applied force no
matter what the initial conditions.

The steady-state dynamic response xs(t) can be written as

F0 1 1
x s (t )  2
sin  t  (ust )0 sin  t
k 1  (  ) 1  (  ) 2

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where (ust)0 is the static deformation (displacement). The

above expression can also be written in terms of the amplitude
u0 and phase angle :

xs (t )  u0 sin(  t  )  (ust )0 Rd sin(  t  )

where
u0 1  00   
Rd   and  0
(u st ) 0 1  (  ) 2 180   

(i) For  < ,  = 0o, implying that the displacement varies

as sint, in phase with the applied force;

(ii) For  > ,  = 180o, indicating that the displacement

varies as sint, out of phase relative to the force.

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Resonant frequency is defined as the exciting frequency at
which Rd is maximum. Here the resonant frequency is r =  2.1.2 Damped harmonic vibration (c  0)
and Rd is unbounded at this frequency. The response does not
become unbounded immediately, but gradually. If y0 = v0 = 0, The damped SDOF system in harmonic vibration is
the response at r =  is
m x(t )  cx (t )  k x (t )  F0 sin  t
F0
x s (t )   (t cos t  sin t )
k with initial conditions
x(t ) t 0  x(0)  y0 x (t ) t 0  x (0)  v0

The solution can be expressed as

x (t )  x c (t )  x p (t )
The complementary solution xc(t) is

xc (t )  e  t ( A cos  D t  B sin  D t )

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where D   1   , and the constants A and B are determined
The steady-state response can also be expressed as
by the initial conditions.
x p (t )  u0 sin(  t  )  (u st ) 0 Rd sin(  t  )
The particular solution xp(t) is given by
where
x p (t )  C cos  t  D sin  t F0 F0
where, u0  
F0 1  (  ) 2 ( k  m  2 ) 2  (c  ) 2 k [1  (  / ) 2 ]2  [2 (  / )]2
C
k [1  (  ) 2 ]2  [ 2 (  )]2 F0
(ust )0 
F  2   k
D 0 u0 1
k [1  (  ) 2 ]2  [2 (  )]2 Rd  
(u st ) 0 [1  (  / ) 2 ]2  [2 (  / )]2
So the complete solution:

xc (t )  e  t ( A cos Dt  B sin Dt )  C cos  t  D sin  c 2 (  / )

  t   tan 1  tan 1
transient steady state k  m2 1  (  / ) 2

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So the complete solution is Characteristics of damped harmonic vibration:
xc (t )  e  t ( A cos Dt  B sin Dt )
   (1) The transient response decays exponentially with time
transient vibration
at a rate depending on / and ;
F0 sin(  t  )

k [1  (  / ) 2 ]2  [2 (  / )]2 (2) After awhile, essentially only the steady-state (forced)
 response remains. However, the largest response peak
steady state vibration
may occur before the system has reached steady state;

(3) The lighter the damping, the larger is the number of

cycles to reach the steady-state vibration;

(4) Relationships among the displacement response factor

Rd, velocity response factor Rv, and acceleration
response factor Ra:

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x p (t )  ( F0 k ) Rd sin(  t  )

x p (t )  ( F0 km ) Rv cos(  t  )

xp (t )  ( F0 m) Ra sin(  t  )
so
2
  
Rv  Rd Ra    Rd
  

A plot of the amplitude of a response quantity against the

excitation frequency is called frequency-response curve.
Such a plot for displacement response factor Rd (dynamic
magnification factor) is plotted as a function of / for
several values of .

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 The steady-state forced response is:

x p (t )  (u st ) 0 Rd sin( t   )
where
F0
(u st )0 
k
1
Rd 
[1  ( /  ) 2 ]2  [2 ( /  )]2

c 2 ( /  )
  tan 1  tan 1
k  m 2 1  ( /  ) 2
(1) When  = / = 1,
1 1
Rd  
2 2
[1  ( /  ) ]  [ 2 ( /  )] 2 2

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So the corresponding response amplitude: Half-power bandwidth:

F0
xamp  (u st ) 0 Rd 
2k
(2) In order to obtain maximum response amplitude,
dRd
 0 , thus    1  2 2  
d
1 1
Rd  
[1  ( /  ) 2 ]2  [2 ( /  )]2 2 1   2

So the corresponding response amplitude:

F0
xamp  (u st ) 0 Rd   xmax
2 1   2 k

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An important property of the frequency response curve for Rd 2.1.3 Harmonic vibration tests to measure damping
is the half-power bandwidth. If 1 and 2 are the exciting
frequencies on either side of resonant frequency at which their The structure is excited by a vibration generator which imposes
1 times the resonant amplitude, then for small  a harmonic force with constant amplitude but different exciting
amplitude is
2 frequencies covering the resonant frequency. The amplitude of
2  1 steady state response of the structure at each forcing frequency
 2 is measured. In this way, frequency-response curve is plotted

so directly from the measured data.

