Free vibration- what is the definition

2.1.1. Equation of motion and its solution

y (t )   11[ my(t )]
k11 y (t )   my(t )
 my(t )
y (t ) k 1
 2  11 
l EI m m 11
y(t )   y (t )  0
2

Second order linear homogeneous differential equation

2.1.1.Equation of motion and its solution

The initial conditions:

 my(t )
y (t ) y (0)  y0 y (0)  y 0
l EI
get c1  y0 , c2  y 0 / 
y 0
y (t )  y0 cos t  sin t
y (t )   11[ my(t )] 
k11 y (t )   my(t ) y0  A sin 
k 1 y 0 /   A cos 
 2  11 
m m 11
 y (t )  A sin( t   )
y(t )   y (t )  0
2

y 02
General solution: A y02 
2
y (t )  c1 cos t  c2 sin t y0
tan  
y 0
2.1.2. Vibration analysis
Free vibration of single DoF system is harmonic one without damping.

y (t )  A sin(t   )
 A sin(t    2 )
2
 A sin[ (t  ) ]

2
 y (t  )


2
T Natural vibration period

Irrelative to external
1 excitation, the natural
   2 Natural vibration frequency
T property of the system
A magnitude of vibration
 Initial phase angle
2.1.3. Calculation of natural frequency and period
(1)Use the formula (2)Use the conservation of mechanical energy
k11 1 T (t )  U (t )  contanst
 
2
 1 2 1
m m 11 T (t )  my (t )  mA2 2 cos 2 (t   )

2 2
W  mg ,  st  W 11 1 1
U (t )  k11 y (t )  k11 A2 sin 2 (t   )
2

2 g 2 2
 
 st Tmax  U max

(3)Use the law of vibration mA 2 1

y (t ) k11
y (t )  A sin( t   ) l EI
A

y(t )   A 2 sin( t   )
I (t )  my(t )  mA 2 sin( t   ) Ak11  mA 2 Equation of
The law: the same frequency vibration
k11
synchronization of displacement and   2
magnitude
inertial force. m
2.1.3.Calculation of natural frequency and period
Example 2.1.Find the natural frequency and period
Solution:
EI l
1 1 2 1 1 l
 11  (  l  l  l  l  l  l  l   l ) EI
EI 2 3 2 2 2
l

7 l3
 =1  11 =1
12 EI

1 12 EI l l
 
m 11 7 ml 3 l/2

2 7 ml 3
T  2
 12 EI
Example 2.2.Find the natural frequency and period
m/2
Solution: l =1
EI l
2 l3
 11  EI EI l
3 EI
1 EI
 3

3 2l ml 3 l
m
2 3EI
ml 3
T  2
EI
Example 2.3.Find the natural frequency and
period EI k
Solution:
3EI l
k11  k  3
l k11
m W / g k11
1
3EI 3EI 3EI
k k
 l3 g l2 l3
W
Example 2.4.Find the natural frequency and period
Solution: Method 1.Use the energy method
1 1 m m
Tmax  m(2l )  m(l ) 2
2
EI  
2 2
k  (t ) k
1 9
 m(2l ) 2  ml 2 2 2 l l l l
2 2
1 1 5
U max  k (l ) 2  k (2l ) 2  kl 2 2
2 2 2 kl
5k l 2m 2l 2m
Tmax  U max 
9m A
Method 2. Use the equation of
vibration of magnitude 2l 2m 

M 0 2kl
A

2l 2m  2l  kl  l  ml 2  l  2lm  2  2l  2lk  2l  0

9l 2 2m  5kl 2  0
5k

9m
 Forced vibration of system under harmonic loading (without
damping)

Forced vibration: the vibration of system caused by dynamic loading.

2.2.1.Equation of motion and its solution
P (t )  P sin t
P(t)
P --- the magnitude of load y (t )
-- the frequency of load l EI

Equation of motion
my(t )  k11 y (t )  P sin t
or Given y * ( t )  A sin  t
P
y(t )   2 y (t )  sin t
m
Second order linear non-homogeneous
differential equation P
A
General solution m ( 2   2 )
y (t )  y (t )  y * (t ) General solution：
where P
y (t )  c1 cos t  c2 sin t  2 2
sin t
y (t )  c1 cos t  c2 sin t m(   )
2.2.2 Analysis of pure forced vibration of system
y * ( t )  A sin  t
P P 1 P(t)
A  
m ( 2   2 ) m 2
2 y (t )
1 2 l EI

A  y st  Stable amplitude of vibration
P
y st   P  11
m 2

1
 
1 2 / 2 | |


 

1
 
1  2

Please finish all problems in A4 paper, then take pictures for me.
Send them by WeChat or Email on Oct. 5, 2020.
2020/10/2
1. Example 1.7 in PPT.
2. PROBLEMS1.14-1.16
on Page37 in Chopra’s
book.