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CE511 Arbitrary Force

This document discusses the response of single degree of freedom systems to various types of excitations including periodic, impulse, arbitrary, step, and half-cycle sine pulse forces. It provides the equations of motion and solutions for determining the system response in cases of both damped and undamped systems.

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Kala J Prasad
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29 views18 pages

CE511 Arbitrary Force

This document discusses the response of single degree of freedom systems to various types of excitations including periodic, impulse, arbitrary, step, and half-cycle sine pulse forces. It provides the equations of motion and solutions for determining the system response in cases of both damped and undamped systems.

Uploaded by

Kala J Prasad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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CE511 - Structural Dynamics with Application to Earthquake Engineering

Response to Various Excitations

Course Instructor – Subhamoy Sen


School of Engineering

Indian Institute of Technology Mandi


Himachal Pradesh, India

Single Degree of Freedom 1


Fourier Series
Fourier Series Representative

Single Degree of Freedom 2


Fourier Series
Fourier Series Representative

Single Degree of Freedom 3


Response to Periodic Force
A periodic excitation implies that the excitation has been in existence for a long time, by
which time the transient response associated with the initial displacement and velocity has
decayed. Thus, we are interested in finding the steady-state response. Just as for harmonic
excitation, the response of a linear system to a periodic force can be determined by
combining the responses to individual excitation terms in the Fourier series.
• Equation of motion for forced (here periodic force) damped vibration,
𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 = 𝑃(𝑡)
• Based on principle of superposition ,we can write individually and find response of
linear system.
𝑚𝑢ሷ 𝑡 + 𝑐 𝑢(t)+𝑘𝑢
ሶ 𝑡 = 𝒂𝒐 (1)
𝑚𝑢ሷ 𝑡 + 𝑐 𝑢(t)+𝑘𝑢
ሶ 𝑡 = σ∞
𝒋=𝟏 𝒂𝒋 𝒄𝒐𝒔 𝒋𝒘𝒐 𝐭 (2)

𝑚𝑢ሷ 𝑡 + 𝑐 𝑢(t)+𝑘𝑢
ሶ 𝑡 = σ∞
𝒋=𝟏 𝒃𝒋 𝐬𝐢𝐧 𝐣𝒘𝒐 𝒕 (3)
• 1st equation contain a constant force, 2nd and 3rd equations contain harmonic cosine
and sine force functions, respectively.
Single Degree of Freedom 4
Response to Periodic Force
The response of an undamped system to constant force p(t) = a0 is given by,

. Hence assuming

Single Degree of Freedom 5


Response to Periodic Force

Substituting previous equations in the above equation,

Single Degree of Freedom 6


Response to Unit Impulse
ure(a)

Figure

Single Degree of Freedom 7


Response to Unit Impulse

Single Degree of Freedom 8


Response to Unit Impulse

For free undamped systems:


1
h(t − τ) = u(t) = sin[ω𝑛 (t − τ)] t≥τ
mω𝑛

Single Degree of Freedom 9


Response to Arbitrary Force
• A force p(t) varying arbitrarily with time, can be
represented as a sequence of infinitesimally short
impulses.
• Response of the impulse at time τ of magnitude
p(τ)dτ is
(Convolution integral) du(t) = [p(τ )dτ ]h(t − τ) t>τ
• The response of the system at time t is the sum of
the responses to all impulses up to that time.
𝑡
(Duhamel’s integral) u(t) = ‫׬‬0 p(τ )h(t − τ) dτ

Single Degree of Freedom 10


Response to Arbitrary Force
• Undamped System:
1 𝑡
𝑝(τ)sin[ω𝑛 (t − τ)]dτ
mω𝑛 ‫׬‬0
u(t) =
• Damped System:
u(t) =
1
‫׬‬
𝑡
𝑝(τ) 𝑒 −ζωn (t−τ) sin [ω (t − τ)]dτ
mω𝐷 0 𝐷

Single Degree of Freedom 11


Response to Arbitrary Force (Step Force)
• A step force jumps suddenly from zero to a magnitude P and stays constant at that value.
• The response of undamped system due to such step force is given by Duhamel’s integral.
1 𝑡
𝑝(τ)sin[ω𝑛 (t − τ)]dτ
mω𝑛 ‫׬‬0
u(t) =

• Undamped System:
1 𝑡
− τ)]dτ
𝑝 sin[ω𝑛 (t
mω𝑛 ‫׬‬0 0
u(t) =
𝑝0 2𝜋𝑡
𝑢 𝑡 = 1 − cos
𝑘 𝑇𝑛
• Undamped System:
𝑝0 ζ
𝑢 𝑡 = 1 − 𝑒 −ζ𝜔𝑛 𝑡 𝑐𝑜𝑠ω D 𝑡 + ∗sinω D 𝑡
𝑘 1 − ζ2

Single Degree of Freedom 12


Response to Arbitrary Force ( Linearly Increasing Force)
• In this case the applied force 𝑝 𝑡 will increases linearly with time.
• For an undamped system the response of the structure is given by Duhamel’s
integral.
1 𝑡
• u(t) = 𝑝(τ)sin[ω𝑛 (t − τ)]dτ
mω𝑛 ‫׬‬0
𝑝0 𝑡
•𝑝 𝑡 =
𝑡𝑟
1 𝑡 𝑝0 𝑡
• u(t) sin[ω𝑛 (t − τ)]dτ
mω𝑛 ‫׬‬0 𝑡𝑟
=
𝑝 𝑡 sin 𝜔𝑛 𝑡
•𝑢 𝑡 = 0 −
𝑘 𝑡𝑟 𝜔𝑛 𝑡𝑟

