Assignment 3 - Problem 3.

26
Statement of Problem and Objectives
is subjected to the periodic force shown in Figure P3.26 with an amplitude p o and period T 0 .
An SDF system with natural period T n and damping ratio
(a) Expand the forcing function in its Fourier series
(b) Determine the steady-state response of an undamped system. For what values of T 0 is the solution indeterminate?
(c) For T 0 /T n 2 , determine and plot the response to individual terms in the Fourier series. How many terms are necessary to obtain reasonable convergence of the series solution?

Solution
Part (a) - Solution
Objective (a) - Expand the forcing function in its Fourier series

ft

We notice that the force decreases linearly

2p o
pt
t po
0 t T 0 /2
T

mt

for 0

T 0 /2

and that it increases linearly for

T 0 /2

T 0 . Therefore, we define the function between these intervals of time as

2p o
T0

pt

po

T 0 /2

T0

We notice that this is an even function (symmetric with respect to the y-axis). Therefore, we will analyze the interval of time 0
In order for us to decompose the periodic function, we represent it by Fourier series. We define the coefficients a 0 , a j , b j
T0
1
a0
p t dt
T
0
0

a0
or
a0

1
T0

a0

2
T0

a0

2
T0

Therefore,
1
a0
p
2 o

T 0 /2
0

po

2p o
T0

T0

t dt

T 0 /2
1
p t dt
T0 0
T 0 /2
2p o
po
t
To
0
1
1
T p
T p
2 0 o
4 0 o

T 0 /2

2p o
T0

po

t dt

symmetry
1
T0

dt
1
2

po

po

T 0 /2
0

dt

2p o
T0

T 0 /2
0

tdt

T 0 /2.

Now, we define the coefficient a j

T 0 /2
2
aj 2
p t cos j 0 t dt
T
0

aj

4
T0

T 0 /2

po

cos j

we know that
t cos at dt

1
a2

0t

T 0 /2

2p o
T0

dt

cos at

T 0 /2

4
T0

t cos j

2p o
To

po
0t

t cos j

dt

0t

dt

Main. EQ

at sin at

1
cos at dt
a sinat
Therefore, if we solve each term of the function individually

T 0 /2
0

cos j

0t

dt

sin j

T 0 /2

0t

2 /T 0 , therefore
where
0
T 0 /2
1
cos j 0 t dt
sin j 2 /T 0
j 2 /T
0
0

By definition sin j

aj

4
T0

T0
0 2

sin j

T0
2

1
T
2 j 0

sin j

0 for any value of j . Therefore,

T 0 /2

2p o
T0

1
j

t cos j

0t

8
T 20

dt

po

1
2

T0

t cos jt

dt

Main. EQ

and solving the second term of the equation yields the following
T 0 /2
0

t cos j

0t

dt

T 0 /2

1
j

cos j

0t

sin j

0t
0

2 /T 0 , therefore
where
0
T 0 /2
1
t cos j 0 t dt
cos j 2 /T 0
2
2
0

0t

j 2 /T 0

T0
2

1
j 2 2 /T 0

1
j2

T0
2j 2 /T 0

2
0

cos j

T0
0 2

sin j 2 /T 0

1
j2

T0
2

1
4

Now, returning into the main equation

aj

8
T 20

po

1
4

2 2

T 20 cos j

Recall, by definition sin j

2
2
aj
po
p o cos j
2 2
2 2
j

2 2

T 20

1
T2
4 j 0

2
j

sin j

2 2

po

2
j

p o cos j

2 2

for any value of j . Therefore,

p o cos j 1

2
2 2
j

Note that for j 1, 3, 5, . . . , odd

2
4
aj
p o cos j 1
po
2 2
2
j

and for j 2, 4, 6, . . . , odd

2
aj
p o cos j 1
0
2 2
j

Now, we can define the coefficient b j .

T0
2
bj
p t sin j 0 t dt
T
0

bj

2
T0

bj

2
T0

0
T 0 /2
0

T 0 /2
0

po
po

2p o
t
T0
2p o
t
T0

sin j
sin j

0t

dt

0t

dt

T0
T 0 /2

po

2p o
T0

t sin j

0t

dt

2
p
j o

T0
2j 0

2
0

sin j

2 2

sin j

T 20 cos j

T0
0 2

1
4

2 2

T 20

1
T2
4 j 0

sin j

If we define the following for convenience and solve them separately.

