Ch.04 Single DOF System - Free-Response Characteristics

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4.01 Single DOF Systems: Free Response Characteristics
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04. Single DOF Systems: Free Response Characteristics
Chapter Objectives Determine the solutions for a linear, single DOF system that is underdamped, critically damped, overdamped, and undamped Determine the response of single DOF systems to initial conditions and use the results to study the response to impact and collision Determine when a system is stable and how to use the rootlocus diagram to obtain stability information Obtain the conditions under which a machine tool chatters Use different models for damping: viscous (Voigt), Maxwell, hysteretic Examine systems with nonlinear stiffness and nonlinear damping
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1.Introduction The governing equation for all linear single dof systems 2 () 2 + 2 + = 2 The solution can be determined by using time-domain methods the Laplace transform method
(4.1)
2.Free Responses of Undamped and Damped Systems 1.Introduction - In the absence of forcing, = 0 , the single dof reduces to 2 2 + 2 + = 0 (4.2) 2 - Free responses: the responses of a system to initial conditions = 0 and/or (0) = 0 - Four distinct types of solutions to Eq. (4.1) Underdamped System 0 < < 1 Critically damped system = 1 Overdamped System > 1 Undamped System = 0
2 2 2 = + ()
+ 2
(4.1)
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2.Free Responses of Undamped and Damped Systems - Underdamped System 0 < < 1, < 0 + 0 = 0 + or = 0 + where : damped natural frequency, = 1 2 0 : amplitude, 0 : phase, 0 + 0 0 = 1 0 + 0 0 =
2 0 + 2
(4.3)
(4.4)
2.Free Responses of Undamped and Damped Systems - Critically Damped System = 1, = = 0 + 0 + 0 (4.7) - Over Damped System > 1, > 0 = + +0 (4.8) where
= 2 1
(4.5) (4.6)
(4.9)
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2.Free Responses of Undamped and Damped Systems - Undamped System = 0, = 0 0 = 0 ( ) + ( ) and = 0 ( + ) where 0 0 = 1 0 0 =
2 0 + 2
(4.10)
(4.11)
(4.12)
2.Free Responses of Undamped and Damped Systems - To simplify matters assume that 0 = 0; 0 0 introducing the nondimensional time variable = and study the differences in the response of the mass for four regions describe four different types of systems () = () = 0 0 / () 1 0 < < 1 = 1 2 0 / 1 2 () = 1 = 0 / () 1 > 1 = 1 2 0 / 1 2
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2.Free Responses of Undamped and Damped Systems - Ex.4.1 Free response of a microelectromechanical system A microelectromechanical system has a mass of 0.40, a stiffness of 0.08/, and a negligible damping coefficient. The gravity loading is normal to the direction of motion of this mass Determine the displacement response of this system when no forcing acting on this system, and the initial values 0 = 2, and 0 = 0
2.Free Responses of Undamped and Damped Systems Solution 0 = = = 0, from Eq.(4.10): = 0 The initial displacement 0 = 2 The natural frequency
0.08 = 14142.14/(2250.8) 0.4 109
The displacement response = 2 14142.14 () The displacement is a cosine harmonic function that varies periodically with time and has the period 2 1 1 = = = = 444.29 2250.8
= 0, = 0 :
= 0 ( ) + 0 ( )
(4.10)
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2.Free Responses of Undamped and Damped Systems - Ex.4.2 Free response of a car tire A wide-base truck tire is characterized with a stiffness of = 1.23 106 /, an undamped natural frequency of = 30, and a damping coefficient of = 4400/. In the absence of forcing, determine the response of the system assuming nonzero initial conditions, evaluate the damped natural frequency of the system, and discuss the nature of the response Solution The governing equation of motion of the tire system 2 2 + 2 + = 0 2 where, = 2 = 2 30 = 188.5/ 4400 188.5 = = = = 0.337< 1 underdamped 2 2 2 1.23 106
2.Free Responses of Undamped and Damped Systems The displacement response of the tire system = 0 ( + ) where, 0 =
2 0 +
0 + 0
, = 1
0 0 + 0
The damped natural frequency = 1 2 = 188.5 1 0.3372 = 177.5/ The damped sinusoid period 2 2 = = = 0.0354 = 35.4 177.5 The amplitude of the displacement response decreases exponentially with time, with () = 0
2 2 + 2 + = 0 = 0 ( + ) 2
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2.Free Responses of Undamped and Damped Systems - Ex.4.3 Free response of a door A door undergoes rotational motions about the vertical axis pointing in the direction. The governing equation of motion of this system + + = 0 where, = 202 = 48/ = 28.8/ Determine the response of this system when the door is opened with an initial velocity of 0 = 4/ from the initial position (0) = 0, then plot this response as a function of time and discuss its motion
2.Free Responses of Undamped and Damped Systems Solution Rewritten the governing equation of motion 2 + + = + 2 + = 0 where, = = = 28.8 = 1.2/ 20
48 = = 1.0 2 2 20 1.2 the system is critically damped The displacement response = 0 + 0 + (0) = 4 1.2
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2.Free Responses of Undamped and Damped Systems Displacement time history of the door = 4 1.2
2.Free Responses of Undamped and Damped Systems 2.Initial Velocity - The amplitude and phase with the initial condition 0 = 0, 0
2 0 = 0 +
0 + 0
0 0 , = 1 =0 0 + 0 (4.13) (4.14)
with
0 0 = = ( ) 1 2 0 = = ( 2) 1 2 1 2 = 1 1 2 = 1
2 0+0 ,
(4.15)
0 = 1 + 0
2+ = 0 + , = 1 2, 0 = 0
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2.Free Responses of Undamped and Damped Systems - Time histories of displacement, velocity, and acceleration of a system with prescribed initial velocity 0
2.Free Responses of Undamped and Damped Systems Extrema of Displacement Response / = = =0 0 = = 0 (4.16) 1 2
= + , = 0,1,2, (4.17) 0 = / = 0 / 1 2 = + 0 = (1) + / , = 0,1,2, (4.18) / occurs when = 0, or . = (4.19) = 1 2

