Theory of Vibration

Theory of Vibration
Theory of Vibration
Theory of Vibration
Theory of Vibration
Theory of Vibration
Theory of Vibration
Theory of Vibration
Theory of Vibration
Degrees of Freedom
Degrees of Freedom
Degrees of Freedom
 Introduction
Civil Structural Dynamics broadly covers:

Earthquake Engineering
 Introduction (Contd)
Civil Structural Dynamics broadly covers:

Wind Engineering

Offshore Engineering
 Introduction (Contd)
Civil Structural Dynamics broadly covers:

Blast and Impact Engineering

Vibration Engineering
 Building vibration due to external ground borne vibration
•Typically dealt via vibration isolation of the whole building or of the
machinery
 Vibration due to human-induced excitation
 Introduction (Contd)
Definitions: Dynamics vs Vibration ?

Def: Dynamics is the study relating the forces to motion

and the laws governing the motion are the well-known
Newton’s laws
 Dynamic load – any load of which the magnitude,
direction or position varies with time

Def: Vibration is an omnipresent type of dynamic

behaviour where the motion is actually an oscillation
about a certain equilibrium position
 Vibration - any motion that repeats itself after an
interval of time
 Introduction (Contd)
Newton’s Laws of Motion:

• First Law: A body continues to maintain its state of rest or of

uniform motion unless acted upon by an external unbalanced
force.
• Second Law: Momentum mv is the product of mass and velocity.
Force and momentum are vector quantities and the resultant force
is found from all the forces present by vector addition. This law is
often stated as, “F = ma: the net force on an object is equal to the
mass of the object multiplied by its acceleration.”
• Third Law: To every action there is an equal and opposite reaction.
 Introduction (Contd)
Distinctive features of a dynamic analysis
Time-varying nature of the excitation (applied loads) and the
response (resulting displacements, internal forces, stresses,
strain, etc.)
 A dynamic problem does not have a single solution but a
succession of solutions corresponding to all times of interest in
the response history
 A dynamic analysis is more complex and computationally
intensive than a static analysis
Response

Excitation
 Introduction (Contd)
Distinctive features of a dynamic analysis

Inertia forces when the loading is dynamically applied

 Inertia is the property of matter by which it remains at rest
or in motion at a constant speed along a straight line so long
as it is not acted by an external force
Translation motion, the measurement of inertia is the mass m
Rotational motion, the measurement of inertia is the mass moment
of inertia I0
F(t)
F

M M(t)

V V(t)
Inertia forces
 Dynamic vs Static analysis
In reality, no loads that are applied to a structure are truly static
 Since all loads must be applied to a structure in some particular
sequence during a finite period of time, a time variation of the force is
inherently involved
When do we opt for dynamic analysis ?
 When forces change as a function of time ?
No, but when the nature of the force is such that causes
accelerations so significant that inertial forces can not be
neglected in the analysis
Static analysis – when the loading is such that the accelerations
caused by it can be neglected
The same load may be treated on one structure as dynamic
whereas on the other is static
 Dynamic vs Static analysis
 Why not doing dynamic analysis always ?
Dynamic analysis is considerably more expensive
than the static analysis
More skills, knowledge, “feel” for the structural
behaviour under various types of dynamic loading
are required in order to deal with it both correctly
and efficiently (a dynamic analysis is much more
computational than a static analysis)
The skill of the analyst is to make a judgement if a
dynamic analysis is necessary
 Dynamic vs Static analysis
 Situations in which dynamic loading must
be considered
response of bridges to moving vehicle

action of wind gusts, ocean waves, blast

pressure upon a structure

effect on a building whose foundation is

subjected to earthquake excitation

response of structures subjected to alternating

forces caused by oscillating machinery
 Stiffness
• Stiffness coefficient of a structure is force required to
produce a unit displacement
k = F/v,
• Stiffness of a structure/structural element depends on
• Material property, E
• Section property, I
• Support conditions

F
‘Springs Don’t Necessarily Look Like Springs’
Spring Constants of Common Elements

Ewh3
Gd 4 k 3
k L
64nR3

16Ewh3
EA k
k L3
L

4Ewh 3
2Ewh 3
k k
L3 L3

25
 Example (Equivalent Spring)

• Assume that mass of beam is negligible in comparison with end mass.

• Denote by W=mg weight of the end mass
• Static deflection of the cantilever beam is given by

 The equivalent spring has the stiffness:

26
 Springs Acting in Series
x x
keq
k1 k2
M M F
F

Note that two springs are in series when:

a) They are experiencing the same tension (or compression)
b) You’d add up the deformations to get the total deformation x

Exercise: Show that the equivalent spring constant keq is such that:

1 1 1
 
keq k1 k2

The idea is that you want to determine one abstract spring that has keq
that deforms by the same amount when it’s subject to F.

