Mechanical Vibrations Single Degree-Of-Freedom Damped Free Vibration (Chapter TREE)

CHAPTER THREE
Free Vibrations
Single Degree-of-Freedom Damped free vibration
Damping Force is Linear and Proportional to Velocity
Viscous damping force is expressed by the equation:
=
where is the viscous damping coefficient (N.sec/m or lbf.sec/ft)
At rest, = 0
(static equilibrium)
=
Lecture notes on Mechanical Vibrations 3-1

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Apply Newtons 2nd Law
+ =
( + ) =
= ( = ) (static equilibrium)
Equation of motion: + + = 0
2nd order Differential equation

Homogeneous
Linear
Constant coefficients
Form of Solution:
() = ( + ) () =

EOM of viscously damped free vibration system:
+ + = 0
Assume () =
() =
() = 2
2 + + = 0
(2 + + ) = 0
For non trivial solution
2 + + = 0 = 0
But 0
2 + + = 0
2 4
Roots of the equation: 1,2 = 2
2 4 > 0 1 , 2 ( )
2 4 = 0 = /2
2 4 < 0 1 , 2 ( )

2 4
1,2 =
2 2
() = 1 1 + 2 2
1 , 2
1 2
, 2 4 = 0
Solving for c:
= 2 =
=
= 2
= 2

=

:

2 4
1,2 =
2 2

= . =

= 2 = 2. = 2 . .
= 2 .

2 =

= = =
2 2
2 4
1,2 =

2 4
1,2 =

2 4
1,2 = 2 2 ( = 2)


2 4
1,2 = 2
4
2
1,2 = 2 1 ( =

)

1,2 = 2 1
<1 =1 >1
= 2 1 :
With these definitions , EOM becomes
+ + = 0 + 2 + 2 = 0
2 1 < 0 0<<1
2 1 > 0 >1
2 1 = 0 = 1

Case (1) : Underdamped motion (complex conjugate roots)
2 1 < 0 0<<1
1,2 = 2 1
1,2 = 1 1 2 ( = 1 )
1,2 = 1 2
= 2 1 :
1,2 =
Solution of diff. equation:
() = 1 1 + 2 2
() = 1 ( + ) + 2 ( )
This simplifies to :
() = ( cos + sin )
Where A & B are arbitrary constants to be found from initial conditions


() = ( cos + sin )
= , =
() = ( cos
+ sin )
() = (( + ))
() = ( + )

Case (2) : Critically damped motion (Real equal roots)
2 1 = 0 =1
1,2 = 2 1
1,2 = (1) 1 (1)2
1,2 =
1 =
2 =
() = 1 1 + 2 2
() = (1 + 2 )
1 2

Case (3) : Overdamped motion (Real unequal roots)
2 1 > 0 >1
1,2 = ( 2 1)
1 = + ( 2 1)
2 = ( 2 1)
() = 1 1 + 2 2
[ + (2 1) ] [ (2 1) ]
() = 1 + 2
() = 1 ( 1) + 2 ( 1)
2 2
() = (1 ( 1) + 2 ( 1) )
2 2
1 and 2 are obtained from initial condition = 0 (0), (0)

Characteristic roots on complex plane:
Roots of auxiliary equation
1,2 = 1 2
1,2
= 1 2 0<<1


LOGARITHMIC DECREMENT
Rate of decay of free vibration is a measure of damping present in a
system. Greater is the decay, larger will be the damping.
A method to experimentally measure damping ratio in under-damped
systems.
() = ( cos + sin )
or
() = ( + )
+1 = 1 +
2 2
= =
1 2

Log Decrement
1 1 ( 1 + )
=
+1 +1 ( +1 + )
1 1
=
+1 +1
1 1
=
+1 (1 + )
1 1
=
+1 1 . )
1 1
=
+1
1
=
+1
2
1 (
12
)
=
+1

. 2
1 ( )
2
= 1
+1
2
1 (
2
)
= 1
+1
Take ln ( ) both sides
2
1 (
2
)
ln ( ) = ln [ 1 ]
+1
1 2
ln ( )= =
+1 1 2
1 1 2
ln ( )=
+1 1 2
1 2
= ln ( )=
+1 1 2
m and k can be determined easily by static tests.

c? Determined by the concept of Logarithmic decrement.

, 1 2 1 ,
1
2ln ( )
+1
is obtained. Figure below shows a plot of the exact and approximate
values of as a function of .

EXAMPLE:
1 = 0.68
6 = 0.12
=?
SOLUTION:
+1=6
=5
1 2
= ln ( )=
+1 1 2
0.68 5 2
ln ( )= 5 2
0.12 1 2
= 0.055 5.5%

EXAMPLE:
A vibrating system consisting of a weight of = 10 and a spring with
stiffness = 20 / is viscously damped so that the ratio of two
consecutive amplitudes is 1.00 0.85. Determine:
I. The natural frequency of the undamped system.
2. The logarithmic decrement.
3. The damping ratio.
4. The damping coefficient.
5. The damped natural frequency.
SOLUTION:
I. The undamped natural frequency of the system in radians per second is
386/ 2
=
= 20 / = 27.78 /
10
or in cycles per second

= = 4.42
2
2. The logarithmic decrement is
1 1
= ln ( ) = ln = 0.163
2 0.85
3. The damping ratio is approximately equal to:
0.163
= = = 0.026
2 2
4. The damping coefficient is obtained
= . = 2 0.026(10 20)/386 = 0.037 . /