0 = 0, 0 0: = 0 , = 1 2, = 1 1 2 = 1
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2.Free Responses of Undamped and Damped Systems Extrema of Velocity Response / = = =0 0 = = ( 2) = 0 1 2 = 2 + , = 0,1,2, = / 0 = 1 2 0 2 = / 1 + 1 2 = (1)+1 0 2+ / , = 0,1,2, (4.20)
(4.21)
2.Free Responses of Undamped and Damped Systems Force Transmitted to Fixed Surface The dynamic component of the force transmitted to the base of a single dof system = + (4.22) 0 = 2 + (4.23) The reaction force acting on the base at = 0 20 20 (4.24) (0) = = when the mass of a single dof system is subjected to an initial velocity, the force is instantaneously transmitted to the base
= 0 , = =
0 = 0, 0 0: =
0 12
( ), = 1 2, = 1 1 2 = 1
12
0 12
( )
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2.Free Responses of Undamped and Damped Systems State-Space Plot and Energy Dissipation
2.Free Responses of Undamped and Damped Systems - Ex.4.4 Impact of a vehicle bumper Consider a vehicle of mass that is travelling at a constant velocity 0
Model of a car bumper colliding with a stationary barrier
State-space plot of a single degree-of-freedom system with a prescribed initial velocity 0

