11 - ME553 - Term162 - HMO (HARMONIC RESPONSE OF UNDAMPED SINGLE DEGREE OF FREEDOM SYSTEM) PDF

Dr.
Hassen OUAKAD 3/12/2017

ME201
Lectures # 11-16
(weeks # 06-08)
CHAPTER 03:
HARMONICALLY EXCITED VIBRATION OF
SINGLE DEGREE OF FREEDOM
SYSTEMS (SDOF)
Dr. Hassen M. Ouakad
Department of Mechanical Engineering
ME553, Mechanical Vibrations / Term 162
Chapter’s Objectives
After you have finished this chapter you will be able to do the
following:
 Obtain the harmonic response of viscously damped systems

having Single Degree of Freedom (SDOF)
 Distinguish between transient, steady state and total solutions.
 Understand the variations of magnification factor and phase angles with
the frequency of excitation.
 Obtain the phase shift between the system input and the system output.
 Obtain the steady state solution of systems subject to a mass
unbalance.
 Obtain the forced harmonic response of systems with a
Coulomb damping
Dr. Hassen OUAKAD ME 553 / 2
Title goes here 1

Dr. Hassen OUAKAD 3/12/2017
ME201
Chapter’s Outline
• Section 3.1: Introduction

• Section 3.2: General Equation of Motion Lectures # 11
• Section 3.3: Response of an Undamped System Under Harmonic Force
• Section 3.4: Response of a Damped System Under Harmonic Force Lecture # 12
• Section 3.5: Response of a Damped System Under Lecture # 13
• Section 3.6: Response of a Damped System Under the Harmonic Base Excitation. Lecture # 14
• Section 3.7: Response of a Damped System Under Rotating Unbalance. Lecture # 15
• Section 3.8: Forced Vibration with Coulomb Damping Lecture # 16
Force
(cosine OR sine)
Lecture # 11:
RESPONSE OF AN
UNDAMPED SYSTEM UNDER
HARMONIC FORCE
Dr. Hassen M. Ouakad
Department of Mechanical Engineering
ME553, Advanced Vibrations / Term 162
Title goes here 2

ME201
Lecture’s Objectives
After you have finished this lecture you will be able to do the
following:
 Distinguish between transient, steady-state, and total solutions.

 Obtain the harmonic response of systems having Single Degree of Freedom
(SDOF).
 Understand the variations of magnification factor and phase angles with the
frequency of
 excitation and the phenomena of resonance and beats.
Lecture’s Outline
 Introduction
 Equation of Motion (EOM) of Undamped SDOF

Under Harmonic Load
 Harmonic Response of Undamped SDOF Under

Harmonic Load
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ME201
Lecture’s Outline
 Introduction

Under Harmonic Load

Harmonic Load
Exciting Force &

Response of SDOF
Exciting Force System Response (vibration)
 Harmonic forces  Harmonic response
 Periodic forces  Periodic response
 Impulsive forces  Impulse response
 Random forces  Random response
Exciting force
F(t) F(t)
m Response
x(t) m
x(t)
k k
c
Undamped System Damped System
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ME201
Excitation Types
 Forcing function : external force acting on system (exciting force)

 Forced response : part of the response due to the forcing function
 Harmonic forces Harmonic

 Periodic forces
 Impulsive forces
 Random forces time
Periodic Random Continuous Transient
Example of Excitations
Press Exciter (shaker)
Wind
Internal
machinery
Traffic
Plant
Seismic activity
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ME201
Example of
Harmonic Motions
Harmonic/Transient Responses
Forced vibrations occur when external energy is

supplied to the system during vibration.
The external force can be supplied through either an

applied force or an imposed displacement excitation,
which may be harmonic, non-harmonic but periodic,
non-periodic, or random in nature.
Harmonic response results when the system responses to a

harmonic excitation.
Transient response is defined as the response of a

dynamic system to suddenly applied non-periodic
excitations.
In THIS CHAPTER, we consider the dynamic

response of a (sdof) system under the harmonic
excitation of the form:
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ME201
Ordinary Differential Equation (ODE)
ODE Resolution:
Homogeneous, Particular, and General Solution
Superposition Principle
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ME201
ODE Resolution:
Homogeneous, Particular, and General Solution
Superposition Principle
Forced Response v.s.

Natural Response
 The behavior determined by a forcing function is called a forced response, and that
due initial conditions is called natural response.
 The period between initiation of a response and the ending is referred to as the
transient period.
 After the response has become negligibly small, conditions are said to have reached
a steady state.
http://math.mit.edu/daimp/ForcedDampedVib.html
http://www.aw-bc.com/ide/idefiles/media/JavaTools/vibefdmp.html
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ME201
Lecture’s Outline
 Introduction

Under Harmonic Load

Harmonic Load
Undamped SDOF System

under Harmonic Force: EOM
Consider an undamped system subjected to a
harmonic force .
If the force acts on the mass m of the
system, the equation of motion reduces to
The homogeneous solution is given by:
Because the exciting force and particular solution is harmonic and

has same frequency, we can assume a solution in the form:
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ME201
Undamped SDOF System

under Harmonic Force: EOM
Response of an Undamped System

under Harmonic Force: EOM Resolution
By substituting Eq. into and
solving for X, we obtain
where denotes the static deflection of the mass

subjected to the static excitation force (amplitude) F0 . Thus,
Using initial conditions, we find:
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ME201
Response of an Undamped System

under Harmonic Force: EOM Resolution
Case # 01
The denominator is (+ve)  Xp(t) and
F(t) have same signs, the response is
said to be in phase with the external
force.
 The harmonic response of the system is in phase with external
force, shown in the below figure:
 Input (force F) and Output (xp) have the same frequency ω