Single Degree of Freedom 13


Response to Arbitrary Force ( Half Cycle Sine Pulse Force)
• A Half cycle sine pulse force is applied to a system can be defined as
𝑝0 sin 𝜋𝑡Τ 𝑡 ≤ 𝑡𝑑
𝑡𝑑
𝑝 𝑡 =൝
0 𝑡 > 𝑡𝑑
with at-rest initial conditions:
1
• 𝑡𝑑 Τ𝑇𝑛 =
2
1
• 𝑡𝑑 Τ𝑇𝑛 ≠
2

Single Degree of Freedom 14


Response to Arbitrary Force ( Half Cycle Sine Pulse Force)
𝟏
Case1: 𝒕𝒅 Τ𝑻𝒏 =
𝟐

• Forced vibration. 𝑡 ≤ 𝑡𝑑
• The force is same as the harmonic force
𝑝 𝑡 =𝑝0 sin 𝑤𝑛 𝑡
• The response of an undamped SDF system to this force
is given by 𝜔 = 𝜔𝑛
• 𝑢 𝑡 =Acos 𝑤𝑛 𝑡 + 𝐵 sin 𝑤𝑛 𝑡 + 𝐶𝑡 cos 𝑤𝑡
𝑢ሶ 𝑝0 𝑝0
• 𝑢 𝑡 =𝑢0 cos 𝑤𝑛 𝑡 + + sin 𝑤𝑛 𝑡 − 𝜔𝑛 𝑡 cos 𝑤𝑡
𝑤𝑛 2𝑘 2𝑘
• Applying initial conditions 𝑢0 = 𝑢0 ሶ = 0, the solution
reduces to
𝑝0 2𝜋𝑡 2𝜋𝑡 2𝜋𝑡
𝑢 𝑡 = sin − cos 𝑡 ≤ 𝑡𝑑
2𝑘 𝑇𝑛 𝑇𝑛 𝑇𝑛

Single Degree of Freedom 15


Response to Arbitrary Force ( Half Cycle Sine Pulse Force)
𝟏
Case1: 𝒕𝒅 Τ𝑻𝒏 =
𝟐

• Free vibration phase 𝑡 > 𝑡𝑑


• After pulse force ends 𝑡 = 𝑡𝑑 , free vibrations of system
initiated by displacement u 𝑡𝑑 and velocity 𝑢ሶ 𝑡𝑑 .
𝑝0 𝜋
• u 𝑡𝑑 = 𝑢ሶ 𝑡𝑑 = 0
2𝑘
• The response of an undamped SDF system with initial
conditions is given by
𝑢ሶ 𝑡𝑑
• 𝑢 𝑡 =u 𝑡𝑑 cos 𝑤𝑛 𝑡 − 𝑡𝑑 + sin 𝜔𝑛 𝑡 − 𝑡𝑑
𝜔𝑛

𝑝0 𝜋 𝜋 𝑡 1
• 𝑢 𝑡 = cos 2𝜋 − 𝑡 ≤ 𝑡𝑑
2𝑘 2 𝑇𝑛 2

Single Degree of Freedom 16


Response to Arbitrary Force ( Half Cycle Sine Pulse Force)
𝟏
Case1: 𝒕𝒅 Τ𝑻𝒏 ≠
𝟐
𝜔 𝑇𝑛
• Forced vibration 𝑡 ≤ 𝑡𝑑 =
𝜔𝑛 2𝑡𝑑
• Classical solution of a system subjected to force
𝑝 𝑡 =𝑝0 sin 𝑤𝑛 𝑡 is given by
𝑢 𝑡 =Acos 𝑤𝑛 𝑡 + 𝐵 sin 𝑤𝑛 𝑡 + 𝐶 sin 𝜔𝑡
𝑢0ሶ 𝑝0 𝛽
𝐴 = 𝑢0 ; 𝐵 = −
𝜔𝑛 𝑘 1 − 𝛽2
𝜔 𝑝0 1
𝛽= ;𝐶 =
𝜔𝑛 𝑘 1 − 𝛽2

𝑝0 1 𝑡 𝑇𝑛 𝑡
• 𝑢 𝑡 = 2 sin 𝜋 − sin 2𝜋 𝑡 ≤ 𝑡𝑑
𝑘 𝑇𝑛 𝑡𝑑 2𝑡𝑑 𝑇𝑛
1− 2𝑡𝑑

Single Degree of Freedom 17


Response to Arbitrary Force ( Half Cycle Sine Pulse Force)
𝟏
Case1: 𝒕𝒅 Τ𝑻𝒏 ≠
𝟐
• Free vibration phase 𝑡 > 𝑡𝑑
• After pulse force ends 𝑡 = 𝑡𝑑 , free vibrations of system initiated
by displacement u 𝑡𝑑 and velocity 𝑢ሶ 𝑡𝑑 .
𝑇𝑛 𝜋𝑡𝑑
cos
𝑝0 𝑡𝑑 𝑇𝑛 𝑡 1 𝑡𝑑
• 𝑢 𝑡 = 2 sin 2𝜋 − 𝑡 ≥ 𝑡𝑑
𝑘 𝑇𝑛 𝑇𝑛 2 𝑇𝑛
2𝑡𝑑
−1

Single Degree of Freedom 18

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