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2.Free Responses of Undamped and Damped Systems
Time history of velocity of mass
Equivalent impact configuration
2.Free Responses of Undamped and Damped Systems - Ex.4.5 Impact of a container housing a single dof system Consider the effects of dropping onto the floor a system that resides inside a container that has a coefficient of restitution with respect to the floor The magnitude of the velocity at the time of impact with the floor dropped from a height 0 = 2 At the instant = 0+ after impact, the container bounces upwards with a velocity whose magnitude is 0 The container and the single dof system can be modeled as a single dof system and rebound immediately with a moving base
after impact with the floor
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2.Free Responses of Undamped and Damped Systems Define the relative displacement 2 2 = () 2 + + = 2 The container is decelerating during the rebound upwards: = 2 2 + + = () () : unit step function The initial conditions 0 = 0 0 = 0 0 = 0 0 = 2 0 0 = 1 + 0 = 1 + 2 = 1 + 1 = 1 2 1 2 2 1 + = (1 + ) 12
2.Free Responses of Undamped and Damped Systems The corresponding velocity = 1 2 1 2 1 + 1 2 1 2
Normalized maximum relative displacement of a system inside a container that is dropped from a height as a function of coefficient of restitution of the container and the damping ratio of the single degree-of-freedom system
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2.Free Responses of Undamped and Damped Systems - Ex.4.6 Collision of two viscoelastic bodies
Using the single dof model to analyze the impact (collision) Solution The relative acceleration between and = = = = (a) The magnitude of the contact force acting on each mass (b) = +
2.Free Responses of Undamped and Damped Systems From the free-body diagram of each mass during impact (c) = , = Since there are no external forces acting on the system at the time of impact, the systems linear momentum is conserved + = 0 + = 0 (d,e) = , = , = (f,g) + From (a,b,c,f,g) the governing equation = = + 2 + 2 + = 0 (h) 2 = , = (i) 2
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2.Free Responses of Undamped and Damped Systems - Ex.4.7 Vibratory system employing a Maxwell model The governing equations of motion and solution for response 2 2 + + 1 = 1 = (a) Maxwell Model Define
1 , , (b,c)
Kelvin-Voigt Model
+ 1 + = / = = 2 (d) (e) 2 =
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2.Free Responses of Undamped and Damped Systems In the limiting case, when (1 ), (d) can be used study a vibratory system with a Maxwell model as well as a Kevin-Voigt model (d) 2 + 1 + = () + 2 = 0 (f) + 0 + (0) (g) Maxwell Model The response () + 2 = 2 3 + 2 + 2 1 + + () (h) = 2 3 + 2 + 2 1 + +
Kelvin-Voigt Model + 1 + = /, = = 2
(d)
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2.Free Responses of Undamped and Damped Systems Force transmitted to the fixed support The reaction force on the base is seen to be = 1 + = + (i) in terms of the nondimensional quantities = 2 + (j) () + 2 1 + (k) = 2 3 + 2 + 2 1 + + (0) (0) = 0, 0 = 0, = = 0 (l) = 0 / (m) + 2 1 + (n) = 0 / 2 3 + 2 + 2 1 + +
2.Free Responses of Undamped and Damped Systems 1 + 2 = 0 / 2 + 2 + 1 Reaction force of the system for = 0.15
(o)
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2.Free Responses of Undamped and Damped Systems - Ex.4.8 Vibratory system with Maxwell model revisited Now consider the case where the support consists only of a Maxwell element; that is, = 0 2 (a) 2 + 1 = , 1 = 2 Define 1 = 1/, 1 (b) + = ()/1 (c) = 21 1 21 = (d) 1 The Laplace transforms of Eqs (c) 2 + 1 = 1 () 1 + 21 = 0 (e)
2 2
+ + 1 = , 1 =
(a)
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2.Free Responses of Undamped and Damped Systems (f) 1 + 0 + (0) 1 The response 1 () + 21 = 21 2 + + 21 1 () (g) = 21 2 + + 21 1 1 (h) 2 = = 21 1 When the spring with stiffness = 0, the reaction force on the base () (I,j) = 1 = , = 1 = 21 1 () 211 () (k) = 1 21 2 + + 21
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2.Free Responses of Undamped and Damped Systems (0) (0) = 0, 0 = 0, = 1 = 0 = 0 /1 21 1 = = 0 /1 21 2 + + 21 2 + 2 + 1