27
 Springs Acting in Parallel
x x
k1 keq
k2 M M F
F

Note that two springs are in parallel when:

a) They experience the same amount of deformation
b) You’d add up the force experienced by each spring to come up
with the total force F

Exercise: Show that the equivalent spring constant keq is such that:

keq  k1  k2
28
 Strength and Stiffness

Members are equally strong but their stiffness is different

 Motions
• Oscillations are motions that repeat themselves.
• A motion that repeats itself at regular intervals is also
called periodic or harmonic motion.
• A simple harmonic motion is one in which the
displacement varies with time in a sinusoidal way.
 Frequency and Period
• Frequency f is the number of oscillations completed in
one second.
• Unit : oscillations per second = s-1 = hertz Hz
• Time period T is the time required to complete one full
cycle of oscillation
• f = 1/T or T = 1/f or f T =1
• Angular velocity ω is the angle of rotation per unit time
 Unit of ω is rad/sec.
 ω = θ/t, Hence for one complete cycle ω=2π/T
 T = 2π/ ω
Definitions
 Earthquake Response of Building

Oscillation of building on cutting the rope

Free vibration response of a building (The back and forth motion is periodic)
 Basic Concepts
• Degrees of Freedom
• Newton’s Law
• Equation of Motion (external force)
• Equation of Motion (base motion)
• Solutions to Equations of Motion
• Free Vibration
• Natural Period/Frequency
 Degrees of Freedom
The number of variables (independent displacement
measurements) required to describe the motion of
the masses.
Continuous systems –
infinite number of degrees
of freedom

Lumped mass systems – masses can be

assumed to be concentrated at specific
locations, and to be connected by
massless elements such as springs. Very
useful for buildings where most of mass is
at (or attached to) floors.
 Degrees of Freedom (SDOF)
Single-degree-of-freedom (SDOF) systems

Vertical translation Horizontal translation Horizontal translation Rotation

 Degrees of Freedom (SDOF)
• The basics of Dynamic Analysis by considering a
Single Degree of Freedom (SDOF) problem
• A free vibration model is used to describe the
natural frequency
• Damping is then introduced and the concept of
critical damping and the undamped solution is
shown
• Finally a Forcing function is applied and the response
of the SDOF is explored in terms of time dependency
and frequency dependency and compared to the
terms found in the equations of motion
 What is vibration?
• Vibrations are oscillations of a system about an
equilbrium position.
Vibration…
It is also an
everyday
phenomenon we
meet on
everyday life
 Vibration …
Useful Vibration Harmful vibration
Compressor
Noise
Testing

Destruction

Wear
Ultrasonic
cleaning

Fatigue
 Vibration parameters
All mechanical systems
can be modeled by
containing three basic
components:
spring, damper, mass

When these components are subjected to constant force,

they react with a constant
displacement, velocity and acceleration
 Free vibration
• When a system is initially disturbed by a displacement, velocity
or acceleration, the system begins to vibrate with a constant
amplitude and frequency depend on its stiffness and mass.
• This frequency is called as natural frequency, and the form of
the vibration is called as mode shapes

Equilibrium pos.
Forced Vibration
If an external force applied to a
system, the system will follow the
force with the same frequency.
However, when the force
frequency is increased to the
’ system’s natural frequency,
amplitudes will dangerously
increase in this region. This
phenomenon called as
“Resonance”
 Degrees of Freedom (SDOF)
• Free Vibration occurs when a system oscillates only
under an initial disturbance with no external forces
acting after the initial disturbance.
• Undamped vibrations result when amplitude of
motion remains constant with time (e.g. in a vacuum).
• Damped vibrations occur when the amplitude of free
vibration diminishes gradually overtime, due to
resistance offered by the surrounding medium (e.g.
air).

44
Idealized Single Degree of Freedom Structure

F (t ),v (t ) F(t)
Mass

Damping t
Stiffness

v(t)

t
Equation of Dynamic Equilibrium
f I (t ) F (t )

f D (t )
0.5 f S ( t ) 0.5 f S ( t )

F (t )  f I (t )  f D (t )  f S (t )  0
f I (t )  f D (t )  fS (t )  F (t )
Observed Response of Linear SDOF
(Development of Equilibrium Equation)

Spring Force, kips Damping Force, Kips Inertial Force, kips

30.00 4.00 50.00

15.00 2.00 25.00

0.00 0.00 0.00

-15.00 -2.00 -25.00

-30.00 -4.00 -50.00

-0.60 -0.30 0.00 0.30 0.60 -20.00 -10.00 0.00 10.00 20.00 -500 -250 0 250 500
Velocity, In/sec 2
Displacement, inches Acceleration, in/sec

SLOPE = k SLOPE = c SLOPE = m

= 50 kip/in = 0.254 kip-sec/in = 0.130 kip-sec2/in

f S (t )  kv(t ) f D (t )  cv(t ) f I (t )  mv(t )

Equation of Dynamic Equilibrium
f I (t ) F (t )

f D (t )
0.5 f S ( t ) 0.5 f S ( t )

f I (t )  f D (t )  fS (t )  F (t )

