Tuned Mass Dampers

CEE 541. Structural Dynamics

Department of Civil and Environmental Engineering
Duke University
Henri P. Gavin
Fall 2016

1 Damped Primary System, Undamped Tuned Mass Damper

Consider a damped single-degree-of-freedom (SDOF) oscillator (with mass m, stiffness k and
damping c driven by a sinusoidal force f (t) = f cos t) with an attached undamped and
unforced SDOF oscillator, (with mass ma and stiffness ka ). The coupled equations of motion
are
m
r(t) + cr(t)
+ kr(t) ka (ra (t) r(t)) = f cos t
ma ra (t) + ka (ra (t) r(t)) = 0

(1)
(2)

Using complex-exponential notation and retaining the positive-exponent parts, the steady
state responses r(t) = reit and ra (t) = ra eit to forcing f (t) = feit can be inserted into the
equations of motion to obtain
( 2 m + ic + k + ka )
r ka ra = f
ka r + ( 2 ma + ka )
ra = 0

(3)
(4)

and the frequency response function from forcing to the displacement response of the primary
system mass, m
2 ma + ka
r
H() = =
(1/k)( 2 m + ic + k + ka )( 2 ma + ka ) ka2
f /k

(5)

The frequency response function has a value of zero where 2 ma + ka = 0 which gives the
tuning equation for the un-damped tuned mass damper. The TMD should be tuned so that
its natural frequency equals the forcing frequency.
2 =

ka
= n 2a
ma

(6)

For systems tuned in this way, the motion amplitude of the TMD is out of phase with the
forcing, ra = f/ka . Undamped TMDs are applicable to cases in which the forcing frequency
is known precisely and in which the forcing frequency does not vary. Systems with undamped
TMDs are very sensitive to mis-tuning errors; they are not robust with respect to variations
in forcing frequency.

CEE 541. Structural Dynamics Duke University Fall 2016 H.P. Gavin

2 Undamped Primary System, Damped Tuned Mass Damper

Now, neglecting damping in the primary system, but adding damping to the TMD, we
consider the Den-Hartog absorber [1].
If ca = , the absorber
q is essentially linked with the primary system and the linked natural
frequency is nl = k/(m + ma ). If ca = 0, the system is un-damped and r/f is zero at
=

ka /ma .

The equations of motion in this case are

m
r(t) + kr(t) ca (ra (t) r(t))

ka (ra (t) r(t)) = f cos t

ma ra (t) + ca (ra (t) r(t))

+ ka (ra (t) r(t)) = 0

(7)
(8)

Using complex-exponential notation and considering the positive-exponent part of the solution, the frequency-response from forcing f to response r is
2 ma + ica + ka
r
H() = =
(1/k)[( 2 m + ica + k + ka )( 2 ma + ica + ka ) (ka + ica )2 ]
f /k

(9)

For fixed values of m, k, ma , and ka , and for any value of ca , all of the frequency-response
curves from f to r pass through the same coordinates, A , HA and B , HB .
Den-Hartog showed that when HA 6= HB the peaks of H() are not at A or B .
q

k/m, the

absorber natural frequency na = ka /ma , and the absorber damping ratio = ca /(2 mk).
The Den-Hartog design objectives are:
Define: the mass ratio = ma /m, the primary system natural frequency np =
q

to select na so that HA = HB 1 .
to select ca as the average of the damping values that maximize H() at A and at B .
The optimal tuning is found from the criterion HA = HB .
na
np
The values of HA and HB are both
2A,B =

=
opt

1
.
1+

(10)

(2 + )/ and are located at frequencies

!2

2 + 2 + 2
=
np A,B
(1 + )(2 + )

(11)

The optimal absorber damping is found from averaging the damping values that maximize
H() at A and at B ;
v
opt =
1

u
u
t

33
.
8(1 + )3

(12)

In this sense Den-Hartog invented H theory

CC BY-NC-ND H.P. Gavin

Tuned Mass Dampers

without TMD
with TMD

30

25

H() = r / (f/k)

20

15

10
ma/m = 0.2
ka/ma = k/m

5
n1

0
0.4

0.6

n2

0.8
1
frequency ratio = / np

1.2
(2np = k/m)

1.4

1.6

Figure 1. un-damped tuned-mass damper

ma
ra (t)

ka ,ca

r(t)
k

11111111111111
00000000000000
00000000000000
11111111111111

f(t)

11
00
00
11
00
11
00
11
00
11
00
11
00
11

f(t)

k
m
r(t)

ka
ma
ca
ra (t)

Figure 2. Force and displacement coordinates for the Den Hartog absorber

References
[1] Den Hartog, J.P., Mechanical Vibration, Dover 1984, (pp. 93-105).
[2] Hunt, J.B., Dynamic Vibration Absorbers, Mechanical Engineering Publications, 1979.
[3] Smith, R., Dynamic Vibration Absorbers, Sound & Vibration Magazine, Nov. 1998,
pp. 22-27.
[4] Snowdon, J.C., Vibration and Shock in Damped Vibrational Systems, Wiley 1968, Ch. 4.

CC BY-NC-ND H.P. Gavin

CEE 541. Structural Dynamics Duke University Fall 2016 H.P. Gavin

10

ca = 0
ca =
ca = 0.05

= ma/m = 0.2
ka/ma = k/m

H() = r / (f/k)

7
(A,HA)

6
5
4
3
2

(B,HB)

1
n1
0
0.4

0.6

n2

0.8
1
frequency ratio = / np

1.2
(2np = k/m)

1.4

1.6

Figure 3. un-tuned tuned-mass damper

ca = 0
ca =
ca = 0.05
ca = "opt"

= ma/m = 0.2
na/np = 1/(1+)

H() = r / (f/k)

4
(A,HA)

(B,HB)

0
0.4

0.6
0.8
1
frequency ratio = / np

(2np

1.2
= k/m)

1.4

1.6

Figure 4. Den-Hartog tuned-mass damper

CC BY-NC-ND H.P. Gavin