Maxwell element: Reaction force of the system for = 0.15 and = 0.12
(l) (m) (n)
Maxwell element: Displacement response of the mass for = 0.15.
2.Free Responses of Undamped and Damped Systems 3.Initial Displacement - The amplitude and phase with the initial condition 0 , 0 = 0 0 1 2 0 = , = 1 = 1 2 0 = + (4.28) 1 2 0 = = 1 2 2 0 (4.29) = = ( ) 1 2
2+ = 0 + , = 1 2, 0 = 0
2 0+0 ,
0 = 1 + 0
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2.Free Responses of Undamped and Damped Systems Time histories of displacement, velocity, and acceleration of a system with a prescribed initial
2.Free Responses of Undamped and Damped Systems State-space plot of single degree-of-freedom system with prescribed initial displacement
0 = 0 1 2 1 2 = 0 + = 0 2 = 0 ( ) = = 1
0 =
0 1 2
1 2 = 0 + = 0 2 = 0 ( ) = = 1
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2.Free Responses of Undamped and Damped Systems Logarithmic Decrement Consider the displacement response of a single dof system subjected to an initial displacement Logarithmic decrement () ( + ) where 2 2 = 1 2
Quantities used in the definition of the logarithmic decrement
2.Free Responses of Undamped and Damped Systems Let = + , = 1,2, then, by definition 1 0 1 2 = = == = 1 2 3 0 0 1 2 1 = = 1 2 3
(4.32) (4.33)
The logarithmic decrement in terms of two amplitudes measured cycles apart 1 0 1 () (4.34) = = , = 1,2, ( + ) From Eq.s (4.28), (4.30) and (4.34) 2 = 1 2
(4.35)
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2.Free Responses of Undamped and Damped Systems From a measurement of the amplitudes 0 and , one can obtain the damping ratio = 1/ 1 (2/)2 (4.36)
2.Free Responses of Undamped and Damped Systems - Ex.4.9 Estimate of damping ratio using the logarithmic decrement It is found from a plot of the response of a single dof system to an initial displacement that at time the amplitude is 40% of its initial value two periods later the amplitude is 10% of its initial value Determine an estimate of the damping ratio Solution From Eq. (4.34) 1 0 1 0.4 = = = 0.693 2 0.1 Then, from Eq.(4.36) 1 = = 1 (2/)2 1 1 (2/0.693)2 = 0.11
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Curve fit to a set of sampled data from the response of a system with prescribed initial displacement
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2.Free Responses of Undamped and Damped Systems 4.Initial Displacement and Initial Velocity - The amplitude and phase with the initial condition 0 , 0 = 0 ( + ) (4.37) = = 0 ( + ) (4.39) = = 0 ( 2) where, 2 2 0 + 0 + 2 0 = 0 + = 0 1 + 1 2 = 1 = 1
2.Free Responses of Undamped and Damped Systems Displacement response of a system with prescribed initial displacement and prescribed initial velocity
0 1 2 = 1 0 + 0 + 1 2 1 2 1 =
2 0+0 ,
(4.38) (4.15)
0 = 1 + 0
2 = 0 + , = 1 2, 0 = 0 +
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2.Free Responses of Undamped and Damped Systems - Ex.4.10 Inverse problem: information from a state-space plot From the given graph, determine the following: (a) the value of the damping ratio and (b) the time = at which the maximum displacement occurs
2.Free Responses of Undamped and Damped Systems Solution From the graph at = 0: 0 = 0 , 0 = 1.60 at = 0: = 1.80
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2.Free Responses of Undamped and Damped Systems a.Determine Along the line = 0 0.950 + 0.50 The logarithmic decrement 0.950 = = 1.90 = 0.642 0.50 The damping factor 1 1 = = = 0.10 1 (2/)2 1 (2/0.642)2
2.Free Responses of Undamped and Damped Systems b.Determine (0) 1.60 = = 1.6 = (0) 0 0 = 0 1 + = 1
2 1.6 + 0.1 + = 0 1 + 1 2 1 0.12 2
= 1.9760
1 2 1 0.12 = 1 = 10.5853 = 0.53 + 0.1 + 1.6
Eq. 3(4.7): 1.80 = 1.976 0.1 ( 1 0.12 + 0.53) 0.91 = 0.1 (0.995 + 0.53) Therefore = 0.945
= 0 ( + ) (4.37)
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3.Stability of Single Degree-of-Freedom System - A linear single dof system is considered stable if, for all selections of finite initial conditions and finite forcing functions , > 0 where has a finite value - This is a boundedness condition, which requires the system response () be bounded for bounded system inputs - If this is not the case, then the system is considered unstable
3.Stability of Single Degree-of-Freedom System - Instability of Unforced System 0 2 0 + 0 (4.1) = + (4.40) 2 2 = /(2 ) where = + 2 + = 2 + ( / ) + / = / = ( 1 )( 2 ) (4.41) 1 2 1,2 = 4 (4.42) 2 note 1 1 1 1 1 (4.43) = = () ( 1 )( 2 ) 1 2 1 2 1 1 2 1 (4.44) = = () ( 1 )( 2 ) 2 1 2 1
2 2 2 + 2 + = ()
(4.1)
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3.Stability of Single Degree-of-Freedom System System response = 1 () 0 2 0 + 0 = 1 + 1 1 = 0 + 2 0 + 0 1 (0) 1 2 1 = 2 1 2 1 2 0 + 0 1 1 1 + 1 2 1 2 (0) 2 0 + 0 = 2 11 + 1 2 2 1 2 1 2

