iii 1 0.1 Damped response to Periodic forcing functions • Damped eigenvalues and eigenvectors do not always match undamped case, but only in some special cases like Proportional Damping
• In Proportional Damping: C = αM + βK where α and β are real scalar constants.
• However, we do not expect to always see proportional damping in the real world. So we do not get eigenvectors that can decouple the system.
• In such cases, just ignore the off-diagonal term when they are small compared to those on the diagonal after formal decoupling (Forced Decoupling)
Example: Consider a simple 2DOF forced and damped mass- spring system Fig. 1
Figure 1: 2DOF Mass-Spring-Damper system
EOM: In Matrix form: " #" # " #" # " #" # " # m1 0 ẍ1 c1 + c2 −c2 ẋ1 k1 + k2 −k2 x1 f1 + + = 0 m2 ẍ2 −c2 c2 + c3 Ẋ2 −k2 k2 + k3 X2 f2 | {z } | {z } | {z } | {z } | {z } | {z } | {z } M Ẍ C Ẋ K X F (1) In a familiar form M Ẍ + C Ẋ + KX = F (2) Assume The forcing function is harmonic and using our earlier parameter values for mode 2:
" # " # f¯1 1 F = F̄ eiωt and = cos(ζt) f¯2 −1 2 where ζ is the real part of eζit and ζ ≡ ω We can assume a solutions: X = X̄eiωt (3) Plug in the Equation of motion to give,
2 −1 X̄ = −ω 2 M + iωC + K
−ω M + iωC + K X̄ = F̄ → F̄ (4)
" # " #−1 " #
X̄1 −ω 2 m1 + iω(c1 + c2 ) + (k1 + k2 ) iωc2 − k2 f¯1 = X̄2 iωc2 − k2 −ω 2 m2 + iω(c2 + c3 ) + (k2 + k3 ) f¯2 | {z } This will be imaginary (5) Note: Take the real part to match the realness of the input REFERENCES
