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Dr.

Millerjothi, BITS Pilani, Dubai Campus


Transient vibration of single dof systems,
Laplace and finite difference methods
Chapter 4
Dr. Millerjothi, BITS Pilani, Dubai Campus
Transient Vibration
Excited by a suddenly applied non-periodic excitation
F(t) transient response
Steady-state oscillations are generally not produced.
IMPULSE EXCITATION


A force of very large magnitude that acts for a very short time but
with a time integral that is finite.


Transient Vibration &
IMPULSE EXCITATION
Dr. Millerjothi, BITS Pilani, Dubai Campus
Figure shows an impulsive force of magnitude with a time
duration of
As approaches zero, such forces tend
to become infinite; however, the impulse
is considered to be finite
When is unity, such a force in the limiting
case 0 is called the unit impulse, or the
delta function

Dr. Millerjothi, BITS Pilani, Dubai Campus
A delta function at t = is (t - ) and has the following properties:





If (t - ) is multiplied by any time function f(t), the product will be
zero everywhere except at t = and its time integral will be



Dr. Millerjothi, BITS Pilani, Dubai Campus
Because Fdt = mdv, the impulse acting on the mass will result
in its velocity equal to without an appreciable change in its
displacement.
For free vibration,

Hence, the response of a spring-mass system initially at rest and
excited by an impulse is

Where is the response to a unit impulse.
Dr. Millerjothi, BITS Pilani, Dubai Campus
When damping is present, with



Or

In either the damped or undamped case, the equation for
the impulsive response can be expressed in the form

Dr. Millerjothi, BITS Pilani, Dubai Campus
Equation for the response of the system excited by an arbitrary
force f(t)
The arbitrary force to be a
series of impulses as shown
in Figure

ARBITRARY EXCITATION
Dr. Millerjothi, BITS Pilani, Dubai Campus
One of the impulses at time t = its strength is
and its contribution to the response at time t, is dependent upon
the elapsed time t - , or where where , where h(t ) is the
response to a unit impulse started at t = .
Because the system is linear, the principle of superposition
holds. Thus the response to the arbitrary excitation f(t), is


This integral is called the convolution integral and is sometimes
referred to as the superposition integral
.



Dr. Millerjothi, BITS Pilani, Dubai Campus
In terms of the relative displacement z = x y,

For an undamped system initially at rest, the solution for the
relative displacement becomes



Base excitation:
Dr. Millerjothi, BITS Pilani, Dubai Campus
Complete solution: both transient and forced vibration
Ex 4.3.1 Formulate the Laplace transform solution
of a viscously damped spring-mass system with initial
Conditions x(0) and



LAPLACE TRANSFORM
) 0 ( x

Dr. Millerjothi, BITS Pilani, Dubai Campus





The response x(t) is found from the inverse of the following equations,
the first term represents the forced vibration and the second term
represents the transient solution due to the initial conditions.
For the more general case,


where A(s) and B(s) are polynomials
Dr. Millerjothi, BITS Pilani, Dubai Campus
Its reciprocal
Dr. Millerjothi, BITS Pilani, Dubai Campus
The question of how far a body can be dropped without incurring
damage is of frequent interest. Such considerations are of
paramount importance in the landing of airplanes or the
cushioning of packaged articles. In this example, we discuss
some of the elementary aspects of this problem by idealizing the mecha
nical system in terms of linear spring-mass components.


- initial conditions

[Example 4.3.2] (Drop Test)
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
Consider the time response of the undamped spring-mass
system to three different excitations. The time response must be
considered in two parts, t < t
1
and t > t
1
.
Rise time





- The sum of two ramp functions


PULSE EXCITATION AND RISE TIME
Dr. Millerjothi, BITS Pilani, Dubai Campus
For the first ramp function, the terms of the convolution integral
are



and the response becomes



Dr. Millerjothi, BITS Pilani, Dubai Campus
For the second ramp function starting at t
1
, the solution can be
written as


By superposition, the response for t
1
> t, becomes


Dr. Millerjothi, BITS Pilani, Dubai Campus
Sum of two step functions
The response of the step function


The peak response is equal to 2.0 at t = /2
The response to the second step function started at t = t
1
is


The response in the second interval t > t
1
,
becomes
Rectangular pulse
Dr. Millerjothi, BITS Pilani, Dubai Campus
The excitation is


and the differential equation of motion is


The general solution is
Where p = / t
1

With the initial conditions

Half-sine pulse
Dr. Millerjothi, BITS Pilani, Dubai Campus
The previous solution reduces to





To determine the solution for t > t
1
, we can use the previous
equation but with t replaced by t - t
1
.
For t - t
1
, the excitation force is zero and we can obtain the
solution as a free vibration with t = t - t
1
.


