Structural Dynamics

Single Degree of Freedom

(SDOF) System (6)
Harmonic Loading
Lecture 7
M.E. in Earthquake Engineering
Khwopa Engineering College, Bhaktapur
2020
SDOF System: Harmonic Loading

Equation of motion:mvt   cvt   kvt   P t  (1)

Harmonic loading: P t   P0 sin  t (2)

Damped system: mvt   cv(t )  kvt   P0 sin t (3)

P t   P0 sin  t
SDOF System: Harmonic Loading
Damped Harmonic Loading

mvt   cv t   kv t 
 Undamped Harmonic Loading

mvt   kvt   P0 sin  t (3)

General solution:
v(t) = vc(t) + p(t) (4)

Complementary solution:

vc(t) = A cos ωt + B sin ωt (5)

(6)
v P t   C sin  t
Particular solution:
 Undamped Harmonic Loading

Particular solution:
It is assumed that the response
(motion) of the undamped SDOF
system to the harmonic excitation is
harmonic and is in phase with the
harmonic load.
v P t   C sin  t
Undamped Harmonic Loading
v P t   CSin t
v p t   CCost
vp t    2 CSint

Substituting in the equation of motion,

 m 2 CSint  kCSint  p0 Sint
Sint  0, ingeneral,
 m 2  p0
   1 C 
 k  k
Undamped Harmonic Loading
k
Since,  2

m
p0 1
C
k  2 
 1  2 
  
Introducing, 
 - Ratio of applied load frequency to
 the natural free vibration frequency

P0 1
C

k 1  2 
 Undamped Harmonic Loading

Then,  
vp t 
P0 1
Sint
k 1 2

The general solution to the harmonic excitation is,

v t   v c t   v p t   ACost  BSint  Sint - 7 

p0 1
k 1  2
 
v t   ASint  BCost 
p0 1
Cost

k 1  2

 
Initial Conditions: at t = 0, v(t) = v(0) and v t  v 0
 Undamped Harmonic Loading

v 0  B 
V (0) = A P0 1

k 1  2

v0 P0  v 0 P0 
B   
 
k 1  
2
  
k 1  2 
 v o  p0  
v t   v 0Cost    Sint
   
2 
k 1  
Transient p0 1
Sint -(8)
Response 

k 1  2
 Steady State
Response
Undamped Harmonic Loading

If the system starts from rest, i.e.,

v 0  v0  0,
p0 
A  0 and B  
k 1  2
 
- (9)

Then the response,

v t   Sint  Sint  - (10)

p0 1

k 1  2

 Undamped Harmonic Loading

General solution:

v (11)

Two different components of vibration:

Forced or Steady State Vibration, and
Transient Vibration
v
 Undamped Harmonic Loading
p0
 v st Static displacement
k
1
Magnification Factor
1  2 
v t  v t 
Response Ratio: Rt    (12)
v st p0
k
Response ratio from the harmonic loading of an
undamped system (starting from rest) is

Rt   Sint  Sint 

1
1  
2
(13)
 Damped Harmonic Loading
mvt   cvt   kvt   P0 sin  t (14)

General solution:
v(t) = vc(t) + vp(t) (15)

Complementary solution:
vc(t) = e-ξωt (A cosDt + B sinDt) (16)

Particular solution:
v P t   C sin  t  D cos  t (17)
 Damped Harmonic Loading

Particular solution:
Sine as well as cosine term is
required because the response is not
in phase with the harmonic load.

v P t   C sin  t  D cos  t
 Damped Harmonic Loading

General solution:
v
(18)
v
 SDOF : Harmonic Response
(Damped)
Apply a harmonic forcing function: p0 sin  t
note that  is the DRIVING or INPUT frequency

The equation of motion becomes

m v( t )  cv( t )  kv ( t )  p0 sin  t
The solution consists of two terms:
The initial response, due to initial conditions which decays rapidly
in the presence of damping
The steady-state response as shown:

p0 sin( t   )
v(t )    sin  t   
k (1   2
) 2
 ( 2  /  ) 2
2

 SDOF : Harmonic Response
(Damped)
This equation deserves inspection as it shows several
important dynamic characteristics:
Phase lead of the response relative to the
input (see next page)

p0 sin( t   )
v(t ) 
k (1   2 ) 2
 ( 2  /  ) 2
2

This is the static loading
and dominates as   tends At >>  both terms
to 0.0 drive the response to 0.0

