Harmonic Vibration of Undamped System

Harmonic forces p(t) = p0 sin ω t

(same phase)
amplitude exciting
vector frequency

⎧p01 ⎫
⎪ ⎪
⎪p02 ⎪
p0 = ⎨ ⎬
⎪... ⎪
⎪p0N ⎪
⎩ ⎭

Earthquake Engineering Lecture 8

Harmonic Vibration of Undamped System

!! + ku = p(t)
mu
!! + ku = p0 sin ω t
mu

u(t) = uc (t) +up (t) particular solution

complementary
solution

Earthquake Engineering Lecture 8

 General Solution

N
uc (t ) = ∑ ψi ( Ai cos ωi t + Bi sin ωi t )
i =1
Ai and Bi to be determined in
terms of the initial conditions

Earthquake Engineering Lecture 8

 Particular Solution

up (t ) = X sin ωt
up (t) = −ω Xsinω t
!! 2

−mXω sinωt + cX sinωt = p0 sinωt

2

−mXω 2 + cX = p0

( )
−1 Valid for
X = −mω + c 2
p0 ωi ≠ ω

Earthquake Engineering Lecture 8

 Solution of Equations of Motion

N
u(t ) = ∑ ψi ( Ai cos ωi t + Bi sin ωi t ) +
i =1

( −mω )
−1
2
+c p0 sin ω t

Ai and Bi to be determined in
terms of the initial conditions

Earthquake Engineering Lecture 8

 Harmonic Vibration with Viscous Damping

!! + cu! + ku = p0 sin ω t
mu

u(t) = ψ q(t)

ψ mψ q + ψ cψ q + ψ kψ q = ψ p0 sin ω t
T
!! T
! T T

p sin ω t = ψ p0 sin ω t
* T

Earthquake Engineering Lecture 8

Harmonic Vibration with Viscous Damping

!!
*
i i
*!
m q + bi qi + k i qi = pi sin ω it
* *

p = ψ i p0
*
i
T

Earthquake Engineering Lecture 8

 Particular solution

p0* i
qpi (t ) = qst i Rd i sin (ωt − φi ) qst i =
ki*

deformation phase angle or

response factor phase lag
*
1 2ν i ω ωi
Rdi = φi = tan
−1

⎡ ⎛ω ⎞ ⎤ 2
2

⎛ * ω ⎞
2 1− (ω ωi )
2

⎢1 − ⎜ ⎟ ⎥ + ⎜ 2ν i ⎟
⎢⎣ ⎝ ωi ⎠ ⎥⎦ ⎝ ωi ⎠

Earthquake Engineering Lecture 8

 Solution of Equations of Motion

N
⎡
u(t ) = ∑ ψi e
−ν i*ωi t
( Ai cos ωDi t + Bi sin ωDi t )⎤ +
⎢⎣ ⎥⎦
i =1

transient vibration
N
+ ∑ ψiqst i Rd i sin (ω t − φi )
i =1

steady state or forced vibration

(at loading frequency)

Earthquake Engineering Lecture 8

Harmonic Vibration with ground motion

(
!! + I!!
m u )
y + ku = 0

Ground motion y(t) = y sin ω t

!! + ku = ω mIysin ω t
mu 2

Effective
amplitude vector p0 earthquake
force

Earthquake Engineering Lecture 8

 Response to time varying force

!! + cu! + ku = p0 s(t)
mu

u(t) = ψ q(t)

ψ mψ q + ψ cψ q + ψ kψ q = ψ p0 s(t)
T
!! T
! T T

p0 s(t) = ψ p0 s(t)
* T

Earthquake Engineering Lecture 8

 Response to time varying force

!!
*
i i
*!
m q + bi qi + k i qi = p0i s(t)
* *

p = ψ i p0
*
0i
T

*
p
!!i + 2ν ω iq! i + ω qi =
q i
* * 0i
*
s(t)
i
m i
modal p *
ψ i pi T
partecipation =
0i
* *
factor m i
mi
Earthquake Engineering Lecture 8
 Response to time varying force

!! *
i i
!
m q + bi qi + k i qi = p0i s(t)
* * *

Rest initial conditions

ψ mu(0)
T
ψ mu(0)
T
!
qi (0) = i

*
= 0; q! i (0) = i

*
=0
m m
i i

Duhamel’s Integral
* * t
p0i ki *

∫
−ν i ωi ( t −t1 )
qi ( t ) =
*
s(t1 )e sin ωDi (t − t1 )δ t1
mi ωDi 0

Earthquake Engineering Lecture 8

 Response to ground motion

(
!! + I!!
m u )
y + cu! + ku = 0

Ground motion y(t) = s(t)

Earthquake
!! + cu! + ku = −m I !!
mu s(t) ground
acceleration

Effective
earthquake
force

Earthquake Engineering Lecture 8

 Response to ground motion

!! + cu! + ku = −mI !!
mu s(t)

u(t) = ψ q(t)

ψ mψ q + ψ cψ q + ψ kψ q = ψ mI !!
T
!! T
! T T
s(t)

Earthquake Engineering Lecture 8

 Response to ground motion

!!
*
i i
*!
m q + bi qi + k i qi = −ψ i mI !!s(t)
* T

qi + 2ν i ω iqi + ω i qi = − gi !!s(t)
!! * ! 2

T
ψ mI modal
gi = *
i
partecipation
mi factor

Earthquake Engineering Lecture 8

 Response to ground motion

ψ mI T
ψ mI T ∑ mψj
j ij

gi = =
i i
=
*
mi ψ mψi T
i ∑mψ j
j
2
ij

For normalized vibration modes it results that the partecipation

factor decreases by increasing i

u(t) = ∑ ψiqi (t) Stationary

Responce
i

Earthquake Engineering Lecture 8

 Response to arbitrarily forces

!! + cu! + ku = p(t)
mu

u(t) = ψ q(t)

ψ mψ q + ψ cψ q + ψ kψ q = ψ p
T
!! T
! T T

Earthquake Engineering Lecture 8

 Response to time varying force

m q + bi qi + k i qi = ∑ψ ijp j (t)
!!*
i i
*! *

ψ i1p1(t) + ... + ψ ijp j (t) + ... + ψ iNpN (t)

!! * *!
m q + bi qij + k i qij = ψ ijp j (t)
i ij
*

t
ψ ij *

∫ pij (t1)e
−ν i ωi ( t −t1 )
qij (t ) =
*
sin ωDi (t − t1 )δ t1
mi ωDi 0

qi (t) = qi1(t) + .. + qij (t) + .. + qiN (t)

Earthquake Engineering Lecture 8
Response to time varying force

m q + bi qi + k i qi = ∑ψ ijp j (t)
!!
*
i i
*! *

N
u(t) = ψ q(t) = ∑ψ q (t)
i i
i=1

Earthquake Engineering Lecture 8