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Structural Dynamics TME141

This document summarizes the key topics covered in the first lecture of a structural dynamics course. It introduces (1) what structural dynamics is, which is the study of vibrations in structures like buildings and machines, (2) why it is important to study vibrations to prevent damage, and (3) what the course will cover, including modeling structural systems analytically and numerically.

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Majid Khorsand Vakilzadeh
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© Attribution Non-Commercial (BY-NC)
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Download as PDF, TXT or read online on Scribd
186 views

Structural Dynamics TME141

This document summarizes the key topics covered in the first lecture of a structural dynamics course. It introduces (1) what structural dynamics is, which is the study of vibrations in structures like buildings and machines, (2) why it is important to study vibrations to prevent damage, and (3) what the course will cover, including modeling structural systems analytically and numerically.

Uploaded by

Majid Khorsand Vakilzadeh
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Structural Dynamics TME141

Lecture 1

Structural Dynamics TME141

Lecture 1

Structural dynamics

What is structural dynamics?


The study of vibrations and other dynamical eects in structures such as airplanes, vehicles, machines, buildings etc. These structures are constructed from simpler structural elements such as rods, beams, plates, shells etc.

Why studying structural dynamics?


Vibration is often an unwanted feature, that may result in noise, shaking, wobbling and other instabilities. It may cause severe damages to the structures such as fatigue failures or resonance collapses. It is important to have a thorough knowledge about vibration in structural elements in order to reduce vibrations and its eects.

Structural Dynamics TME141

Lecture 1

Structural dynamics

What will the course cover?


Modeling and analyzing of structural systems using both analytical and numerical methods. Experimental aspects will only be investigated briey (see Structural dynamics - model validation TME230). Analytical methods give a sound physical insight to some of the basic vibrational features, such as for the continuous equations of motion applied on structural elements. Numerical methods are crucial to solve many real life problems, adopting e.g. FEM. This results in multiple degree of freedom (MDOF) systems from the discretized equations of motion on structural elements. The basic features in MDOF are present in simpler systems such as in single degree of freedom (SDOF) and two degree of freedom (2-DOF) systems. These are studied in some detail, using both analytical and numerical methods.

Structural Dynamics TME141

Lecture 1

Undamped vibrations

External force p(t) and moving base z(t) Equation of motion becomes m + ku = kz + p u
2 2 u + n u = n z + p/m

(1)

n =

k/m.

Free vibrations; p(t) = 0 and z(t) = 0 Equation (1) gives


2 u + n u = 0.

Characteristic equation using u = C e st is


2 s 2 + n = 0 s 1,2 = in ,

resulting in u(t) = C 1 e in t + C 2 e in t = A1 cos n t + A2 sin n t. (2)

Structural Dynamics TME141

Lecture 1

Undamped vibrations

Constants A1 and A2 from initial conditions (IC) u(0) = u0 , u(0) = v0 A1 = u0 , A2 = v0 /n .

Let us study the case p(t) = 0 and z(t) = 0. External force p(t) Equation (1) gives
2 u + n u = p/m.

This equation is solved by u(t) = uc (t) + up (t), (3)

where uc (t) is the complementary (homogenous) solution Eq. (2) and up (t) is the particular solution.

Structural Dynamics TME141

Lecture 1

Undamped vibrations

Constant external force p(t) = p0 up (t) = p0 /k Linear external force p(t) = p0 t/t0 up (t) = p0 t/(kt0 ) Harmonic external force p(t) = p0 cos t
2 up (t) = p0 cos t/(mn m2 )

(4)

The latter when n is called resonance.

Structural Dynamics TME141

Lecture 1

Undamped vibrations

Equation (4) may be written up (t) = U cos t,


2 U = p0 /(mn m2 ).

By letting U0 = p0 /k be the static solution (just let 0 above), the frequency response function is dened as H (r) = U /U0 = 1/(1 r 2 ), r = /n .

In all the examples above with an external force p(t), the same procedure holds for a moving base z(t). Note that 2 IC are needed to solve for A1 and A2 in the total solution Eq. (3). The complementary solution uc (t) is sometimes disregarded if the forced vibration has been active for a long time. Then no IC are needed for the solution.

Structural Dynamics TME141

Lecture 1

Undamped vibrations

Arbitrary external force p(t)


It is useful to adopt Laplace transform for this case. Eq. (1) then becomes
2 s 2 U (s) su0 v0 + n U (s) = P(s)/m,

where s is the Laplace variable and capital letters denote transformed elds. This equation could be rewritten as U (s) = H (s) (P(s) + m(su0 + v0 )) , where the transfer function H (s) (not to be confused with the frequency response function H (r)) is H (s) = 1 . 2 m (s 2 + n )

Write the eld U (s) = U1 (s) + U2 (s) where U1 (s) = H (s)m (su0 + v0 ) , U2 (s) = H (s)P(s).

Structural Dynamics TME141

Lecture 1

Undamped vibrations

The time domain transfer function h(t) becomes h(t) = sin n t/(mn ). Hereby u1 (t) is u1 (t) = u0 cos n t + v0 sin n t/n , in line with the complementary (homogenous) solution Eq. (2) for the free case. The solution u2 (t) (a particular solution) is easily obtained directly for the simple cases previously studied. For a general force p(t) the solution is obtained using convolution integral
t

u2 (t) =
0

p( )h(t )d.

Note that u2 (t) = h(t) when p(t) = (t) (the Dirac impulse delta function). The time domain transfer function h(t) is also the impulse response function. The integral is called the Duhamel integral.

Structural Dynamics TME141

Lecture 1

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