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When the external force F(t) is periodic with

period = 2/, it can be expanded in a


Fourier series
( ) t j b t j a
a
t F
j
i
j
i
e e sin cos
2
1 1
0


=

=
+ + =
( ) 2,... 1, 0, , cos
2
0
= =
}
j tdt j t F a
i
e
t
t
( ) 2,... 1, , sin
2
0
= =
}
j tdt j t F b
i
e
t
t
The equation of motion of the system can be
expressed as
Using the superposition principle, the steady state
solution is the sum of the steady state solutions of
t j b t j a
a
kx x c x m
j
i
j
i
e e sin cos
2
1 1
0


=

=
+ + = + +

2
0
a
kx x c x m = + +
t j a kx x c x m
j
e cos = + +

t j b kx x c x m
j
e sin = + +

The solutions;
( )
k
a
t x
p
2
0
=
( )
( )
( ) ( )
( )
j
j
p
t j
jr r j
k a
t x | e
,

+
= cos
2 1
/
2
2
2 2
( )
( )
( ) ( )
( )
j
j
p
t j
jr r j
k b
t x | e
,

+
= sin
2 1
/
2
2
2 2
|
|
.
|

\
|

=

2 2
1
1
2
tan
r j
jr
j
,
|
The complete steady state solution;
( )
( )
( ) ( )
( )
( )
( ) ( )
( )

+
+

+
+ =
1
2
2
2 2
1
2
2
2 2
0
sin
2 1
/
cos
2 1
/
2
j
j
j
j
j
j
p
t j
jr r j
k b
t j
jr r j
k a
k
a
t x
| e
,
| e
,
|
|
.
|

\
|

=

2 2
1
1
2
tan
r j
jr
j
,
|
In the study of vibrations of valves used in
hydraulic control systems, the valve and its
elastic stem are modeled as a damped spring-
mass system, as shown in the next figure. In
addition to the spring force and damping force,
there is a fluid pressure force on the valve that
changes with the amount of opening or closing
of the valve. Find the steady-state response of
the valve when the pressure in the chamber
varies as indicated. Assume k=2500 N/m, c=10 N-
s/m, and m=0.25 k.g
In some cases, the force acting on a system
may be quite irregular and may be only
determined only experimentally.
Using numerical integration procedure (trapezoidal rule)

=
=
N
i
i
F
N
a
1
0
2
... 3 , 2 , 1 ,
2
cos
2
1
= =

=
j
t j
F
N
a
i
N
i
i j
t
e
... 3 , 2 , 1 ,
2
sin
2
1
= =

=
j
t j
F
N
b
i
N
i
i j
t
e
( )
( )
( ) ( )
( )
( )
( ) ( )
( )

+
+

+
+ =
1
2
2
2 2
1
2
2
2 2
0
sin
2 1
/
cos
2 1
/
2
j
j
j
j
j
j
p
t j
jr r j
k b
t j
jr r j
k a
k
a
t x
| e
,
| e
,
Some of the methods that can be used to find
the response of a system to an arbitrary
excitation are;
Representing the excitation by a Fourier integral
Method of convolution integral
Method of Laplace Transform
First approximating F(t) by a suitable
interpolation model and then using a numerical
procedure
Numerically integrating the equation of motion
A nonperiodic exciting force usually has a
magnitude that varies with time; it acts for a
specified period of time and then stop.
The simple form is the impulsive force
A force that has a large magnitude F and acts for a very
short period of time t
From dynamics:
1 2
Impulse x m x m t F

= A =
}
A +
=
t t
t
Fdt F
~
By designating the magnitude of the impulse;
A unit impulse (f) is defined as
1 lim
~
0
= = =
}
A +
A
Fdt Fdt f
t t
t
t
Response to an Impulse
We first consider the response of SDOF system to
an impulse excitation
For an underdamped system, the solution of the
equation of motion
is
0 = + + kx x c x m

