Ocean Engineering and Naval Architecture: Vibration of Floating Structures

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Indian Institute of Technology, Kharagpur

Ocean Engineering and Naval Architecture

VIBRATION OF FLOATING STRUCTURES

by
Dr. N. Datta
Teaching Assistants
Mr. R.K. Praharaj, Mr. A. Pal
Lecture # 3
Free damped vibration of 1 DOF system
1 DOF spring-mass-dashpot system model

 Lumped mass has only one degree of freedom.


Displacement
Linear Spring : Spring force is linearly proportional to the displacement.
Spring Force
Spring force opposes the motion.
Linear Damper : Damping force is linearly proportional to the velocity
Damping force
Damping force also opposes the motion.
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Single DOF free vibration GDE
•  
Newton’s 2nd law
Inertia force (mass × acceleration) = External force

Governing Differential Equation (GDE)

Second-order, linear, homogenous, constant coefficient, ordinary differential


equation (ODE).
Independent variable : time
Dependent variable / Unknown : Displacement
Parameters : Mass , spring constant , Damping constant
Solved by : Method of Characteristic Equation.
Solution : Complementary Function only.

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 Governing Differential Equation (GDE)

Assume . Substituting in GDE,


For a non-trivial solution,
General Solution :

Decaying component
A, B are arbitrary constant that depend on the initial conditions : initial displacement
and initial velocity It is an IVP (Initial Value Problem : the initial value of the unknown
is known).
------------------------------------------------------------------------------------------------------------------------

Case 1 : (Super-critically damped vibration : Non-oscillatory)


Case 2 : (Critically damped vibration : Non-oscillatory)
Case 3 : (Sub-critically damped vibration : Oscillatory)

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Super-Critically and Critically Damped Vibration
 
(both are real and unequal).
General Solution :
The amplitude cannot increase with time without external energy input. Thus, .
Thus, . Displacement decreases exponentially with time.
----------------------------------------------------------------------------------------------------------------------------

(both are real and equal).


General Solution : )
Displacement decreases exponentially with time.
A, B are arbitrary constant that depend on the initial conditions : initial displacement and
initial velocity It is an IVP (Initial Value Problem : the initial value of the unknown is
known).

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Sub-Critically Damped Vibration
 
=
(both are complex conjugates)
Undamped Natural frequency Damping ratio
Critical Damping (Does not depend on actual damping)

Frequency of damped vibration Damped time period


General Solution :
A, B are arbitrary constant that depend on the initial conditions : initial displacement and
initial velocity It is an IVP (Initial Value Problem : the initial value of the unknown is
known).

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 General Solution :

Let and . Substituting in the general solution,

Final solution

where amplitude and phase angle

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Decay Time Series : Logarithmic Decrement
  Decay Envelope  Logarithmic Decrement : Natural logarithm of the
ratio of two successive amplitudes.

Decrement in amplitude after ‘N’ oscillations :

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Time Series

  𝑛 >𝜔 𝑑 ⟹ 𝑇 𝑑 >𝑇 𝑛
𝜔

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Phase Plane
(  𝑣 0 +2 𝜁 𝜔 𝑛 𝑥 0 )
𝜔𝑑
Amplitude (radius)
decreases exponentially
with time.

 𝑥 (𝑡 )

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LCR Circuit Analogy

Vibration LCR Circuit


Damper Resistor
Stiffness Capacitor
Mass Inductor
Displacement Charge
Velocity Current
Acceleration Rate of change of current w.r.t. time
Exciting Force Voltage (Electromotive force)
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Phasor Diagram : Complex plane
 𝑖
Velocity

Multiplying
  a phasor by
rotates it by
Acceleration Displacement

 -  1

 -

  Displacement
Velocity
Acceleration
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End of Lecture #3
Thank you

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