2  1 f 2  f1
  The natural frequency of vibration and damping ratio are then
2 2f
determined by the following procedure:
or
2  1 f 2  f1 (1) Determine the natural frequency  (or f) as the forcing
  frequency at resonance;
2  1 f 2  f1

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(2) Determine the peak response from the measured Example of damped harmonic vibration:
frequency-response curve;
1
(3) Construct a horizontal line at times the peak level;
2
(4) Determine the two frequencies at which this horizontal
line cuts the response curve: 1 (or f1 ) and 2 (or f 2 );

(5) Compute the damping ratio by

2  1 f 2  f1
 
2 2f
or
2  1 f 2  f1
 
2  1 f 2  f1

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Experimental data for the frequency-response curve of a one-
2.1.4 Forced vibration under arbitrary loading
storey building are measured and plotted in the above figure.
Determine the damping ratio of the structure.
The damped SDOF system under arbitrary loading is
Solution: m x(t )  cx (t )  k x(t )  F (t )
The peak of the measured frequency-response curve occurs at
with initial conditions
3.59 Hz. Assuming that the damping is small, the natural
frequency f = 3.59 Hz. x(t ) t 0  x(0)  y0 x (t ) t 0  x (0)  v0
The peak value is 12.8. Draw a horizontal line at 12.8 / 2 as The equation of motion is rewritten as
shown. This line intersects the frequency-response curve at f1
F (t )
= 3.44 Hz and f2 = 3.74 Hz. Therefore x(t )  2x (t )  2 x(t ) 
m
f 2  f1 3.74  3.44 where
   0.042  4.2% k c
2f 2  3.59  
m 2 m

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2.2*(for further study) Resonant frequencies and

The solution is obtained by the Duhamel’s integral responses among displacement, velocity and acceleration
(1) The resonant frequency is defined as the exciting
  t  v   y0  frequency at which the largest response amplitude
x(t )  e  y0 cos D t  0 sin D t  occurs;
 D 
1 t   ( t   ) (2) The peaks in the frequency-response curves for
  F ( ) e sin D (t  ) d displacement, velocity, and acceleration occur at
m D 0
slightly different frequencies. These resonant
frequencies can be determined by setting to zero the
where first derivative of Rd, Rv, and Ra with respect to /;
they are
D   1   2
Displacement resonant frequency:    1  2 2
The integration can be analytically performed only for
Velocity resonant frequency:   
a few simple loading cases.
Acceleration resonant frequency:    / 1  2 2

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 (3) The resonant frequencies for a damped system do not 2.3*(for further study) Damping in structures
happen at its damped natural frequency D   1   2 .
But the difference is small. When  < 20%, the m x(t )  c x (t )  k x (t )  F0 sin  t
differences among the three resonant frequencies and its steady-state response is
the natural frequency are negligible;
u (t )  u0 sin(  t  )
(4) The three dynamic response factors at their respective
resonant frequencies are Energy dissipated in viscous damping:

1 Consider steady-state motion of an SDOF system under

Displacement (    1  2 2 ): Rd  harmonic excitation. The energy dissipated by viscous
2 1   2
damping in one cycle of harmonic vibration is
1
Velocity (    ): Rv  ED   (cu )du  02  /  (cu )udt  02  /  cu 2 dt
2
1  2
Acceleration (    / 1  2 2 ): Ra   c 02  /  [  u0 cos(  t  )]2 dt  c ku0
2 1   2 

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The external force F(t) inputs energy to the system, which for What about the potential energy and kinetic energy?
each cycle of vibration is
The change in potential energy (equal to the strain energy of
EI   F (t ) du  02  /  F (t )udt the spring) for each cycle of vibration is

 02  /  [ F0 sin  t ][  u0 cos(  t  )]dt  F0u0 sin  ES   ( ku ) du  02  /  (ku )udt

c 2 (  / )
 k 02  /  [u0 sin(  t  )][  u0 cos(  t  )]dt  0
1
Substituting   tan  tan 1 , we have
k  m2 1  (  / ) 2 The change in kinetic energy for each cycle of vibration is
 EK   ( mu) du  02  /  (mu)udt
EI  F0u0 sin   c ku02

So EI = ED.  m 02  /  [   2u0 sin(  t  )][  u0 cos(  t  )]dt  0
Conclusion: In steady-state vibration, the energy input to So ES = EK =0. Conclusion: Over each cycle of harmonic
the system due to the applied force is dissipated in viscous vibration, the changes in potential energy and kinetic
damping. energy are zero.

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End of Lecture 2 Polytechnic University