Chapter 3

Response to Harmonic and Periodic

Vibrations

Dr. Adil Zekaria (AAIT)

Harmonic & Periodic Vibration 3.2

SDOF - HARMONIC EXCITATIONS Dr. Adil Z. (AAIT)
Vibration generators

m u  k u  po sin( t )

1
 Harmonic & Periodic Vibration 3.2
SDOF - HARMONIC EXCITATIONS Dr. Adil Z. (AAIT)

Example 2 yut
A harmonic load u(t )
u
is applied to the k
m po sin(t ) u  u  ug
t m
structure.
k /2 k /2
Without damping, the equation of motion is m u t  k u

m u  k u  po sin(t ) ug (t ) = ugo sin(t )

Example 1 If u is to be studied (e.g. earthquake)

me
m
The system consisting m ( u  ug )   k u
of the mass m and the v = r sin(t )
eccentric mass me is m  m u  k u  m u go  2 sin( t )
considered for writing u
Newton’s equation. k /2 k /2
If ut is to be studied (e.g. floor isolation)

m u t   k ( u t  u g )
(m  m e ) u  m e ( v  u )   k u
 m u t  ku t  k u go sin( t )
m u  k u  m e r  2 sin( t )

Harmonic & Periodic Vibration 3.3

WITHOUT DAMPING Dr. Adil Z. (AAIT)
u(t ) ρ and  are determined by the initial conditions
k po sin(t ) u(t) is a summation of two sine functions and
m u  k u  po sin(t ) m
is not defined for  = n.

In reality, the damping implies that uh(t)

The solution u(t) of the differential equation is
disappears after some time. Then the solution
the sum of two parts uh (t) and up (t).
( steady state response ) is

u(t )  uh (t )  u p (t ) po k
u(t )  u p (t )  sin(t )
1  ( n )2
homogeneous solution u h ( t )   sin( ωn t   )

conclusions
particular solution u p ( t )  C sin(t )
• After some time, the structure vibrates with
u p ( t )  C 2 sin(t )
the same frequency as the applied force.
po po / k • The amplitudes of the vibration are infinite
  mC 2  kC  p o  C  
k  mω2 1  (ω ωn ) 2 when  = n.

uh(t) is the transient response

po k
u ( t )   sin(n t   )  sin( ωt )
1  ( n ) 2 up(t) is the steady state response

2
 Harmonic & Periodic Vibration 3.4
Dr. Adil Z. (AAIT)
WITH VISCOUS DAMPING
after calculations (see the book), it is obtained
u(t )

c po sin(t )
po k
m u p (t )  sin(t   )
k
1  (  ) 
n
2 2
 2 ( n ) 2

2 ( n )
m u  c u  k u  po sin(t ) tan  0    180
1  ( n )2

The homogeneous solution uh(t) (transient

response) disappears after some time.
Remarks
u h (t)   e   n t
sin(D t   )
• The total response is u(t) = uh(t) + up(t). But
after some time uh(t) disappears and u(t) = up(t)
The particular solution up(t) (steady state (steady state response).
response) is of the form:
• After some time, the structure vibrates with the
same frequency as the applied force.
u p ( t )  C sin(t   )

Harmonic & Periodic Vibration 3.5

Dr. Adil Z. (AAIT)

This numerical example shows that the 1

transient response uh(t) disappears after 0.8

some time and that only the steady state
0.6
response up(t) is then left. u
0.4

0.2

u(t )  uh (t )  u p (t ) 0

-0.2

-0.4

u ( t )   e  n t sin(D t   ) -0.6

p k
 sin(t   )
o -0.8

1  (  )   2 (  )
0 5 10 15 20 25
2 2 2 t
n n

total response u(t)

transient response uh(t)

ρ and  are determined by the initial conditions.
For this case, the steady state is obtained
after about 20 seconds.

3
 Harmonic & Periodic Vibration 3.6
Dynamic factor Dr. Adil Z. (AAIT)
Rd can be plotted as function of the ratio  /n
After some while, the structure vibrates with the for different values of the damping coefficient .
same frequency as the applied force. It is the
steady state response up(t). 5

4.5
The amplitude of these vibrations are now studied.  = 0.1
4

3.5

po k 3
u p (t )  sin(t   ) Rd  = 0.2
1  (  ) 
n
2 2
 2 ( n ) 2 2.5

1.5  = 0.4
1
The static deformation p
(ust )o  o 0.5
due to a static load po is k
0
0 0.5 1 1.5 2 2.5 3

(  n )
The amplitude of the vibration is equal to the
product of the static deformation times a
dimensionless dynamic factor Rd.   n  0.25  Rd  1 " quasi static" response
m u  c u  k u  po sin(t )  u  po k sin(t )
1
Rd ( , n )    n the amplitudes of vibrations
1  (  ) n
2 2
 2 ( n ) 2
become large : Resonance

Harmonic & Periodic Vibration 3.7

The steady state response Dr. Adil Z. (AAIT)

po k
u(t)  sin( t -  )
[1  ( n )2 ]2  [2 / n ]2
u (t )  (ust )o Rd sin( t   )  uo sin( t   )
where
(ust )o  po k and
uo 1
Rd  
(ust )o [1  ( n ) ]  [2 / n ]2
2 2

If  n  1  Rd  1; u0  (ust )o
n2 p
If  n  1  Rd  0; u0  (ust )o  o
 2 m 2
(ust )o po
If  n  1  Rd  ; u0  
2 c

4
 Harmonic & Periodic Vibration 3.8
Resonance Dr. Adil Z. (AAIT)

Resonance is reached for

  r  n 1  2 2

For this value of  , the dynamic factor is

1
Rd max 
2 1   2

1 1
Similarly R v, max  ; Ra,max 
2 2 1   2

1
if   0.1 then Rd max  and
2

n  k m   D  n 1   2  r  n 1  2 2

Example
  2%  Rd  25

The deformations are 25 times the static ones.