T 0 /2
2p o
2
po
t sin j 0 t dt Part_I
T
T
0
T0

2
T0

T 0 /2

2p o
T0

po

we know that
sin at

1
a

0t

dt

Part_II

cos at

1
a2

t sin at dt

t sin j

sinat

at cos at

where a is a constant. Therefore, if we solve each term individually

T 0 /2
0

sin j

0t

dt

cos j

T 0 /2

0t

1
j

1
j

cos 12 j

2 /T 0 . Therefore,
where
0
T 0 /2
1
1
sin j 0 t dt
cos 12 j 2 /T 0 T 0
j 2 /T
j 2 /T
0
0

0 T0

1
T
2 j 0

1
T
2 j 0

1
T
2 j 0

cos j

cos j

Now, we define/solve the second term of Part I

T 0 /2
0

t sin j

where
0
T 0 /2
t sin j
0

T 0 /2
0

t sin j

0t

T 0 /2

dt

sin j

0t

j 2 /T 0

dt

1
4

T 20 0

2 2

t cos j

0t

T0
2

1
2

2
0

T0
0 2

sinj

1
2

T0
2

j 2 /T 0 T 0 cos j 2 /T 0

1
T2
4 j 0

j cos j

1
j

2 /T 0 . Therefore,
1
sin j 2 /T 0
0 t dt
2
2
0t

0 T0

1
4

2 2

cos j

T0
0 2

T 20 sin j

j cos j

cos j

Now, going back to the main equation and substituting each term that was analyzed individually
T 0 /2
2p o
2p o
2
2
1
1
1
p
t
sin
j
p
T
1
T 2 cos j
p
o
o
0 t dt
0 cos j
T
T
T
T
j o
2
j
4 j 0
0
0

Therefore,
1
bj
p
j o

2
T0

T0

po

T 0 /2

2p o
T0

t sin j

0t

dt

Part II Solution, following the same procedure as before,

T0
T
2p o
2p
po
t sin j 0 t dt
p o 0 sin j 0 t dt T o
T
T 0 /2

T 0 /2

T0
T 0 /2

t sin j

0t

dt

where
T0
T0

1
j 2 /T 0

sin j 2 /T 0 t dt
/2

By definition cos 2 j
T0
sin j 2 /T 0 t dt
T /2
0

cos j 2 /T 0 t

T0

1
T
2 j 0

T 0 /2

cos j

1
T
2 j 0

cos 2 j

for any value of j

1
T cos j 21 j T 0
2 j 0

solving the second term

T0
T0

1
j 2 /T 0

t sin j 2 /T 0 t dt
/2

T0
2

sin j 2 /T 0 t

j 2 /T 0 t cos j 2 /T 0 t
T 0 /2

By definition sin j sin2 j 0 for any value of j

T0
1
1
t sin j 2 /T 0 t dt
T 20 0 2 j cos 2 j
T 20 0
2 2
2 2
T /2
0

j cos j

1
T2
4 j 0

cos j

1
4

2 2

T 20 sin2 j

1
T2
2 j 0

cos 2 j

2 j cos 2 j

1
4

2 2

T 20 sin j

j cos j

Going back to the main equation

T
T
2p
p o T 0 /2 sin j 0 t dt T o T 0 /2 t sin j
0

po

1
T
2 j 0

1
T
2 j 0

Therefore,
1
bj
p
j o

2
T0

cos j

By definition cos 2 j
T
p o T 0 /2 sin j 0 t dt

1
T2
4 j 0

po

dt

1
T2
2 j 0

cos j

for any value of j

t sin j 0 t dt p o
T /2
2p o
T0

T 0 /2

t sin j

0t

1
T2
4 j 0

cos j

1
T2
2 j 0

1
T2
4 j 0

cos j

1
T2
2 j 0

cos2 j

cos 2 j
1
T
2 j 0

1
p
j o

dt

2p o
T0

1
T
2 j 0

cos j

1
T
2 j 0

po

1
T
2 j 0

po

T0

2p o
T0

T0

2
T0

0t

2
T0

cos j

2
T0

po

1
T p
2 j 0 o

1
T p
2 j 0 o

Therefore,
b j 0 symmetry
(Note: The procedure could have been expedited by defining b j

as zero from the beginning given that the function is even (symmetrical))