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ME201
Case # 02
The denominator is (-ve)  the steady-

state solution can be expressed as.
where the amplitude, is redefined to be a (+ve) quantity as
 Xp(t) and F(t) have opposite signs, the response is said to be 180̊ out of
phase with the external force.
Case # 03
The denominator reaches ZERO  The

amplitude X becomes INFINITE.
This condition, for which the forcing frequency is equal to the

natural frequency of the system, is called resonance.
Hence, the total response if the system at resonance becomes
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ME201
Total Response
The total response of the system,
can also be expressed as
and
Case # 01
Total Response: Time-History
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ME201
Case # 02
Total Response: Time-History
Beating Phenomenon
If the forcing frequency is close to, but not exactly equal to, the
natural frequency of the system, beating may occur.
The phenomenon of beating can be explained by considering

solution to Equation:
For zero initial conditions, the previous equation reduces to
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ME201
Beating Phenomenon
(*)
Let the forcing frequency ω be slightly lower than the natural

frequency ωn , i.e, , where Є is a small positive
quantity.
We asusme that, , then: Hence:
Inserting all equation into Eq. (*) gives:
(**)
Thus Eq. (**) may be seen as representing vibration with period

2π/ε and of amplitude
Beating Phenomenon
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ME201
Beating Phenomenon
Example # 01:
Plate Supporting a Pump
A reciprocating pump, having a mass of 68 kg, is mounted at the middle of a steel
plate of thickness 1cm, width 50 cm, and length 250 cm, clamped along two
edges as shown in Figure. During operation of the pump, the plate is subjected to
a harmonic force, F(t) = 220 cos 62.832t N.
Find the amplitude X of vibration of the plate.
Title goes here 16

ME201
Example # 01
(continued)
Example # 02:
Determination of Mass from Known Harmonic Response
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ME201
Example # 02
(continued)
MATLAB Coding
Implementation
NEXT SLIDE
Title goes here 18

ME201
MATLAB Coding
Implementation
End of
Lecture # 11
Dr. Hassen OUAKAD ME 482 38
Title goes here 19

11 - ME553 - Term162 - HMO (HARMONIC RESPONSE OF UNDAMPED SINGLE DEGREE OF FREEDOM SYSTEM) PDF

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Dr.

Hassen OUAKAD 3/12/2017

ME553, Mechanical Vibrations / Term 162

 Obtain the harmonic response of viscously damped systems

Dr. Hassen OUAKAD ME 553 / 2

Title goes here 1

• Section 3.1: Introduction

ME553, Advanced Vibrations / Term 162

Title goes here 2

 Distinguish between transient, steady-state, and total solutions.

Dr. Hassen OUAKAD ME 482 / 5

 Equation of Motion (EOM) of Undamped SDOF

 Harmonic Response of Undamped SDOF Under

Dr. Hassen OUAKAD ME 553 / 6

Title goes here 3

 Equation of Motion (EOM) of Undamped SDOF

 Harmonic Response of Undamped SDOF Under

Dr. Hassen OUAKAD ME 553 / 7

Exciting Force &

Undamped System Damped System

Dr. Hassen OUAKAD ME 482 / 8

Title goes here 4

 Forcing function : external force acting on system (exciting force)

 Harmonic forces Harmonic

Periodic Random Continuous Transient

Dr. Hassen OUAKAD ME 482 / 9

Press Exciter (shaker)

Title goes here 5

Dr. Hassen OUAKAD ME 482 / 11

Forced vibrations occur when external energy is

The external force can be supplied through either an

Harmonic response results when the system responses to a

Transient response is defined as the response of a

In THIS CHAPTER, we consider the dynamic

Dr. Hassen OUAKAD ME 482 / 12

Title goes here 6

Ordinary Differential Equation (ODE)

Dr. Hassen OUAKAD ME 482 / 13

Dr. Hassen OUAKAD ME 482 / 14

Title goes here 7

Dr. Hassen OUAKAD ME 482 / 15

Forced Response v.s.

Dr. Hassen OUAKAD ME 482 / 16

Title goes here 8

 Equation of Motion (EOM) of Undamped SDOF

 Harmonic Response of Undamped SDOF Under

Dr. Hassen OUAKAD ME 553 / 17

Undamped SDOF System

The homogeneous solution is given by:

Because the exciting force and particular solution is harmonic and

Dr. Hassen OUAKAD ME 482 / 18

Title goes here 9

Undamped SDOF System

Dr. Hassen OUAKAD ME 482 / 19

Response of an Undamped System

where denotes the static deflection of the mass

Using initial conditions, we find:

Dr. Hassen OUAKAD ME 482 / 20

Title goes here 10

Response of an Undamped System

Dr. Hassen OUAKAD ME 482 / 21

 Input (force F) and Output (xp) have the same frequency ω

Title goes here 11