Lecture 7

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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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