Now, define the periodic function/excitation as a Fourier series representation

pt

a0

a j cos j

0t

b j sin j

j 1

pt

1
2

0t

j 1
4
j2 2

po
j 1,3,5,..., odd

p o cos j

0t

0 cos j

0t

0 sin j

j 2,4,6

0t

j 1

Therefore, the Fourier series representation of p t

is

p(t ) = 12 p o +
Part (b) - Solution
Objective (b) - Determine the steady-state response of an undamped system. For what values of T 0
The steady-state response of a SDF system to the forcing function p t

ut

u cj t

u0 t

4
2

po

is defined as

j 1

The steady-state response for a damped system is defined as

ut

a0
k

j 1,3,5,..., odd

1
k

1
2
j

aj 2

2
j

bj 1

sin j

0t

aj 1

2
j

bj 2

cos j

2
j

whereas, the response for an undamped system is

ut
0
ut

a0
k

bj 1
a0
k

j 1,3,5,..., odd
2
j

sinj

j 1,3,5,..., odd

1
k

1
2
j

0t

1
k

0
0

aj 1
1
1

2
j

2
j

bj 1

2
j

0 cos j

a j cos jt

2
j

sinj
0t

0t

aj 1

a j cos jt
b j sinjt

2
j
2
j

0 cos j

2
j

1
1

0t

b j sinjt

2
j =1, 3 , 5 ,..., ( odd ) j

cos( j 0 t )

is the solution indeterminate?

u sj t

j 1

0t

where
u0 t

4
j2 2

aj

po
2k

a0
k

po

bj 0
Therefore,
po

ut

2k

1
k

j 1,3,5,..., odd

po

ut

2k

1
k

j 1,3,5,..., odd

1
1

2
j

2
j

4
j2 2

1
1

4
j

2 2

po

cos jt

p o cos jt

2
j

0 sinjt

2
j

2
j

The steady-state response for the given undamped SDF system is defined as
po

ut

4
2

2k

j 1,3,5,..., odd

po

where

1
kj 2

1
1

1
j2

2
j

cos j

0t

u st o k

u st o k

ut

po

4 u st o k
2

2k

j 1,3,5,..., odd

1
j2 1

1
j2

2
j

cos j

0t

Therefore
u st

ut

4 u st

j 1,3,5,..., odd

1
j2 1

2
j

1
j2

cos j

0t

For better understanding of the response of the SDF system we now the define the function as a ratio of u t / u st

ut
u t
u st

u st

1
2

1
2

4
2

j 1,3,5,..., odd

4
2

j 1,3,5,..., odd

1
j2 1

2
j

1
j2 1
1
j2

2
j

cos j

1
j2

cos j

2
T0
2
Tn

j TT n
0

Rd

0t

0t

We know that the function will be unbounded and not meaningful (indeterminate) when
1. 0 can be defined s
j
corresponding to
0
n

1 and

0 . As we analyze the periodic force function/graph, we see that the values of T 0

1. 0

Therefore,

T0

jT n

The function will be indeterminate, in general, when j

1, 3, 5, 7, . . . , odd

Part (c) - Solution

(c) For T 0 /T n 2 , determine and plot the response to individual terms in the Fourier series. How many terms are necessary to obtain reasonable convergence of the series solution?
we define the frequency ratio
0
n

2
T0
2
Tn

j
2

j TT n
0

Also, we define the forcing frequency as

u t
u st

1
2

4
2

j 1,3,5,..., odd

1
j 2 1 j/2

2 /T 0

0
1
j2

cos j 2 /T 0 t

u(t)/(ust)0
1.0

Therefore, evaluating the individual terms in the Fourier series.

u t
u st

1
2

4
2

j 1,3,5,..., odd

1
j 2 1 j/2

1
j2

cos j 2 /T 0 t

0.8

First Term (Solid Line)

0.6

1
1
2

4
2

j 1

1
j 2 1 j/2

1
j2

cos j 2 /T 0 t

16
3 2

1
2

cos 2

t
T0

0.4

Two Terms (Dashed Line)

0.2

3
1
2

4
2

j 1,3,5

j2

1
1 j/2

1
j2

cos j 2 /T 0 t

16
3 2

1
2

cos 2

t
T0

4
2

4
405

t
T0

cos 6

0.0

Three Terms (Dot-Dash Line)

0.1

5
1
2
16
3 2

4
2

cos 2

j 1,3,5
t
T0

1
1 j/2

1
j2

16
405

cosj 2 /T 0 t

cos 6

t
T0

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1.0

t/T0

Figure 1: Response Function

1
2
1
22 680 000

0.2

896 000 cos 6

t
T0

118 125 cos 8

t
T0

27 648 cos 10

t
T0

We zoom into a certain region of the response function for better understanding (See Figure 1 and 2).

u(t)/(ust)0

0.10

0.08

We can see that two terms are enough to obtain reasonable convergence of the series solution.
0.06

0.04

0.02

0.00
0.42

0.44

0.46

0.48

0.50

0.52

-0.02

-0.04

Figure 2: Response Function (Zoomed)

0.54

0.56

0.58

0.60

t/T0