Engineering Mechanics 2

Lecture 8 Forced Vibration

Free Vibration Equation Summary
k c c
n    
m 2 n m 2 km

 x1  2
d  n 1   2   ln  
 x2  1  2

1  x1  
  ln 
 x 
  
n  n 1  4  
2 2
Forced Vibrations
 A dynamic system is subjected to some type of
external force or excitation called the ‘forcing’ or
‘exciting function’.

 This excitation is usually time dependent and it

may be harmonic, periodic or random in nature.
 Response of an undamped system
under a harmonic force
harmonic force - spring force = mass  acceleration
d2x
Fcosω t - kx  m 
dt 2
d2x k F
+ x  cosω t
dt 2 m m

k
substituti ng ω n 2 
m

d2x 2 F
gives + ωn x  cosω t
2 m
dt
Response of an undamped system
under a harmonic force
 Solution of the differential equations
 The complementary function is:

x  C cos ωnt  D sin ωnt

which may be written :
x  A cos  ωnt  φ
The particular integral

x  X cos ω t

where X is a constant that denotes the maximum amplitude

of the forced vibration.
Substituting into the differential equation and solving for X gives
F
X 2
m (ωn  ω 2 )
F
This may be written in terms of the static deflection using δst 
k
The total solution
δst
X 2
ω
1   
 ωn 
Thus the total solution of the differenti al becomes :
δst
x  Acos ωnt  φ  2
cosω t
ω
1   
 ωn 
 δst
x  A cos ωnt  φ  cos ωt
The total solution ω
1   
2

 ωn 

1
When n the forcing frequency, , is less than the natural frequency,
the denominator in the equation positive.

One response for particular conditions is shown below.

 δst
x  A cos ωnt  φ 
The total solution ω
1   
2
cos ωt

 ωn 

When   1 the forcing frequency, , is greater than
n
the natural frequency, the denominator is negative in the
equation.
One response is shown below.
 δst
x  A cos ωnt  φ 
The total solution ω
1   
2
cos ωt

 ωn 

When   1 the amplitude becomes infinite. This condition
for which the forcing frequency, , is equal to the natural
n

frequency of the system, n, is known as ‘resonance’. The

response is shown below. As can be seen the amplitude increases
indefinitely.
Amplitude ratio

X 1

 st  
2

1   
 n 
 This ratio of the dynamic to static amplitude
of motion is called the ‘dynamic multiplier’
or ‘amplitude ratio’.
Response of a damped system
under a harmonic force
 A spring-mass system with viscous damping.
 A harmonic excitation, with the maximum value
‘F’ applied directly to the mass.
Response of a damped system
under a harmonic force
harmonic force - spring force - damping force = mass  accelerati on

dx d 2x
F cos  t - kx - c = m 
dt dt 2

d 2x dx
Rearranging gives : m 2 + c + kx  F cos  t
dt dt
Solution
 The complementary function
 1t  2t
x  Ae  Be
 The particular integral is found by assuming a solution in
the form of:
x  X cos( t   )
where X is a constant that denotes the maximum
amplitude of the forced vibration,
 is a constant denoting the phase difference between the
forcing function and its response.
Solution

X (k  m 2 ) cos   c sin   F 

X (k  m 2 ) sin   c cos   0 
Solution of these equations gives:
F
X 
 k  m 
1
2
 2
 c 2 2 2

 c 
  tan 
1
2 
 k  m 
Formulae
2 k c F
n  ; 2 n  ; and  st  ;
m m k

 st
X
2
 2
  2
 1        2  
      n 
  n 
   
 2   
1   n    2 n 
  tan  2
or tan  2
1
2
  
 1       n 
   
 n 
Total Solution

The totalsolution of the differential equation is

the sum of the exponential functions found from the
complementary function (which are just the same as for free
damped vibration) and the cosine function of the
particular integral defined by X and  as above.

The effects of the exponential terms will be damped out

shortly after the start of the vibration (referred to as the
transient vibration) leaving only the effect of the particular
integral term (referred to as the steady state vibration).
Total Solution

 It is the steady state vibration that is of most interest to us

in a forced vibration, the amplitude and phase of which has
been defined in our equations for X and  above.
Amplification factor
 The quantity X/st is called the
amplitude ratio, the amplification factor
or the magnification factor, and it is
shown plotted against /n in the figure
on next slide. The phase angle plot is
also shown.
Amplification factor and phase angle plot
Some points about forced vibration
 If = 0 (no damping) the phase angle  is zero below
resonance and 180 degree above resonance
 Damping reduces the amplitude ratio for all values of the
forcing frequency.
 The reduction of the amplitude ratio in the presence of
damping is very significant at or near resonance.
 It may be shown that the maximum amplitude ratio occurs
when
 f   n 1  2 2
which is lower than the undamped natural frequency, n, and
the damped frequency,
d  n 1   2
Some points about forced vibration
 The maximum value of X (by differentiation ) is given by:
X  1
  
  st  max 2 1  
2

In a vibration test, if the maximum amplitude of vibration is

measured, the damping ratio of the system may be found using
this equation.

 At the natural resonance frequency (ω = ωn)

X 1

 st 2
 Rotating Unbalance
 A common source of vibration in
rotating machinery is unbalance.
Consider the machine shown here.
 We assume that only vertical motion
is possible (i.e. single degree of
freedom model). The unbalance is
represented by an eccentric mass, m,
with eccentricity, e, rotating with
angular velocity, ω rad/s.

d 2x dx
M 2  c  kx  me 2 sin  t
dt dt
Response of damped system to
base excitation
 Exciting force comes from the base (eg vehicles with the road as
excitation).
 Let y(t) be the displacement of the base and x(t) be the displacement
of the mass from its static equilibrium position.

d2x  dx dy 
System equation: m 2 + c   + k ( x  y)  0
dt  dt dt 
Displacement transmissibility
y (t )  Y sin  t
This can be substituted into the equation of motion

d 2x  dx dy 
m 2 + c   + k ( x  y)  0
Displacement transmissibility,
dt Td : dt dt 

1
 2  2

    
1   2  
X    
 n 



Y  2
2
  2 

 1        2  
 
   
   n     n  

 Example
The vehicle has a mass of 1200
Kg, a suspension system spring
constant of 400 kN/m and a
damping ratio of 0.5. The road
surface varies sinusoidally with an
amplitude of 0.05 m and a
wavelength of 6 m. If the vehicle
speed is 100 km/hour what is the
displacement amplitude of the
vehicle?
Method: 1. Find ωn
2. Find ω 3. Calculate X/Y
Solution
k 400x10 3
n    18.2574 rad/s
m 1200
Speed = v = 100 Km/hour = 27.7778 m/s
λ=6m
f = v/ λand ω = 2πf
Thus ω = 29.0888 rad/s

 29.0888
  1.5933
n 18.2574
1
 2  2

    
 1   2  
X  n  1  2.5385
    0.8493
Y 
   
2 2

2 1  2.5385 2  2.5385
 1        2   
    n     n  
  

Y was 0.05 m, and so X = 0.0425 m.