5. The natural frequency of the damped system is
2
= 1
2
= 27.781 (0.026) = 27.77 /

EXAMPLE:
The following data are given for a vibrating system with viscous damping:
= 10 , = 30 /., and = 0.12 /./. Determine the
logarithmic decrement and the ratio of any two successive amplitudes.
SOLUTION:
The undamped natural frequency of the system in radians per second is
30 386
= = = 34.0 /
10
The critical damping coefficient Ce and damping factor are
10
= 2 34 = 1.76 /./
386
0.12
= = = 0.0681
1.76
The logarithmic decrement,
2 2(0.0681)
= = = 0.429
1 2
1 (0.0681)2
1
= = 0.429 = 1.54
2

EXAMPLE:
Show that the logarithmic decrement is also given by the equation
1 0
= ln ( )
1
where represents the amplitude after
cycles have elapsed. Plot a
curve giving the number of cycles elapsed against for the amplitude to
diminish by 50 percent.
SOLUTION:
The amplitude ratio for any two consecutive amplitudes is
0 1 2 1
= = == =
1 2 3
0
The ratio can be written as

0 0 1 2 1
= ( )( )( ) = = ( ) = ( ) =
1 2 3
from which the required equation is obtained as
1 0
= ln ( )

To determine the number of cycles elapsed for a 50-percent reduction

in amplitude, we obtain the following relation from the preceding equation:
1 0.693
2 = ln(2) =


0.693
= = 0.110
2
The last equation is that of a rectangular hyperbola and is plotted in Figure
below.

EXAMPLE:
A platform of weight = 4000 is being supported by four equal
columns that are clamped to the foundation as well as to the platform.
Experimentally it has been determined that a static force of = 1000
appliled horizontally to the platform produces a displacement of = 0.10 .
It is estimated that damping in the structures is of the order of 5% of the
critical damping. Determine for this structure the following:
1. Undamped natural frequency.
2. Absolute damping coefficient
3. Logarithmic decrement.
4. The number of cycles and the time required for the amplitude of motion
to be reduced from an initial value of 0.1 0.01 .
SOLUTION:
1. The stiffness coefficient (force per unit displacement) is computed as
1000
= = 10000 /
0.1
and the undamped natural frequency
. 10000 386
= = = = 31.06 /
4000
2. The critical damping is
= 2. = 210000 4000/386 = 643.8 . /
and the absolute damping
= = 0.05 643.8 = 32.19 . /
3. Approximately, the logarithmic decrement is
0
= ln ( ) = 2 = 2(0.05) = 0.314
1
and the ratio of two consecutive amplitudes
0
= 1.37
1
4. The ratio between the first amplitude 0 and the amplitude after
cycles may be expressed as
0 0 1 1
= ( ).( )
1 2
Then taking the natural logarithm, we obtain
0
ln = + + + =

0.1
ln = 0.314
0.01
ln 10
= = 7.73 8
0.314
The damped frequency is given by
= 1 2 = 31.061 (0.05)2 = 31.02 /
and the damped period by
2 2
= = = 0.2025
31.02
Then the time for eight cycles is
(8 ) =8 = 1.62

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Mechanical Vibrations Single Degree-Of-Freedom Damped Free Vibration (Chapter TREE)

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CHAPTER THREE

Single Degree-of-Freedom Damped free vibration

Damping Force is Linear and Proportional to Velocity

Viscous damping force is expressed by the equation:

Lecture notes on Mechanical Vibrations 3-1

2nd order Differential equation

Lecture notes on Mechanical Vibrations 3-2

For non trivial solution

Lecture notes on Mechanical Vibrations 3-3

Lecture notes on Mechanical Vibrations 3-4

Lecture notes on Mechanical Vibrations 3-5

With these definitions , EOM becomes

Lecture notes on Mechanical Vibrations 3-6

Solution of diff. equation:

Where A & B are arbitrary constants to be found from initial conditions

Lecture notes on Mechanical Vibrations 3-8

1,2 = (1) 1 (1)2

Solution of diff. equation:

Lecture notes on Mechanical Vibrations 3-9

Solution of diff. equation:

1 and 2 are obtained from initial condition = 0 (0), (0)

Lecture notes on Mechanical Vibrations 3-11

Roots of auxiliary equation

Lecture notes on Mechanical Vibrations 3-13

Lecture notes on Mechanical Vibrations 3-14

Lecture notes on Mechanical Vibrations 3-15

Take ln ( ) both sides

m and k can be determined easily by static tests.

Lecture notes on Mechanical Vibrations 3-16

Lecture notes on Mechanical Vibrations 3-17

Lecture notes on Mechanical Vibrations 3-18

I. The undamped natural frequency of the system in radians per second is

or in cycles per second

2. The logarithmic decrement is

3. The damping ratio is approximately equal to:

4. The damping coefficient is obtained

= . = 2 0.026(10 20)/386 = 0.037 . /

Lecture notes on Mechanical Vibrations 3-19

Lecture notes on Mechanical Vibrations 3-20

The critical damping coefficient Ce and damping factor are

Lecture notes on Mechanical Vibrations 3-21

from which the required equation is obtained as

To determine the number of cycles elapsed for a 50-percent reduction

Lecture notes on Mechanical Vibrations 3-22

Lecture notes on Mechanical Vibrations 3-23

and the undamped natural frequency

2. The critical damping is

= 2. = 210000 4000/386 = 643.8 . /

and the absolute damping

= = 0.05 643.8 = 32.19 . /

3. Approximately, the logarithmic decrement is

Then taking the natural logarithm, we obtain

The damped frequency is given by

= 1 2 = 31.061 (0.05)2 = 31.02 /

and the damped period by

Then the time for eight cycles is

Lecture notes on Mechanical Vibrations 3-25

Lecture notes on Mechanical Vibrations 3-26

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