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Lecture 7

The document summarizes the response of a damped harmonic system when subjected to an external driving force. It describes that the response will also be harmonic, with an amplitude and phase that can be determined by substituting the response equation into the equation of motion. The amplitude and phase depend on the damping ratio and frequency ratio of the driving force. They are plotted in figures to show how increased damping reduces the response amplitude, especially near resonance. An example calculation is also shown to illustrate determining the specific response of a damped system driven at a given frequency and damping.

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53 views

Lecture 7

The document summarizes the response of a damped harmonic system when subjected to an external driving force. It describes that the response will also be harmonic, with an amplitude and phase that can be determined by substituting the response equation into the equation of motion. The amplitude and phase depend on the damping ratio and frequency ratio of the driving force. They are plotted in figures to show how increased damping reduces the response amplitude, especially near resonance. An example calculation is also shown to illustrate determining the specific response of a damped system driven at a given frequency and damping.

Uploaded by

yakwetu
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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23 August 2019

HARMONIC EXCITATION
RESPONSE – Damped
systems
Fig. 1

If the driving force F(t) for the above system is:


𝐹 𝑡 = 𝐹0 cos 𝜔𝑡
The equation of motion is:

-- (a)
The particular solution of Eq. of motion above is also expected to be
harmonic; we assume it in the form

𝑥𝑝 𝑡 = 𝑋 cos(𝜔𝑡 − ∅) -- (b)

where X and ϕ are constants to be determined. X and ϕ denote the


amplitude and phase angle of the response, respectively.

By substituting Eq. (b) into Eq. (a), we arrive at:

-- (c)

Using the trigonometric relations:


and equating the coefficients of cos ωt and sin ωt on both sides of
the resulting equation, we obtain:

-- (d)

Solution of Eq. (d) gives:

-- (e)

The phase angle becomes:

-- (f)
By inserting the expressions of X and from Eqs. (e) and (f) into Eq. (b),
we obtain the particular solution of Eq. (a).

Figure 2 (a) shows typical plots of the forcing function and (steady-
state) response.

The various terms of Eq. (c) are shown vectorially in Fig. 2(b).
Dividing both the numerator and denominator of Eq. (e) by k and
making the following substitutions
we obtain

-- (g)

and

-- (h)
(a) Graphical representation

(b) Vectorial representation Fig. 2


The quantity X/𝜕𝑠𝑡 as magnification factor, amplification factor,
or amplitude ratio.

The variations of X/𝜕𝑠𝑡 and ∅ with the frequency ratio r and the
damping ratio 𝜁 is shown in Fig. 3

The following characteristics of the magnification factor (M) can


be noted from Eq. (g) and amplitude ratio vs Frequency ratio
Fig. below

1. For an undamped (𝜁 = 0 )system Eqn. (g) reduces to Eqn.


(e) (Lecture 6), and M→∞ as r→1
2. Any amount of damping (𝜁 > 0) reduces the magnification
factor (M) for all values of the forcing frequency
3. For any specified value of r, a higher value of damping
reduces the value of M.
4. In the degenerate case of a constant force (when 𝑟 = 0 ), the value
of 𝑀 = 1

5. The reduction in 𝑀 in the presence of damping is very significant at


or near resonance.

6. The amplitude of forced vibration becomes smaller with increasing


values of the forcing frequency (that is, 𝑀 → 0 as 𝑟 → ∞).
Fig. 3 (a) Fig. 3 (b)
The following characteristics of the phase angle can be observed from
Eq. (h)

1. For an undamped system (𝜁 =0 ) Eqn. (h) shows that the phase


angle is 0 for 0 < r < 1 and 180° for r >1. This implies that the
excitation and response are in phase for and out of phase for r < 1
when 𝜁 = 0
Total Response

Thus, for an underdamped system, we have;

X and ∅ are given in equations (g) and (h)

X0 and ∅0 can be determined from the initial conditions:


x (𝑡 = 0) = x0 and
𝑥ሶ = 0 = 𝑥0ሶ (𝑡 = 0) = 0

-- (i)
From equation (i), X0 and ∅0 are given as:
Example

Solution
Damping ratio

Damped
freq

Freq. ratio

0.025
=
1 − 0.52 2 + 2 × 0.5 × 0.05 2

Eqn -- (1)

=0.0667rads = 3.82⁰ Eqn -- (2)


Eqn -- (3)

Eqn -- (4)
Eqn (3) into Eqn (4)
we obtain
Eqn (5)

Solution of Eqns (3) and (5) yields;

𝑥 𝑡 = 𝑋0 𝑒 −𝜁𝜔𝑛 𝑡 cos 𝜔𝑑 𝑡 − 𝜙0 + 𝑋 cos 𝜔𝑡 − 𝜙

𝑥 𝑡 = 0.023297𝑒 −𝑡 cos 19.9𝑡 − 5.58 + 0.03326 cos 10𝑡 − 5.58


𝑥 𝑡 = 𝑋0 𝑒 −𝜁𝜔𝑛 𝑡 cos 𝜔𝑑 𝑡 − 𝜙0

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