(t )  cv(t )  k v(t )  F (t )

mv
Development of Effective Earthquake Force
vt
vg vr
Ground Motion Time History vg (t )
0.40

GROUND ACC, g
0.20

0.00

-0.20

-0.40
0.00 1.00 2.00 3.00 4.00 5.00 6.00
TIME, SECONDS

m[vg (t )  vr (t )]  cvr (t )  kvr (t )  0

mvr (t )  cvr (t )  k vr (t )  mvg (t )
 Free undamped vibration SDOF
• Recall: Free vibrations  system given initial disturbance
and oscillates free of external forces.
• Undamped: no decay of vibration
amplitude
• SDOF:
• mass treated as rigid, limped (particle)
• Elasticity idealised by single spring
• only one natural frequency.
• The equation of motion can be derived using
• Newton’s second law of motion
• D’Alembert’s Principle,
• The principle of virtual displacements and,
• The principle of conservation of energy.
 Undamped Free Vibration
Equation of Motion: mv(t )  k v(t )  0
Initial Conditions: v0 v0
Assume: v(t )  A sin(t )  B cos(t )
v0 k
Solution: A B  v0 
 m

v0
v(t )  v0 cos(t )  sin(t )

 Undamped Free Vibration (2)
v0 T = 0.5 seconds
1.0
Displacement, inches

3
2
1
0
v0
-1
-2
-3
0.0 0.5 1.0 1.5 2.0
Time, seconds

Circular Frequency Cyclic Frequency Period of Vibration

(radians/sec) (cycles/sec, Hertz) (seconds/cycle)

k  1 2
 f  T 
m 2 f 
Equation of Motion (base motion)

mvt  cv  kv
m(v  vb )  cv  kv
m(v  vb )  cv  kv  0
mv  cv  kv  mvb
Solutions to Equation of Motion
mv  cv  kv  Q(t )
Four common cases
Free vibration: Q(t) = 0
Undamped: c = 0
Damped: c ≠ 0
Forced vibration: Q(t) ≠ 0
Undamped: c = 0
Damped: c ≠ 0
Solutions to Equation of Motion
Undamped Free Vibration

mv  kv  0
Solution:

v(t )  A cosot  B sin ot

where

k
o  Natural circular frequency
m

How do we get A and B? From initial conditions

Solutions to Equation of Motion
Undamped Free Vibration

v(t )  A cosot  B sin ot

Assume initial displacement (at t = 0) is vo. Then,

vo  A cos o (0)  B sin o (0)

vo  A(1)  B(0)
vo  A
Solutions to Equation of Motion

v   Ao sin ot  Bo cos ot

vo   Ao sin o (0)  Bo cos o (0)
vo   Ao (0)  Bo (1)
vo  Bo
vo
B
o
v(0)
v ( t )  v (0) cos  0 t  sin  0 t
0
 Single DOF System –
Undamped Free Vibrations
n The graph is from a transient analysis of a spring mass system with Initial
velocity conditions only
k = 100
m=1 k
n   10 rad/s
m
f   n / 2  1.59 Hz

Amp v0  1
T = 1/f = 0.63 secs
T
Disp.
Amp  v0 /  0  0.1

Time
Undamped Free Vibration
 Periods of Vibration of Common
Structures

• 20 story moment resisting frame T=2.2 sec.

• 10 story moment resisting frame T=1.4 sec.
• 1 story moment resisting frame T=0.2 sec
• 20 story braced frame T=1.6 sec
• 10 story braced frame T=0.9 sec
• 1 story braced frame T=0.1 sec
 Single DOF System –
Damped Free Vibrations
• If viscous damping is assumed, the equation of motion
becomes:
m v( t )  bv( t )  kv ( t )  0
• There are 3 types of solution to this, defined as:
• Critically Damped
• Overdamped
• Underdamped
• A swing door with a dashpot closing mechanism is a
good analogy
• If the door oscillates through the closed position it is underdamped
• If it creeps slowly to the closed position it is overdamped.
• If it closes in the minimum possible time, with no overswing, it is critically
damped.
 Damped Free Vibration
Equation of Motion: mv(t )  cv(t )  k v(t )  0
Initial Conditions: v0 v0
Assume: v (t )  e st

Solution:
 v0  v0 
v0 cos(Dt )  sin(Dt )
 t
v(t )  e
 D 
c c
  D   1  2
2m cc
Displacement, inches
Damped Free Vibration (3)

3
2
1 0% Damping
0 10% Damping
-1 20% Damping
-2
-3
0.0 0.5 1.0 1.5 2.0
Time, seconds

D   1   2
 Single DOF System –
Damped Free Vibrations (Cont.)
n The graph is from a transient analysis of the previous spring mass system with
damping applied
Frequency and
period as before

Amplitude is a
function of damping

Disp.
5% Damping

2% Damping

Time
Thank you !