V&N 354 LectureLesing5

UNIVERSITEIT•STELLENBOSCH•UNIVERSITY
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Vibration and Noise 354

Prof A Bekker
Lecture 5: Harmonic excitation of undamped systems1

Solution to the equation of motion
Consider the system that is acted on by an external force, F (t):
x(t)
c
fc
F (t) F (t)
m
mg
k fk
N1 N2
First consider the undamped case where c = 0. If the forcing function is harmonic,
F (t) = F0 cos ωt, the equation of motion is:
mẍ + kx = F0 cos ωt (1)

For this case the complete solution of the motion, x(t) consists of two parts: a particular
solution, xp (t), and a homogeneous solution, xh (t):
x(t) = xh (t) + xp (t) (2)

where:
xh (t) = A1 sin ωn t + A2 cos ωn t (3)
xp (t) = X cos ωt (4)

1
Lecture notes adapted from: Inman, DJ; Engineering Vibration; Fourth Edition; pp 130-142; Van
Niekerk, JL; Vibration and Noise 354 class notes; 2016 and Muiyser, J; Vibration and Noise 354 class
notes; 2018.
1
The particular solution is assumed to have the form of the forcing function and should
satisfy the equation of motion. Substituting this solution into the equation of motion
yields:
−ω 2 mX cos ωt + kX cos ωt = F0 cos ωt (5)

F0
Dividing by m and introducing f0 = :
m
(−ω 2 X + ωn2 X − f0 ) cos ωt = 0 (6)
Using the method of undetermined coefficients this can only be true when:
f0
X= (7)
ωn2 − ω 2
As before the initial conditions, x0 and v0 , can be used to determine the unknown
parameters, A1 and A2 , to obtain the complete solution:

v0 f0 f0
x(t) = sin ωn t + x0 − 2 2
cos ωn t + 2 cos ωt (8)
ωn ωn − ω ωn − ω 2
The figure below shows the response of a system where ωn = 1 rad/s to harmonic
excitation of magnitude f0 = 0.1 N/kg at ω = 2 rad/s and initial conditions x0 = 0.01 m
and v0 = 0.01 m/s. The motion can be seen to be the summation of two sine waves at the
respective frequencies.
2
Beat frequency
In situations where the driving frequency is close to the natural frequency harmonically
excited systems exhibit beating”. Consider the case where x0 = 0 m and ẋ0 = 0 m/s:
f0
x(t) = (cos ωt − cos ωn t) (9)
ωn2 − ω2
From the trigonometry identity:

v−u v+u
cos u − cos v = 2 sin sin (10)
2 2
It can be shown that:

2f0 ωn − ω ωn + ω
x(t) = 2 sin t sin t (11)
ωn − ωn 2 2
When the excitation frequency becomes very close to the system’s natural frequency
the resulting motion’s amplitude begins to vary slowly. This is called a beat. The beat
frequency is:
ωbeat = |ωn − ω| (12)
Resonance
When the excitation frequency exactly equals that of the system’s natural frequency the
particular solution of equation 8 is no longer valid. The particular solution now takes the
form:
f0
xp (t) = t sin ωt (13)
2ω
3
and the total solution becomes:
v0 f0
x(t) = sin ωt + x0 cos ωt + t sin ωt (14)
ω 2ω
A plot of the solution shows that the displacement grows without bound and would
cause the spring to break and fail. This is known as resonance.
Matlab code for forced response
1 % System p a r a m e t e r s
2 m = 1; % Mass [ kg ]
3 k = 1; % S t i f f n e s s [N/m]
4 wn = s q r t ( k / m ) ; % N a t u r a l f r e q u e n c y [ rad / s ]
5
6 % Harmonic e x c i t a t i o n
7 f0 = 0.1; % Amplitude o f e x c i t a t i o n [N/ kg ]
8 w = 2; % Frequency o f e x c i t a t i o n [ rad / s ]
9
10 % I n i t i a l conditions
11 x0 = 0 . 0 1 ; % I n i t i a l d i s p l a c e m e n t [m]
12 v0 = 0 . 0 1 ; % I n i t i a l v e l o c i t y [m/ s ]
13
14 t = 0:0.01:80;
15
16 % Solution
17 x = v0 / wn ∗ s i n ( wn ∗ t ) + ( x0 − f 0 / ( wnˆ2 − wˆ2 ) ) ∗
c o s ( wn ∗ t ) + f 0 / ( wnˆ2 − wˆ2 ) ∗ c o s ( w ∗ t ) ;
18
4
19 % P l o t t i n g the curves
20 f i g u r e ( ’ DefaultAxesFontSize ’ , 12 , ’ Pos ition ’ , [ 1 0 0 , 1 0 0 , 8 0 0 , 5 0 0 ] )
; h o l d on ;
21
22 l 1 = p l o t ( t , x , ’ LineWidth ’ , 1 ) ; L1 = ’ Response ’ ;
23
24 grid () ;
25
26 x l a b e l ( ’ Time [ s ] ’ )
27 y l a b e l ( ’ D i s p l a c e m e n t [m] ’ )
28
29 p r i n t ( ’ f o r c e d u ’ , ’−dpng ’ )
5
Example problem
Consider the structure shown below. The two slender rods are connected perpendicularly
and can pivot about their centres of mass at O. Each rod has a mass per unit length
of ρ and is supported by a spring. The horizontal rod is subjected to a harmonic force
F = F0 cos ωt.
2L 2L
θ
F (t) = F0 cos ωt
L k1
L
k2
1. Derive the equation of motion for the system for small angular deflections in terms
of the angular rotation θ. Note that the moment of inertia of a rod about it’s center
1
of mass is mL2 .
12
2. Obtain the solution for the motion of the system, θ(t), for ρ = 1 kg/m, L = 1 m,
k1 = 100 N/m, k2 = 50 N/m, F0 = 6 N and ω = 8 rad/s given zero initial conditions.
3. Plot the forced response of the system.
Solution
The sum of the moments about point O taking counter-clockwise as positive:
−k1 (2L)2 cos θ sin θ − k2 L2 cos θ sin θ + 2F L cos θ = IO θ̈ (15)

The moment of inertia of the system:
1 1
IO = (4ρL)(4L)2 + (2ρL)(2L)2 = 6ρL3 (16)
12 12
For small angles the equation of motion is:
6ρL2 θ̈ + (4k1 L + k2 L)θ = 2F0 cos ωt (17)

The natural frequency is:
6
s
4k1 + k2
ωn = = 8.66 rad/s (18)
6ρL
The solution to the motion:
θ˙0

f0 f0
θ(t) = sin ωn t + θ0 − 2 2
cos ωn t + 2 cos ωt
ωn ωn − ω ωn − ω 2
f0
= (cos ωt − cos ωn t) (19)
ωn − ω 2
2
The mass-normalized force:
2F0
f0 = = 2 rad/s2 (20)
6ρL2
The resultant solution:
θ(t) = 0.182 (cos 8t − cos 8.66t) (21)

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UNIVERSITEIT•STELLENBOSCH•UNIVERSITY

jou kennisvennoot • your knowledge partner

Vibration and Noise 354

Lecture 5: Harmonic excitation of undamped systems1

mẍ + kx = F0 cos ωt (1)

x(t) = xh (t) + xp (t) (2)

xh (t) = A1 sin ωn t + A2 cos ωn t (3)

xp (t) = X cos ωt (4)

−ω 2 mX cos ωt + kX cos ωt = F0 cos ωt (5)

ωbeat = |ωn − ω| (12)

Matlab code for forced response

3. Plot the forced response of the system.

−k1 (2L)2 cos θ sin θ − k2 L2 cos θ sin θ + 2F L cos θ = IO θ̈ (15)

6ρL2 θ̈ + (4k1 L + k2 L)θ = 2F0 cos ωt (17)

The mass-normalized force:

θ(t) = 0.182 (cos 8t − cos 8.66t) (21)

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