SDOF Forced Vibrations
SDOF Forced Vibrations
SDOF Forced Vibrations
3
CHAPTER
Mechanical Vibrations
Single degree-of-freedom
Forced Vibrations
SDOF Forced Vibrations
3.6 Response Under the Harmonic Motion of Base
From the figure, the equation of motion is
mx + c( x − y ) + k ( x − y ) = 0 (3.64)
If y (t ) = Y sin ωt,
mx + cx + kx = ky + cy = kY sin ωt + cωY cos ωt
= A sin(ωt − α ) (3.65)
cω
where A = Y k 2 + (cω ) 2 and α = tan −1 −
k
SDOF Forced Vibrations
REMEMBER
The system with equation of motion:
F0 cos ωt
mx(t ) + cx (t ) + kx (t ) =
x p (t ) X cos (ωt − φ )
=
F0 δ st
=X =
( k − mω ) ω
2 2
+ c 2 2 (1 − r 2 ) 2 + (2ζ r ) 2
cω −1 2ζ r
=ϕ tan
= 2
−1
tan 2
k − mω 1 − r
SDOF Forced Vibrations
3.6 Response Under the Harmonic Motion of Base
The steady-state response of the system
kx A sin(ωt − α )
mx + cx +=
can be expressed as
Y k 2 + (cω ) 2
x p (t ) = sin(ωt − φ1 − α )
[(k − mω ) ]
(3.66)
2 2
+ (cω ) 2 1/ 2
cω
where φ1 = tan
−1
2
k − mω
or x p (t ) = X sin(ωt − φ ) (3.67)
where X k 2 + (cω ) 2
1/ 2
1 + (2ζr ) 2
1/ 2
= = 2
(3.68)
Y (k − mω 2 ) + (cω ) 2 (1 − r 2 2
) + ( 2ζ r )
mcω 3 −1 2ζr 3
and φ = tan
−1
2
= tan 2
(3.69)
k (k − mω ) + (ωc) 1 + (4ζ − 1)r
2 2
SDOF Forced Vibrations
3.6 Response Under the Harmonic Motion of Base
The variations of displacement transmissibility is
shown in the figure below.
1 + ( 2ζ r ) 2
2ζ r 3
Td = X = φ = tan
−1
2
Y (1 − r 2 ) 2 + (2ζr ) 2 1 + ( 4ζ 2
− 1) r
SDOF Forced Vibrations
3.6 Response Under the Harmonic Motion of Base
The following aspects of Td can be noted from the figure:
1. The value of Td is unity at r = 0 and close to unity for small
values of r.
2. For undamped system (ζ = 0), Td →∞ at resonance (r = 1).
3. The value of Td is less than unity (Td < 1) for values of r
>√2 (for any amount of damping ζ ).
4. The value of Td = 1 for all values of ζ at r =√2.
5. For r <√2, smaller damping ratios lead to larger values of Td.
On the other hand, for r >√2, smaller values of damping
ratio lead to smaller values of Td.
6. The displacement transmissibility, Td, attains a maximum
for 0 < ζ < 1 at the frequency ratio r = rm < 1 given by:
rm = 1 1 + 8ζ 2 − 1
2ζ
SDOF Forced Vibrations
3.6 Response Under the Harmonic Motion of Base
•Force transmitted: (force transmitted to base from spring and damper)
k ( x − y ) + c( x − y ) =
F= −mx (3.72)
= mω 2 X sin(ωt=
− ϕ ) FT sin(ωt − ϕ )
X 1 + (2ζ r ) 2
=
Y (1 − r 2 ) 2 + (2ζ r ) 2
(1 − r 2 ) 2 + (2ζ r ) 2
f
Fo
Disturbing force = kY
SDOF Forced Vibrations
3.6 Response Under the Harmonic Motion of Base
•Relative Motion:
mx + c( x − y ) + k ( x − y ) =
0
For z= x − y :
The equation of motion can be written as
z (t ) Z sin(ωt − ϕ1 )
= (3.76)
cω −1 2ζ r
And phase angle φ1 = tan −1 2
= tan 2
k − mω 1 − r
SDOF Forced Vibrations
3.6 Response Under the Harmonic Motion of Base
r2
Z =Y
(1 − r 2 ) 2 + (2ζr ) 2
SDOF Forced Vibrations
Example 3.3 Vehicle Moving on a Rough Road
The figure shows a simple model of a motor vehicle that can
vibrate in the vertical direction while traveling over a rough road.
The vehicle has a mass of 1200kg. The suspension system has a
spring constant of 400 kN/m and a damping ratio of ζ = 0.5. If the
vehicle speed is 20 km/hr, determine the displacement amplitude of
the vehicle. The road surface varies sinusoidally with an amplitude
of Y = 0.05m and a wavelength of 6m.
SDOF Forced Vibrations
Example 3.3 Solution
The frequency can be found by
v × 1000 1
ω = 2πf = 2π = 0.290889v rad/s
3600 6