Harmonic & Periodic Vibration 3.9

Experimental method to determine Band-width method Dr. Adil Z. (AAIT)
Damping ratio, 
The structure is excited by a harmonic load. The
frequency of the load is increased step by step.
1. Decay of Amplitude method At each step, the amplitudes of vibrations of the
steady state response are measured. This
implies that at each step, some time must be
1 u
 ln n for   0.2 waited so that the transient response
2j un j disappears. The curve Rd as function of  is then
obtained experimentally.
3

2. Band-Width Method Rd max

Rd Rd max
2
2
2  1 f2  f1
  for   0.1
2  1 f2  f1
1

3. Resonant Testing Method 0

0
1  r  2  2

1 (ust )0

2 (u0 ) n 2  1 f2  f1 
  0.1     f 
2  1 f2  f1 2

5
 Harmonic & Periodic Vibration 3.10
Force transmission and vibration isolation Dr. Adil Z. (AAIT)

A harmonic load is applied to a structure. This fT (t )  poRd sin(t   )  2 ( n ) cos(t   )

structure is connected to the ground through a
support modelled by a spring k and a damper c.  poRd 1  2 ( n ) 2 sin(t     )

p(t ) = po sin(t )
u The transmissibility TR is defined as the ratio
Steady state response between the amplitude of the transmitted force fT
m and the amplitude of force applied to the structure.
po
k c u(t )  Rd sin(t   )
k

fT max 1  2 ( n ) 2
TR  
1  (  ) 
fT
po 2 2
 2 ( n )
2
n

The force transmitted to the ground is

TR is dimensionless.
fT (t )  ku(t )  cu (t )

poc The objective is to choose the support (k, c)

 poRd sin(t   )  Rd cos(t   )
k such that TR is as small as possible.

Harmonic & Periodic Vibration 3.11

The mass m of the structure and the frequency Dr. Adil Z. (AAIT)
of the load  are imposed. The problem is to
choose a support with k and  such that the
transmissibility TR is minimal.

TR as function of the ratio  n is plotted for

different values of .
n  k m

The transmitted force is less than the applied

one if the natural frequency n is such that
 n > 1.4 .
A low TR is obtained for low values of n and .
However, a very low n implies a low k and
therefore a too large static displacement po / k.
Besides, a very low  implies high
displacement amplitude while passing through
resonance which may occur before the load
reaches the circular frequency .
Natural rubber is a good compromise and is
often used for the isolation of vibrations.

6
 Harmonic & Periodic Vibration 3.12
PERIODIC EXCITATION Dr. Adil Z. (AAIT)
Newton’s equation is
u(t )

A SDF system is excited
by a periodic (but not
k
m p(t )

mu  ku  p(t )  ao   a j cos( jot )  b j sin( jot ) 
j 1
harmonic) load.
The steady state response is calculated by
p(t ) using the theorem of superposition.

po
ao
mu  ku  ao  u p 
k
t
To 2To 3To b j k
mu  ku  b j sin( jot )  u p  sin( jot )
1  ( j  o /  n )2
Idea : a periodic function can be separated into
b j /k
its harmonic components using Fourier series. mu  ku  b j sin( jot )  u p  sin( jot )
1  ( j  o /  n )2


p(t )  ao   a j cos( jot )  b j sin( jot ) 
j 1
The total steady state response is then
2 2 To
o  aj   p(t ) cos( jot ) d t
To To 0
ao 
u(t )  
1/ k
k j 1 1  ( jo / n )2

a j cos( jot )  b j sin( jot ) 
1 To 2 To
ao 
To 0
 p(t ) d t bj   p(t ) sin( jot ) d t
To 0

Harmonic & Periodic Vibration 3.13

Example p Dr. Adil Z. (AAIT)
0  t  To p(t )  o t
To Only the first three Fourier terms in u(t) must be
1 To po p considered to get an error less than 2 %. The
ao   t dt  o plot of the load approximations with 2 and 3
To 0 To 2
Fourier terms shows that an inaccurate
approximation of the load gives an accurate
2 To po
aj   t cos( jot ) d t  0 approximation of the response. The reason is
To 0 To that the higher frequencies in the load do not
give any contributions to the response.
2 To po p
bj   t sin( jοt ) d t   o
To 0 To j

The total steady state response is then

po  po / jk
u(t )   sin( jot )
2k j 1 1  ( jo / n )2

o po po  sin(ot ) sin( 2ot )

with 2 u(t )   
n 2k k   3  30

sin(3ot ) sin( 4ot ) 

  ...
 105  252 

7
 Harmonic & Periodic Vibration 3.14
Dr. Adil Z. (AAIT)

Example of bridge failure due to resonance

On November 7, 1940, at approximately 11:00 AM, the first

Tacoma Narrows suspension bridge collapsed due to wind-
induced vibrations. Situated on the Tacoma Narrows in Puget
Sound, near the city of Tacoma, Washington, the bridge had
only been open for traffic a few months

Brief presentation of the bridge follows

Harmonic & Periodic Vibration 3.15

Dr. Adil Z. (AAIT)