=
0
3.Stability of Single Degree-of-Freedom System System is table if a finite value 0 2 0 + 0 2 1 1 + 1 2 2 1 2 1 2 a finite value 1,2 remains finite as > 0, or 1,2 0 0, 0 (from (4.42)) The system is stable if The system is unstable if
1
(4.45) 0 0 < 0 < 0

/ (4.42)
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2 0 + 0
, () =
1 2
1 1
, () =
2
2 1
2 2
1,2 = 2
2 4 , = /(2 ) , =
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3.Stability of Single Degree-of-Freedom System Root locus diagram
3.Stability of Single Degree-of-Freedom System - Ex.4.11 Instability of inverted pendulum The inverted pendulum that was examined in Ex.3.11 is a system that can be unstable, depending on the values of the parameters 2 1 2 = 1 2 + 1 2 1 + 2 2 5 3 = 2 1 2 = 2 1 1 1 2 2 For this system > 0, > 0, and > 0 if 2 2 1 1 1 + 2 2
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3.Stability of Single Degree-of-Freedom System Asymptotic Stability - Consider the system 2 2 + 2 + = 0 (4.46) 2 The equilibrium position = 0 of this system is said to be asymptotically stable if () (4.47)
3.Stability of Single Degree-of-Freedom System - Upon substituting Eq.(4.48) into Eq. (4.46) and requiring that 0, we obtain 2 2 + 2 + = 1 2 = 0 (4.49) Eq. (4.49) : the characteristic equation 1, 2 : characteristic roots or eigenvalues
1,2 = 2 1 (4.50) Then the solution of (4.48) = 1 1 + 2 2 (4.51) - If the real parts of the exponents 1 and 2 are negative, Eq. (4.47) is satisfied, and the equilibrium position is asymptotically stable
2 2 2 + 2 + = 0
that is, the equilibrium position is approached as time increases - Since the governing equation is an equation with constant coefficients, a solution to this equation can be written in the form = : a constant : an unknown quantity
(4.48)
(4.46) (4.47) (4.48)

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()
=
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4.Machine Tool Chatter
- Consider a model of a turning operation on a lathe When the cutting parameters such as spindle speed and width of cut are carefully chosen, the turning operation can produce the desired surface finish on the work piece However, this turning operation can become unstable for certain values of spindle speed and width of cut. When these undesirable conditions are present, the tool and work piece system chatters, producing an undesirable surface finish and a shortening of tool life Explore the loss of stability that leads to the onset of chatter
- For a rigid work piece and a flexible tool, the cutting force acting on the tool due to the uncut material and the associated damping can be modeled as shown in the figure : the mass of the tool and tool holder : the stiffness of the tool holders support structure : the equivalent viscous damping of the structure : the dynamic cutting force, the sum of the forces due to the change in chip thickness and the change in the penetration rate of the tool
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: the overlap factor (0 1) 1 : an experimentally determined dynamic coefficient called the cutting stiffness : the experimentally determined penetration rate coefficient : the rotational speed of either the tool or the work piece in revolutions per second
- Carrying out a force balance based on the figure, the tool vibrations can be described by the following equation 2 1 1 1 1 + + + 1+ = 0 (4.52) 2 , = 2 1 , = , 2 = 2
: quality factor : the nondimension time, =

