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ME 563 Mechanical Vibrations Lecture #10: Single Degree of Freedom Free Response

The document discusses free response in single degree of freedom systems. It provides three main methods to solve for free response: 1) assume a solution of the form x(t)=Aest and apply initial conditions, 2) use the Laplace transform to transform the equation of motion, and 3) solve the characteristic equation. The nature of the free response depends on whether the roots of the characteristic equation are overdamped, critically damped, or underdamped. For an underdamped system, the free response can be written as a damped sinusoid with the real part of the root determining decay and the imaginary part determining oscillation frequency.

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57 views

ME 563 Mechanical Vibrations Lecture #10: Single Degree of Freedom Free Response

The document discusses free response in single degree of freedom systems. It provides three main methods to solve for free response: 1) assume a solution of the form x(t)=Aest and apply initial conditions, 2) use the Laplace transform to transform the equation of motion, and 3) solve the characteristic equation. The nature of the free response depends on whether the roots of the characteristic equation are overdamped, critically damped, or underdamped. For an underdamped system, the free response can be written as a damped sinusoid with the real part of the root determining decay and the imaginary part determining oscillation frequency.

Uploaded by

nils4586
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ME 563

Mechanical Vibrations
Lecture #10
Single Degree of Freedom
Free Response

Free Response

When solving the homogeneous equation of motion (forcing


function = 0), we are finding the free response. One way to
solve for the free response is as follows:
- Identify the initial conditions on all the states
- Assume a solution of the form x(t)=Aest

Disc on An Incline
Consider the disc on an incline with no forcing function:

Recall xd is called the dynamic displacement.


If we make a solution of the form,

, we obtain:

Characteristic Equation
The only solutions that satisfy the equation of motion that are
not trivial (A=0) must also satisfy the characteristic equation:

The solution to the homogeneous equation are then written as


follows:
Roots, poles, modal frequencies

Because the equation


is linear, the solutions
superimpose

Initial Conditions
It is important to note that the modal frequencies of the
system are only a function of the mass, damping, and stiffness
parameters and not a function of the initial conditions or
forcing function.
The constants A1 and A2 are found by applying the initial
conditions to the solution that was obtained:

Or

Alternative Solution Method


Another method to solve for the free response is to transform
the equation of motion into the complex frequency domain
using the Laplace transform:

Note the initial conditions are embedded in the process.

The Roots of the Response


The roots of the characteristic equation determine the nature
of the free response. This relationship between the roots and
the free response can be represented graphically by plotting
the real and imaginary parts of the roots in the complex plane.
First, the roots are expressed as follows to show our preference
for complexity (because we only expect free oscillations when
the roots are complex):
Terminology

Visualizing the Free Response


The roots are then plugged into the solution:

We then learn that there are three types of (stable) roots:


Overdamped: No free oscillations can take place
Critically damped: No free oscillations can take place

Underdamped: Free oscillations can take place

Real Underdamped Response


For an underdamped free response, the solution can be written
in a different way if we consider real responses only:
x d (t) = et ( A1e j d t + A2e j d t )
= et ( A1 (cos d t + j sin d t ) + A2 (cos d t j sin d t ))
= et (( A1r + jA1i )(cos d t + j sin d t ) + ( A2r + jA2i )(cos d t j sin d t ))
( A1r + A2r ) cos d t + ( A2i A1i ) sin d t

= et
+ j ( A1i + A2i ) cos d t + j ( A1r A2r ) sin d t

What is the condition required for a real response?

Simplified Form of Response


Therefore, it is more straightforward to write the free response
in its real form:

10

Simplified Form of Response


After applying the initial conditions, the free response is
obtained:

where,

11

Notes about Free Response


There are several important things to note about the free
response:
-Real part of the root determines the decay (damping factor)
-Imaginary part of the root determines oscillation frequency
(damped natural frequency)
-When the damping coefficient is positive, the real part of the
root is negative and the free response is stable.
-When the damping coefficient is zero, the roots are imaginary
and the free response is marginally stable (oscillates forever).

12

Roots in Complex Plane


The underdamped roots can now be plotted in the complex
plane using the following geometric rule that makes use of the
modal parameters (damping ratio, natural frequencies):

13

Visualizing the Free Response

14

Response Characteristics
How long does it take for the response to decay?

What system parameters determine the decay rate?

What is the period of oscillation?

15

Example #1
For initial position 1m and initial velocity 0m/s, find xd(t).

Second option

16

Example #2
For initial position 0m and initial velocity 1/M m/s, find xd(t).

Impulse response

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