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Learning Module 2 - Undamped SDOF

This document is a learning module on Structural Dynamics, focusing on Single Degree of Freedom (SDOF) systems without damping. It covers topics such as differential equations, equations of motion, dynamic loading, and methods for analyzing undamped SDOF systems. The module aims to equip learners with the ability to establish and solve equations of motion and understand the dynamics of structures under various loading conditions.

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Nico Grobler
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3 views29 pages

Learning Module 2 - Undamped SDOF

This document is a learning module on Structural Dynamics, focusing on Single Degree of Freedom (SDOF) systems without damping. It covers topics such as differential equations, equations of motion, dynamic loading, and methods for analyzing undamped SDOF systems. The module aims to equip learners with the ability to establish and solve equations of motion and understand the dynamics of structures under various loading conditions.

Uploaded by

Nico Grobler
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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STRUCTURAL DYNAMICS

Learning Module 2:
Single DOF with No Damping

Prof J. Mahachi, Pr.Eng, Pr.CPM, FSAICE


University of Johannesburg

School of Civil Engineering & Built Environment


Email: [email protected]
Cell: 082 904 9569
Course Outline
• Introduction to Differential Equations
• SDOF Free vibration, with no damping
• SDOF Free vibration with damping
• SDOF Forced vibration
– Harmonic Loading
– Periodic Loading
– Pulse Loading
– Transient loading (Earthquake loading)
• MDOF
• Vibration of Continuous Structures
• Foundations of Reciprocating Machines
Learning Outcome: Module 2
• At the end of this module, the learner will know:
– How to establish equations of motion for undamped sdof using
d’Alembert principle
– How to establish equations of motion for undamped sdof using
energy methods
– Solve the equation of motion of undamped sdof
– Plot the equation of motion of undamped; and
– Circular frequency and period of natural vibration
Dynamic Loading
• Structural analysis is mainly concerned with finding out the
behavior of a physical structure when subjected to force.
• This action can be in the form of load due to the weight of
things such as people, furniture, wind, snow, etc.
• Or some other kind of excitation such as an earthquake,
shaking of the ground due to a blast nearby, etc.
• In essence all these loads are dynamic, including the self-
weight of the structure because at some point in time these
loads were not there.
Dynamic Loading (Cont…)
• The distinction is made between the dynamic and the static analysis on the
basis of whether the applied action has enough acceleration in
comparison to the structure's natural frequency.
• If a load is applied sufficiently slowly, the inertia forces (Newton's first law
of motion) can be ignored and the analysis can be simplified as static
analysis.
• A static load is one which varies very slowly.
• A dynamic load is one which changes with time fairly quickly in comparison
to the structure's natural frequency
• If it changes slowly, the structure's response may be determined with static
analysis, but if it varies quickly (relative to the structure's ability to
respond), the response must be determined with a dynamic analysis.
D’Alembert’ s Principle

ma

p(t) p(t)
W=mg W=mg

R R
N N

𝑝 𝑡 − 𝑅 = 𝑚𝑎 𝑝 𝑡 − 𝑅 − 𝑚𝑎 = 0

N = 𝑚𝑔
Mathematical Model of Structural Dynamics

c
p(t) k

m
u

p(t)
Mathematical Model of Structural Dynamics
• m represents mass and inertia characteristics
• k is the elastic restoring spring constant
• c is the damping (Frictional characteristics and energy losses of
the structure)
• p(t) is the excitation force (External force acting on the
structure)
Mathematical Model of Structural Dynamics
Equations of motion
𝑑2 𝑢
• Inertia force = 𝑚 𝑑𝑡 2 = 𝑚𝑢ሷ
• Damping force = coefficient × velocity
𝑑𝑢
𝑓𝐷 = 𝑐 ∙ = 𝑐𝑢ሶ
𝑑𝑡
• Spring force 𝑓𝑠 = 𝑘u
Undamped SDOF

