Influence of Frequency ratio, rω , on Deformation Response factor, Rd
Following observation can be made from the
plot 𝑅 =
𝑢
𝑢
When rω is small ( i.e ω is small and thus
force is ‘slowly varying’ ), Rd is only slightly
greater than 1 or in the other words
Amplitude of dynamic deformation, uo ≈
Amplitude of static deformation, (ust)o.
When rω is close to 1.0, Rd is many times larger than 1
When rω >1 ( i.e ω is large and thus force is ‘rapidly varying’ ), Rd is less than 1 or in the
other words uo < (ust)o when Video 3
When , Rd becomes zero 16
Phase Angle,
Phase angle or Phase lag is the amount by which Response, up(t), lags the Applied force, p(t)
For an Undamped system subjected to Harmonic forces
0 𝑤ℎ𝑒𝑛 𝜔 < 𝜔 i. e. , r < 1
𝜙=
180 𝑤ℎ𝑒𝑛 𝜔 > 𝜔 i. e. , r > 1
Angular velocity = Angular displacement / time
Mathematically, ω= /t 2πf /t 2π/T /t
Thus in an undamped system with rω < 1 subjected to a harmonic force with exciting period , T,
corresponding dynamic displacement will produce after t= ( / 2π)T= (0/ 2π)T = 0 second or in other
words, force and corresponding displacement occur at same time.
However, in an undamped system with rω > 1 subjected to a harmonic force with exciting period , T,
dynamic displacement will produce after t= ( / 2π)T =(180/2π)T =T/2 s after the corresponding force.
Problem 4.1
A fixed-fixed steel beam, of length 5 m, width 0.5 m, and thickness 0.1 m, carries an
electric motor of mass 75 kg and speed 1200 rpm at its mid-span, as shown in Figure. A
rotating force of magnitude Po = 5000 N is developed due to the unbalance in the motor.
If mass of the beam is replaced with a mass lumped at the center equal to 25% of actual
distributed mass, determine:
1. Amplitude of equivalent static force.
2. Beam will be safe in bending or not
Take permissible bending stress in beam =100 MPa, E = 207 Gpa, ζ= 0 and γ = 76.5
kN/m3 for steel
Solution
•L= 5m , b=0.5 m, t=0.1 m
• mmotor=75 kg , ω= 1200 rev/min = 1200*2π rad/(60 s) = 126 rad/s, Po= 5000 N
•E = 207 Gpa and γ = 76.5 kN/m3 for steel
Problem 4.1: Solution (contd.)
Total lumped mass, m= mmotor+0.25* mbeam
mbeam = W/g= (γV)/g
m = mmotor+0.25* (γV)/g = 75+0.25*(76500 N/m3)*(5 m*0.6m*0.1m)/(9.81 m/s2) = 562.4 kg
k= 192EI/L3= 192*(207*109 N/m2)*(0.5*0.13/12 m4)/(5m)3= 13.26*106 N/m
Problem 4.1: Solution (Contd…..)
. ∗ .
.
=
Beam is safe in bending while motor is running with full speed
Response of Damped systems to
Harmonic Excitations
21
Response of damped systems to Harmonic forces
The equation of motion for harmonic vibration of damped system is:
This equation is to be solved subjected to initial conditions
The particular solution of this differential equation is
Where
&
22
Response of damped systems to Harmonic forces
The complementary solution is:
The complete solution is: u(t) = uc(t)+up (t)
23
Steady state response of damped systems to Harmonic forces
Transient response (difference b/w total response and steady-state response) in a damped system
diminishes after few cycles of forced vibration.
Larger the amount of damping, quicker the Transient response will diminish (as shown in below
figures). Thus u u u u =u
, 𝑢(𝑡) = 𝑢 (𝑡) + 𝑢 (𝑡)
, 𝑢 (𝑡)
= 𝑢 𝑡 − 𝑢 (𝑡)
T = 2π/ω (b) T = 2π/ω
(a)
Response of a damped system to harmonic loading with 𝑢 0 = 0 𝑎𝑛𝑑 𝑢̇ (0) ≠ 0
𝑎 𝜔 𝜔 = 0.2, 𝜁 = 0.05 𝑏 = 𝜔 𝜔 = 0.2, 𝜁 = 0.15 24
Deformation response factor, Rd , in damped system to Harmonic forces
The Steady state deformation can be rewritten as:
𝐷
Where 𝑢 = 𝐶 + 𝐷 𝑎𝑛𝑑 𝜙 = Tan −
𝐶
Substituting the values of C and D (given on slide 21) in equations for determining Rd and ,
results in:
25
Deformation response factor, Rd , in damped system to Harmonic forces
𝑢
𝑢
𝑅 =
Phase Angle,ϕ
Effect of rω and ζ on the Deformation response factor, Rd
rω <<1
Following observation can be made from the plot
Damping reduce Rd for all values of frequency ratio, rω.
However, rate of reduction highly depend on the magnitude of rω
If the rω is around 0.2 and below, ( i.e. force is ‘slowly
varying’), Rd is only slightly greater than 1 and thus unaffected
by damping
st
27
Effect of rω and ζ on the Deformation response factor, Rd
rω >>1
If rω is high,( i.e force is ‘rapidly varying’), Rd tends to zero as ω/ωn increases and is
essentially unaffected by damping .
=
1
𝑅 =
(1 − 2𝑟 + 4𝜁 𝑟 ) + 𝑟
For large values of rω, the (rω)4 term is dominant in above
equation , which can be approximated as
28
Effect of rω and ζ on the Deformation response factor, Rd
rω =1
If the rω≈ 1( i.e frequency of force is close to natural frequency):];
The above equations shows that at resonance, Rd is a direct function of damping
e.g., At ζ = 5% of critical damping, Rd = 1/(2*0.05)=10 uo= 10 (ust)o .
i.e. Maximum dynamic displacement is 10 times the displacement if the force have been
applied as Static.
29
Effect of rω and ζ on the Deformation response factor, Rd
rω =1
uo can be alternatively written as
30