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4.Machine Tool Chatter - A solution to Eq. (4.52) is of the form = The characteristic equation 1 1 2 + + + 1 + 1 = 0
4.Machine Tool Chatter Stability chart for one set of parameters in turning = 1
(4.53)
in general, = + - For the system to be stable, the < 0, that is, < 0 The boundary between the stable and unstable regions corresponds to = 0 - To find the stability boundary, let = and substitute this value into the quasipolynomial Eq. (4.53) 1 1 (/) 1 + + = 0, 2 = 1 + 1 cos(/) (4.54)
2 2
+ 1+
=0
(4.52)
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5.Single Degree-of-Freedom System with Nonlinear 1.Nonlinear Stiffness System with Hardening Cubic Spring 2 + 2 + + 3 = 0, = 2
(4.55)
5.Single Degree-of-Freedom System with Nonlinear System with Piecewise Linear Springs Consider a second nonlinear system shown in the figure The governing equation 2 + 2 + + = 0 2 where 0 1 () = () > 1
Single dof system with additional springs that are not contacted until the mass displaces a distance in either direction
= , =
, =
, 2 =
Comparison of the responses of linear (solid lines) and nonlinear (dashed lines) systems with prescribed initial displacement: (a) displacement and (b) phase portrait
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5.Single Degree-of-Freedom System with Nonlinear Response of the system with prescribed initial velocity
0
= 10
2 + 2 + + () = 0 2
Single dof system with additional springs that are not contacted until the mass displaces a distance in either direction
5.Single Degree-of-Freedom System with Nonlinear 2.Nonlinear Damping Compare the free responses of systems with Linear viscous damping 2 + 2 + = 0 2 Coulomb damping 2 + + = 0 2
Fluid damping 2 + + = 0 2 where = , =

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(4.56)
(4.57)
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5.Single Degree-of-Freedom System with Nonlinear Comparisons of displacement responses for three different damping models
5.Single Degree-of-Freedom System with Nonlinear Nonlinear System Response Dependence on Initial Conditions During the free oscillations, the system will come to a stop or reach a rest state when / = 0 and (4.57)
(a) Displacement histories and (b) phase portraits for the free response of a system with dry friction subjected to two different initial displacements: = 0.86
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Ch.04 Single DOF System - Free-Response Characteristics

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Ch.04 Single DOF System - Free-Response Characteristics

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4.01 Single DOF Systems: Free Response Characteristics

4.02 Single DOF Systems: Free Response Characteristics

04. Single DOF Systems: Free Response Characteristics

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4.03 Single DOF Systems: Free Response Characteristics

4.04 Single DOF Systems: Free Response Characteristics

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4.05 Single DOF Systems: Free Response Characteristics

4.06 Single DOF Systems: Free Response Characteristics

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4.07 Single DOF Systems: Free Response Characteristics

4.08 Single DOF Systems: Free Response Characteristics

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4.09 Single DOF Systems: Free Response Characteristics

4.10 Single DOF Systems: Free Response Characteristics

0.08 = 14142.14/(2250.8) 0.4 109

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4.11 Single DOF Systems: Free Response Characteristics

4.12 Single DOF Systems: Free Response Characteristics

4.13 Single DOF Systems: Free Response Characteristics

4.14 Single DOF Systems: Free Response Characteristics

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4.15 Single DOF Systems: Free Response Characteristics

4.16 Single DOF Systems: Free Response Characteristics

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4.17 Single DOF Systems: Free Response Characteristics

4.18 Single DOF Systems: Free Response Characteristics

= + , = 0,1,2, (4.17) 0 = / = 0 / 1 2 = + 0 = (1) + / , = 0,1,2, (4.18) / occurs when = 0, or . = (4.19) = 1 2

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4.19 Single DOF Systems: Free Response Characteristics

4.20 Single DOF Systems: Free Response Characteristics

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4.21 Single DOF Systems: Free Response Characteristics

4.22 Single DOF Systems: Free Response Characteristics

Model of a car bumper colliding with a stationary barrier

State-space plot of a single degree-of-freedom system with a prescribed initial velocity 0

4.23 Single DOF Systems: Free Response Characteristics

4.24 Single DOF Systems: Free Response Characteristics

2.Free Responses of Undamped and Damped Systems

Time history of velocity of mass

Equivalent impact configuration

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