At =  this term = (2 )^2 and

controls the scaling of the response
At 
 =  this term = 0.0
With no damping present this From this is derived the Dynamic
results in an infinite response Magnification Factor 1/2 
 SDOF : Harmonic Response
(Damped)

 is defined as the phase angle by which the response lags

behind the applied load:

2 / 
  tan 1

1  2

 2
 SDOF : Harmonic Response
(Damped)
Summary:
For 
 1

Magnification factor 1 (static solution)
Phase angle 360º (response is in phase with the force)


For  1

Magnification factor 0 (no response)
Phase angle 180º (response has opposite sign of force)


For 1

Magnification factor 1/2
Phase angle 270º
 SDOF : Harmonic Response
(Damped)
m v( t )  cv( t )  kv ( t )  p0 sin  t

k  D


1
 ;  v st 1     2 

2 2 2
m

po  2 
v st    tan 1  2 
k  1   

Amplitude of the steady state response:

 
1

p0
  2  
2

 1  2
2 2

k
 SDOF : Harmonic Response
(Damped)
m v( t )  cv( t )  kv ( t )  p0 sin  t
Amplitude of the steady state response:

 
1

p0
  2  
2

 1  2 2 2

v t   Sint     2 
  tan 1 
 1   2 

 SDOF : Harmonic Response
(Damped)

D
1  2 
  tan 1  2 
1   
2 2
 2 
2
 1   
 Resonant Response
• In the derivation of the harmonic response for
undamped system, it was assumed that β ≠ 1
p0 1
v t   A cos t  B sin t  sin  t
k 1   
2

• If β = 1, the particular solution of the equation in the

form of C sinωt fails becase it is also a part of the
complementary solution
• When    , the particular solution of the equation
mvt   kvt   p0 sin  t

is of the form: v p  Ct cos t

 Resonant Response
p0
•Results into the value of C 
2k
p0
The particular solution is: v p t    t cos t
2k
The complete solution is:
p0
v t   A cos t  B sin t  t cos t
2k
If the initial condition is at rest, A = 0 and B = p0/2k,
and the complete solution is:

p0
v t    t cos t  sin t 
2k
 Resonant Response
• In the derivation of the harmonic response for
damped system, putting β = 1 in the equation:
v t   ( A cos  D t  B sin  D t )e t 
p0 1
   2
sin  t  2 cos  t ]
k 1     2 
[ 2 2
][ 1

will result into:

p0 1
 
v t  ( A cos  D t  B sin  D t )e t
 cos t
k 2
If the initial condition is at rest, : p0
A
2k
p0
B
2k 1   2
 Resonant Response
The complete solution then
is:
p0 t 
v t   [e (cos  D t  sin  D t )  cos t ]
2k 1 2
 Seismic Instruments

The base is moving harmonically with an acceleration amplitude

v g t   vg 0 Sint

mvg 0 p0
Then  D   D
k k
 Seismic Instruments
The base is moving harmonically with an acceleration
amplitude
v g t   vg 0 Sint
The equation of motion is

mvt   cv t   kv t    mvg t   peff t 

The solution of the steady state response of this equation is given by:
mvg 0
v t    DSint   
k
where, D - dynamic magnificat ion factor

D

p0

 1    2   
2 2 2
1
2

k
 Seismic Instruments
Some times, harmonics base displacement is given
v g  v g 0 Sint
v g  v g 0 Cost
vg   v g 0 2 Sint
Then, peff .  mv g  mv g 0 Sint
 2

mv g 0 2 2
 D  v g0 2 D
k 
  v g0  2 D
Seismic Instruments
m vt   cv t   kv t   m  2 v g 0 Sint
m 2 v g 0
v t   DSint   
k
  Dv g 0 Sint   
2
 Vibration Isolation

The first situation:

Vibration Isolation
 Vibration Isolation

The second situation:

Vibration Isolation
Vibration Isolation