Dr. Millerjothi, BITS Pilani, Dubai Campus
The initial values can be obtained from
previous equation which becomes
Dr. Millerjothi, BITS Pilani, Dubai Campus
When the time duration t
1
for a pulse excitation is small
compared to the natural period of the spring-mass oscillator, the
excitation is called a shock.
Shock vibration tests for certification of satisfactory design
The maximum peak response is a measure of the severity of
the shock.



SHOCK RESPONSE SPECTRUM
Dr. Millerjothi, BITS Pilani, Dubai Campus
Plot of the maximum peak response of the single DOF
oscillator as a function of the natural period of the oscillator.
The maximum of the peaks, often labeled maximax, represents
only a single point on the time response curve.
It does not uniquely define the shock input because it is possible
for two different shock pulses to have the same maximum
peak response.
The peak response for the response spectrum plot is


Shock response spectrum (SRS):
Dr. Millerjothi, BITS Pilani, Dubai Campus
In the case where the shock is due to the sudden motion of the
support point, f(t), is replaced by the acceleration of the
support point,


The maximum value of x(t) or z(t) is plotted as a function of t
1
/
where is the natural period of the oscillation and t
1
is the pulse
duration time.

Dr. Millerjothi, BITS Pilani, Dubai Campus
SRS for a time response to the rectangular pulse:
For t
1
/ = 1/8, the peak response is at t
m
= 0.32.
Thus, we have one point, 0.8 on the SRS plot.


Dr. Millerjothi, BITS Pilani, Dubai Campus
If we change the pulse duration time to t
1
/ = 0.4, the peak
response is at time t
m
= 0.45.
This then gives us a second point on the SRS plot, etc.

Dr. Millerjothi, BITS Pilani, Dubai Campus
The dashed line curves are called the residual spectrum, and the
upper curve, which is equal to 2.0 for t
1
/ > 0.5, represents the
envelope of all peaks.

Dr. Millerjothi, BITS Pilani, Dubai Campus
The following figures show the SRS for the half-sine and the
triangle pulse.
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
For shock isolation, the maximum peak response or the
transmissibility must be less than unity.
For the rectangular pulse,

and

Vibration isolation is then possible for

and

and the natural period of the isolated system must be
greater than six times the pulse time.
SHOCK ISOLATION
Dr. Millerjothi, BITS Pilani, Dubai Campus
Consider a more general pulse bounded by a rectangular pulse,
such as shown in Fig. 4.6.1.
The impulse of these force pulses is clearly less than that of the
rectangular pulse.
It is reasonable to assume that the maximum peak response of
the rectangular pulse must be the upper bound to that of the
pulse of general shape.


Dr. Millerjothi, BITS Pilani, Dubai Campus
In Runge-Kutta method, the second order differential equation is
first reduced to two first order equation.
Consider the differential equation for the single DOF system

Dr. Millerjothi, BITS Pilani, Dubai Campus
x and y can be expressed in terms of Taylors series. Let the time
increment h = t.





Replacing the first order derivative by average slope and ignoring
higher orders,


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Using Simpson rule, the average slope in the interval h becomes


In 4
th
order Runge-Kutta method, the center term is split into 2
terms and 4 values of are computed for each point
i as follows
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
Solve numerically the differential equation


With initial conditions and forcing function
shown in Fig. 4.7.2.
Example 4.7.1
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Solution
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
Dr. Millerjothi, BITS Pilani, Dubai Campus
Although the Runge-Kutta method does not require the evaluation
of derivatives beyond the first, its higher accuracy is achieved
by four evaluations of the first derivatives to obtain agreement
with the Taylor series solution through terms of order h
4
.
Thus this method is more versatile and can be used for a single or
more variables.
For 2 variables, we can let and write 2 first-order
equations as

or

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