( )
)
`

+
+ =

t
x x
t x e t x
d
d
n
d
t
n
e
e
,e
e
,e
sin cos
0 0
0

n
m
c
e
,
2
=
2
2
2
1
|
.
|

\
|
= =
m
c
m
k
n d
, e e
m
k
n
= e
From the impulse-momentum,
and the initial conditions,
0
1
~
impulse x m f = = =
( ) ( ) t
m
e
t g t x
d
d
t
n
e
e
,e
sin

= =
m
x
1
0
=
0
0
= x
0 for t 0 < = = x x
Impulse Response Function
If the magnitude is F instead of 1, the initial velocity is F/m
and the response
( ) ( ) t Fg t
m
Fe
t x
d
d
t
n
= =

e
e
,e
sin
( ) ( ) t = t Fg t x
If the impulse F is applied at
arbitrary time t =
Response to a General Forcing Conditions
The arbitrary external force may be assumed to be made
up of a series of impulse of varying magnitude
( ) ( ) ( ) t t t A = A t g F t x
( ) ( ) ( ) t t t A ~

t g F t x
( ) ( ) ( ) t t t d t g F t x
t
~
}
0
( ) ( )
( )
( ) t t e t
e
t ,e
d t e F
m
t x
d
t
t
d
n
=

}
sin
1
0
The Laplace transform method can be used to find the
response of a system under any type of excitation,
including the harmonic and periodic types. This
method can be used for the efficient solution of linear
differential equations, particularly those with
constant coefficients. It permits the conversion of the
differential equations into algebraic ones, which are
easier to manipulate. The major advantages of the
method are that it can treat discontinuous functions
without any particular difficulty and it automatically
takes into account the initial conditions.
The Laplace Transform of a function x(t) is
defined as,
The integration is with respect to t, the
transformation gives a function of s
Steps;
Write the equation of motion of the system.
Transform each term of the equation, using known
initial conditions.
( ) ( ) ( )dt t x e t x s x
st
}


= =
0
L
Steps;
Solve for the transformed response of the system
Obtain the desired solution by using inverse Laplace
transformation.
To solve the forced vibration equation,
( ) ( ) t
dt
dx
t x =

( ) t F kx x c x m = + +

( ) ( ) t
dt
x d
t x
2
2
=

( ) ( ) ( ) ( ) 0
0
x s x s dt t
dt
dx
e t
dt
dx
st
= =
}


L
( ) ( ) ( ) ( ) ( ) 0 0
2
2
2
0
2
2
x sx s x s dt t
dt
x d
e t
dt
x d
st

+ = =
}


L
( ) ( ) ( )dt t F e t F s F
st
}


= =
0
L
( ) ( ) ( ) ( ) t F t x k t x c t x m L L L L = + +

( ) ( ) ( ) ( ) ( ) 0 ) 0 (
2
x c ms x m s F s x k cs ms + + + = + +

Ignoring the homogeneous solution of the differential
equation;
( )
( )
( )
k cs ms
s x
s F
s Z + + = =
2
( ) ( ) 0 0 0 0 = = x x
( )
( )
( )
( )
2
2
2
2
1 1
n n
s s m
k cs ms s F
s x
s Y
e ,e + +
=
+ +
= =
( ) ( ) ( ) s F s Y s x =
( ) ( ) ( ) ( ) s F s Y s x t x
1 1
= = L L
Transfer Function
Inverse Laplace transform
Considering the generals solution of the differential
equation;
( ) ( )
0 0
0 0 x x x x = =
( )
( )
( )
0
2
2
0
2
2
2
2
2
1
2
2
2
x
s s
x
s s
s
s s m
s F
s x
n n n n
n
n n

e ,e e ,e
,e
e ,e + +
+
+ +
+
+
+ +
=
( )
( )
( )
( )
( )
( ) t t e t
e
e
e
| e
,
t ,e
,e ,e
d t e F
m
t e
x
t e
x
t x
d
t
t
d
d
t
d
d
t
n
n n

+ + +

=


}
sin
1
sin sin
1
0
0
1
2 / 1
2
0

1
L

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