Mathematical Model

ma

𝑚𝑎 + 𝑓𝑠 = 0
𝑚ü(𝑡) + 𝑘𝑢 𝑡 = 0
𝑓𝑠 = 𝑘 ∙ 𝑢(𝑡)
Equation of Motion
Undamped SDOF (Mathematical Model)

𝑓𝑠 = 𝑘𝑢𝑜
Unstretched position
m
u 𝑢𝑜𝑢𝑜 𝑓𝑠 = 𝑘(𝑢 + 𝑢𝑜 )
Static Equilm
position
u
𝑚𝑢ሷ
W=mg

Static Equilibrium W=mg


Equation of Motion

Using de’Alembert Principle;

𝑚 𝑢ሷ = 𝑊 − 𝑘 𝑢 + 𝑢0 = 𝑊 − 𝑘𝑢0 − 𝑘u

∴ 𝑚𝑢ሷ = 𝑊 − 𝑊 − 𝑘 u
𝑚 𝑢ሷ + 𝑘𝑢 = 0 Same equation of motion
Solution of equation of motion
𝑚𝑢ሷ + 𝑘𝑢 = 0

𝑘
Let 𝜔2 =
𝑚

𝑢ሷ + 𝜔2 𝑢 = 0 (1)

Solution of Equation (1):


𝑢 = 𝐴𝑐𝑜𝑠𝜔𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑡 (2)
∴ 𝑢ሶ = −𝐴𝜔 ∙ 𝑠𝑖𝑛𝜔𝑡 + 𝐵𝜔 ∙ 𝑐𝑜𝑠𝜔𝑡
Equation of Motion (Cont…)
where 𝐴 and 𝐵 are determined from the initial conditions of the
system.

For 𝑡 = 0; u = 𝑢(0) and 𝑢ሶ = 𝑢ሶ 0


֜𝐴 = 𝑢(0)

𝑢(0)
ሶ
𝐵𝜔 = 𝑢(0)
ሶ ∴𝐵=
𝜔
Equation of Motion (Cont…)

The general solution therefore becomes:

𝑢(0)
ሶ
𝑢(𝑡) = 𝑢 0 𝑐𝑜𝑠𝜔𝑡 + 𝑠𝑖𝑛𝜔𝑡
𝜔

𝑘
𝜔= 𝜔 is the angular frequency or circular frequency measured in rad/sec
𝑚
Equation of Motion (Cont…)
The Natural Period T is obtained from
2𝜋
𝜔𝑇 = 2𝜋 ∴ 𝑇 =
𝜔
1 𝜔
And natural frequency 𝑓 = = (cycles/sec or Hz)
𝑇 2𝜋
1 𝑘
∴ 𝑓=
2𝜋 𝑚
Note on units: use either mass in kg and Force in N
Or mass in tonne (t) and Force in kN
Equation of Motion (Cont…)
𝑢 = 𝐴𝑐𝑜𝑠𝜔𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑡 (2)

An alternative solution to Equation (2) can also be written as


𝑢 = 𝐶 ∙ 𝑠𝑖𝑛(𝜔𝑡 + 𝜃) (3)
where C = amplitude and is given by C = 𝐴2 + 𝐵2
−1 𝐴
𝜃 = phase angle and is given by 𝜃 = 𝑡𝑎𝑛 ( )
𝐵
Equation of Motion (Cont…)
2𝜋
𝑇=
𝜔
Insert figure
Examples
Example 1: 𝑘 = 1600 𝑘𝑁/𝑚
m = 4000 kg
k

Initial conditions are:


At t = 0; u = 0.05 m ; 𝑢ሶ = 0
m
Calculate resulting motion.
Example 1 (Cont…)
Solution:
𝑘 1600 × 103
𝜔= = = 20 𝑟𝑎𝑑/𝑠
𝑚 4000
𝑢 = 𝐶 ∙ 𝑠𝑖𝑛(𝜔𝑡 + 𝜃)
𝑢ሶ = 𝜔𝐶 ∙ 𝑐𝑜𝑠(𝜔𝑡 + 𝜃)
𝜋
@ t = 0; 𝑢ሶ = 0 ∴ 𝑐𝑜𝑠𝜃 = 0 ; 𝜃 = 2
@ t= 0; u = 0,05m ∴ 𝐶 = 0.05

𝜋
∴ 𝑢 = 0.05𝑠𝑖𝑛 𝜔𝑡 + = 0.05𝑐𝑜𝑠𝜔𝑡
2
Example 1 (Cont…)
Alternatively, the solution could have been obtained as
𝑢 = 𝐴𝑐𝑜𝑠𝜔𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑡
𝑢ሶ = −𝐴𝜔 ∙ 𝑠𝑖𝑛𝜔𝑡 + 𝐵𝜔 ∙ 𝑐𝑜𝑠𝜔𝑡

@ t = 0; 𝑢ሶ = 0 ֜𝐵 = 0

@ t = 0; u = 0,05 ֜𝐴 = 0.05

∴ 𝑢 = 0.05𝑐𝑜𝑠𝜔𝑡
Example 2
• Determine the frequency for the mass placed at the end of a
cantilever beam of negligible mass. The length of the beam is
L.

L
Example 2 (cont…)
Solution:

3𝐸𝐼
𝑘= 3
𝐿
1 𝑘 1 3𝐸𝐼
𝑓= =
2𝜋 𝑚 2𝜋 𝑚𝐿3
Example 3: Portal Frame
Energy Method
Force in Spring

k
ku

Equlim position
W
m
W
u

𝑢ሶ ; 𝑢ሷ u displacement
Energy Method (cont…)
Neglecting the mass of spring, the kinetic energy (K.E) of the
mass m is
1 1 𝑊 𝑢ሶ 2
𝐾. 𝐸 = 𝑚𝑢ሶ 2 =
2 2 𝑔
The potential energy (P.E) is obtained as
𝑃. 𝐸 = 𝑃. 𝐸 of W below datum + strain energy in spring
1 1
= −𝑊𝑢 + 𝑊𝑢 + 𝑘𝑢2 = 𝑘𝑢2
2 2
Energy Method (Cont…)
From a conservation of energy;
K.E + P.E = Constant
𝑊 𝑢ሶ 2 𝑘𝑢2
∙ + =0
𝑔 2 2
𝑑
֜ 𝑚𝑢ሶ 2 + 𝑘𝑢2 = 0
𝑑𝑡
∴ 𝑚𝑢ሷ + 𝑘𝑢 = 0as before!
Energy Method (Cont…)
Note: In order to find the frequency “𝑓” it is not necessary to
solve the equation of motion.
2
𝑘𝑢𝑚𝑎𝑥
(𝑃𝐸)𝑚𝑎𝑥 = (at extreme positions)
2
2
𝑚𝑢ሶ 𝑚𝑎𝑥
(𝐾𝐸)𝑚𝑎𝑥 = (at u = 0)
2
(𝐾𝐸)𝑚𝑎𝑥 = (𝑃𝐸)𝑚𝑎𝑥
1 2 1 2
֜ 𝑚 𝑢ሶ 𝑚𝑎𝑥 = 𝑘𝑢𝑚𝑎𝑥 (a)
2 2
Energy Method (Cont…)
Now consider u = 𝐶𝑠𝑖𝑛 𝜔𝑡 + 𝜃
𝑢ሶ = 𝜔𝐶 ∙ 𝑐𝑜𝑠 𝜔𝑡 + 𝜃

֜ 𝑢ሶ 𝑚𝑎𝑥 = 𝜔𝑢𝑚𝑎𝑥 (b)

Equation (b) Into Equation (a), results in


𝑘 1 𝑘
𝜔2 = ∴ 𝑓=
𝑚 2𝜋 𝑚

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