Forced Mechanical Vibrations: 1 Transient and Steady State Solutions

Forced Mechanical Vibrations
Today we use methods for solving nonhomogeneous second order linear dierential equations to study the behavior of mechanical systems. 1. Forcing: Transient and Steady State Solutions 2. Forcing: Resonance
Transient and Steady State Solutions

my + by + ky = g(t)
Let us now consider where g(t), a forcing function, is non-zero. The forcing function is just an outside force applied to the system. (It might represent the platform the spring is on being shaken, for example.) We are usually interested in periodic forcing functions. Example: Let us return to the spring-mass system. We had a 32 pound mass, an equilibrium stretch of L = 2 feet, and a resistance which was four times velocity. For the homogeneous problem y + 4y + 16y = 0, we found the general solution to be y(t) = c1 e2t cos(2 3t) + c2 e2t sin(2 3t). Let us now introduce an external force g(t) = 10 cos(3t) which is applied to the system. If the spring is stretched two feet down and then released, solve for the position of the spring and describe the motion. Our initial value problem is now y + 4y + 16y = 10 cos(3t), y(0) = 2, y (0) = 0.
This is non-homogeneous, so we will need the complementary solution to the homogeneous equation which we found above. 1
Next, we need a particular solution to the non-homogeneous equation. Since g(t) = 10 cos(3t), we can use the method of undetermined coecients. (Note that g(t) does not duplicate any part of the complementary solution.) We get: yp (t) = A cos(3t) + B sin(3t) yp (t) = 3A sin(3t) + 3B cos(3t) yp (t) = 9A cos(3t) 9B sin(3t) We plug this into our non-homogeneous equation and get
yp + 4yp + 16yp = [9A cos(3t) 9B sin(3t)] + 4 [3A sin(3t) + 3B cos(3t)] + 16 [A cos(3t) + B sin(3t)] = [9A + 12B + 16A] cos(3t) + [9B 12A + 16B] sin(3t) = [7A + 12B] cos(3t) + [7B 12A] sin(3t) Since we want yp + 4yp + 16yp = 10 cos(3t), we have the equations
7A + 12B = 10 12A + 7B = 0 Solving this system yields A = 70/193, B = 120/193, so our particular solution is yp (t) = and the general solution is 120 70 cos(3t) + sin(3t) y(t) = c1 e2t cos(2 3t) + c2 e2t sin(2 3t) + 193 193 From our initial conditions, we know y(0) = 2, so since to see that y(0) = c1 + 70 , 193 120 70 cos(3t) + sin(3t) 193 193
136 then c1 = 316/193. By plugging in y (0) = 0, we determine c2 = 1933 . Thus the solution is 70 136 2t 316 2t 120 e sin(2 3t) + e cos(2 3t) + cos(3t) + sin(3t) 193 193 193 193 3
Notice that the rst two terms (which originate in the solution to the homogeneous problem) have a negative exponential and therefore decay to zero. Such a part of a solution is said to be transient. The last two terms (which originate from the forcing function) represent simple harmonic motion, and do not decay with time. The portion of the solution which remains 2
as t is referred to as the steady state solution. We can see in this case that the steady state solution has period 2/3 and amplitude R= 70 193
2
120 193
10 = 0.72 193
The graphs of the transient and steady state solutions are shown below from t = 0 to t = 10:
1.5 0.6 1 0.5 1 -0.5 -1 2 3 4 5 0.4 0.2 1 -0.2 -0.4 -0.6 2 3 4 5
Transient Solution Steady State Solution 136 70 e2t sin(2 3t)] cos(2 3t) + 193 3 cos(3t) + 120 sin(3t) 193 193 You can see the eects of the transient solution vanishing as t increases in the plot of the solution:
316 2t e 193
2 1.5 1 0.5 1 -0.5 2 3 4 5
Solution y(t) = yc (t) + yp (t)
Forcing Functions: Resonance

my + by + ky = g(t)
Again, we will consider the dierential equation
for a spring with mass m, damping coecient b, and forcing function g(t). Let us return to the case in which there is no damping, and consider the corresponding homogeneous equation: my + ky = 0 Thus, our solution has angular frequency We then have characteristic equation mr 2 + k = 0 which has roots r = i k/m. k/m. 3
If we introduce a forcing function, we expect our solution to change. An interesting case occurs when the forcing function has the same frequency as the natural frequency k/m of the system. Example: Suppose we have a mass of 12 pounds on a spring which stretches by 1/2 foot from the weight. If we have a forcing function g(t) = cos(8t), no damping, and y(0) = y (0) = 0, describe the motion of the system. Our mass is 12/32 = 3/8, and k = mg/L = 12/(1/2) = 24, so our dierential equation is 3 8 y + 24y = cos(8t) or y + 64y = cos(8t) 8 3 2 The homogeneous equation has characteristic equation r + 64 = 0, so r = 8i. Thus the complementary solution is yc (t) = c1 cos(8t) + c2 sin(8t) Note that the angular frequency here is 8, which is the same as the angular frequency of the forcing function. Now we solve the non-homogeneous part by undetermined coecients. For the forcing 8 function 3 cos(8t), we would normally try A cos(8t) + B sin(8t), but since cos(8t) and sin(8t) duplicate the homogeneous solution, we must multiply by t: yp (t) = At cos(8t) + Bt sin(8t) yp (t) = A cos(8t) 8At sin(8t) + B sin(8t) + 8Bt cos(8t) yp (t) = 8A sin(8t) 8A sin(8t) 64At cos(8t) + 8B cos(8t) + 8B cos(8t) 64Bt sin(8t) = 16A sin(8t) 64At cos(8t) + 16B cos(8t) 64Bt sin(8t)
8 Plugging into y + 64y = 3 cos(8t) yields
16A sin(8t) 64At cos(8t) + 16B cos(8t)
64Bt sin(8t) + 64At cos(8t) + 64Bt sin(8t) =
8 cos(8t) 3 8 16A sin(8t) + 16B cos(8t) = cos(8t) 3
So nally we have A = 0 and B = 1/6. Thus our particular solution is 1 yp (t) = t sin(8t) 6 and the general solution is 1 y(t) = yc (t) + yp (t) = c1 cos(8t) + c2 sin(8t) + t sin(8t) 6 4
Solving so that y(0) = y (0) = 0 gives c1 = c2 = 0, so we have 1 y(t) = t sin(8t) 6 Notice the behavior: as t , y(t) oscillates and grows:
1.5 1 0.5 2 -0.5 -1 -1.5 4 6 8 10
The above is an example of resonance. When the forcing function has a frequency which matches the natural frequency of the system, we will duplicate the complementary solutions and will require a particular solution of the form At cos(0 t) + Bt sin(0 t) This solution will grow and oscillate as t , just as in the above example.

Forced Mechanical Vibrations: 1 Transient and Steady State Solutions

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Forced Mechanical Vibrations

Transient and Steady State Solutions

2 1.5 1 0.5 1 -0.5 2 3 4 5

Solution y(t) = yc (t) + yp (t)

Forcing Functions: Resonance

Again, we will consider the dierential equation

16A sin(8t) 64At cos(8t) + 16B cos(8t)

64Bt sin(8t) + 64At cos(8t) + 64Bt sin(8t) =

8 cos(8t) 3 8 16A sin(8t) + 16B cos(8t) = cos(8t) 3

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