Lecture - 8 Forced Vibration
Lecture - 8 Forced Vibration
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’.
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 X cos ω t
ωn
1
When n the forcing frequency, , is less than the natural frequency,
the denominator in the equation positive.
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
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
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