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Chapter 4-2

The document discusses methods for calculating the response of a vibrating system to nonperiodic forcing, including convolution integrals and Laplace transforms. It focuses on using convolution integrals to find the response to impulses and general forcing functions over time. Examples are provided to demonstrate calculating responses for different forcing conditions like step forces, rectangular pulses, and base excitation using the convolution integral approach.

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Abdalmalek Shamsan
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33 views12 pages

Chapter 4-2

The document discusses methods for calculating the response of a vibrating system to nonperiodic forcing, including convolution integrals and Laplace transforms. It focuses on using convolution integrals to find the response to impulses and general forcing functions over time. Examples are provided to demonstrate calculating responses for different forcing conditions like step forces, rectangular pulses, and base excitation using the convolution integral approach.

Uploaded by

Abdalmalek Shamsan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CHAPTER # 4

Vibration Under General


Forcing Conditions
Response Under a Nonperiodic Force
 When the exciting force 𝐹(𝑡) is nonperiodic, such as that due to the blast from an explosion, a
different method of calculating the response is required.
 Various methods can be used to find the response of the system to a nonperiodic excitation.
1. Using the method of convolution integral.
2. Using the method of Laplace transforms.
3. Using the Numerical methods

 Convolution Integral
 A nonperiodic exciting force usually has a magnitude that varies with time; it acts for a specified
period and then stops.
 The simplest form is the impulsive force (a force that has a large magnitude 𝐹 and acts for a very
short time ∆𝑡).
 From dynamics we know that impulse can be measured by finding the change it causes in
momentum of the system.
 If 𝑥1 and 𝑥2 denote the velocities of the mass 𝑚 before and after the application of the impulse, we
have
Convolution Integral
 By designating the magnitude of the impulse 𝐹∆𝑡 by 𝑭 we can
write, in general,

 A unit impulse acting at 𝑡 = 0


(𝒇) is defined as
 It can be seen that in order for 𝐹𝑑𝑡 to have a finite value, 𝐹 tends to infinity (since 𝑑𝑡 tends
to zero).
 The unit impulse 𝒇 = 1, acting at 𝑡 = 0, is also
denoted by the Dirac delta function as
 And the impulse of magnitude 𝑭 acting at 𝑡 = 0 is denoted as

 The Dirac delta function at time t = 𝜏 denoted as 𝛿 𝑡 − 𝜏 has the properties


It has a value of one when t = 𝜏
and a value of zero when t ≠ 𝜏
Convolution Integral
Response to an Impulse
 We first consider the response of a single-degree-of-freedom system
to an impulse excitation; since this case is important in studying the
response under more general excitations.
 Consider a viscously damped spring-mass system subjected to a unit
impulse as shown
 For an underdamped system, the solution of the equation of motion

 If the mass is at rest before the unit impulse is applied (𝑥 = 𝑥 = 0 for


𝑡 < 0 𝑜𝑟 𝑎𝑡 𝑡 = 0− ), we obtain, from the impulse-momentum relation

1
 Thus the initial conditions are given by 𝑥0 = 0 𝑎𝑛𝑑 𝑥0 =
𝑚
 This equation gives the response of a single-degree-of-
freedom system to a unit impulse, which is also known
as the impulse response function, denoted by g(𝑡).
Convolution Integral
Response to an Impulse
 If the magnitude of the impulse is 𝑭 instead of unity, the initial velocity is 𝑥0 = 𝐹 𝑚
and the response of the system becomes

 If the impulse is applied at an arbitrary time 𝑡 = 𝜏


as shown, it will change the velocity at 𝑡 = 𝜏 by an
amount 𝐹 𝑚
Example-Response of a Structure Under Impact
In the vibration testing of a structure, an impact hammer with a load cell to measure the impact
force is used to cause excitation, as shown. Find the response of the system.
Assuming 𝑚 = 5 𝑘𝑔, 𝑘 = 2000 𝑁 𝑚, 𝑐 = 10 𝑁 − 𝑠 𝑚, 𝑎𝑛𝑑 𝑭 = 20 𝑁 − 𝑠.
Solution

Assuming that the impact is given at 𝑡 = 0


we find the response of the system as

Resolve Example 4.8


Convolution Integral-Response to a General Forcing Condition
 Consider the response of the system under an arbitrary external force 𝐹(𝑡), shown.
 This force may be assumed to be made up of a series of impulses of varying magnitude.
 Assuming that at time 𝜏 the force 𝐹(𝜏) acts on the system for a short period of time ∆𝜏, the impulse
acting at t = 𝜏 is given by 𝐹 𝜏 ∆𝜏.
 At any time t, the elapsed time since the impulse is t − 𝜏, so the response of the system at 𝑡 due to
this impulse (with 𝑭 = 𝐹 𝜏 ∆𝜏) alone is given by:

 The total response at time 𝑡 can be found by summing all the


responses due to the elementary impulses acting at all times 𝜏:

 Letting ∆𝜏 → 0 and replacing the summation by integration,


we obtain:

 This equation represents the response of an underdamped single-degree-of-freedom system to the


arbitrary excitation 𝐹(𝑡).
 This equation does not consider the effect of initial conditions of the system, because the
mass is assumed to be at rest before the application of the impulse.
 The integral is called the convolution or Duhamel integral.
Convolution Integral
Response to Base Excitation
 If a spring-mass-damper system is subjected to an arbitrary base excitation
described by its displacement, velocity, or acceleration, the equation of motion
can be expressed in terms of the relative displacement of the mass 𝑧 = 𝑥 − 𝑦
as follows:

 This is similar to the equation

 With the variable z replacing x and the term −𝑚𝑦 replacing the forcing function 𝐹.
 Hence all of the results derived for the force-excited system are applicable to the
base-excited system
 For an underdamped system subjected to base excitation, the relative displacement
can be found from
Example-Step Force on a Compacting Machine
The compacting machine shown is modeled as a single-degree-of-freedom system. The force acting on
the mass m (m includes the masses of the piston, the platform, and the material being compacted) due to
a sudden application of the pressure can be idealized as a step force, as shown. Determine the response
of the system.
Solution:
For step force 𝐹(𝑡) = 𝐹0

where
Example-Step Force on a Compacting Machine
If the system is undamped

It can be seen that if the load is instantaneously applied to an


undamped system, a maximum displacement of twice the static
displacement will be attained
If the step force applied at 𝑡 = 𝑡0 as
shown, find the response of the system.

In this case, the response can be


obtained by replacing 𝑡 by 𝑡 − 𝑡0

If the system is undamped


Example-Rectangular Pulse Load
If the compacting machine is subjected to a constant force only during
the time 0 ≤ 𝑡 ≤ 𝑡0 , determine the response of the machine.
Solution
Thus the response of the system
can be obtained by adding both
equation.

The response is shown for two different pulse widths of 𝑡0 .


The responses will be different depending of the value of 𝑡0
and𝜏𝑛 (𝜏𝑛 is undamped natural time period of the system).
If 𝑡0 > 𝜏𝑛 2, the peak will be larger and occur during the
forced-vibration time.
While if 𝑡0 < 𝜏𝑛 2, the peak will be smaller and occur in the
residual-vibration (that is, after 𝑡0 )
For an undamped system.
Homework

4.22 , 4.26 , 4.29 , 4.33 , 4.42

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