Tugas getaran

Andry Lesmana 1011311005

Enjel Fahrevi 101131018
Willy Reynaldi 101131054

Transient Vibration of the single degree of freedom

systems.

1. -INTRODUCTION.

Transient vibration is defined as a temporarily sustained vibration of a mechanical

system. It may consist of forced or free vibrations, or both (1). Transient loading,
also known as impact, or mechanical shock, is a nonperiodic excitation, which is
characterized by a sudden and severe application.

In real life, mechanical shock is very common. Some examples of shock could be a
forging hammer, an automobile passing trough a road bump, the free drop of an
item from a height, etc.

In analysis of systems involving mechanical shock, most of times is necessary to

idealize the forcing function (displacement, velocity, acceleration or force) of
such system, as a step or pulse function. Several shapes of step and pulse functions
are discussed here, as well the response of the system, regarding time history, and
frequency response. In first instance, SDOF system without damping are analyzed,
then, the effect of damping will be considered.

2. - DEFINITIONS

To avoid confusion, it is necessary to define some useful terminology, which will be

used during this discussion.

The spectrum of a given forcing function is a plot of a response quantity, chosen

to represent one aspect of the effect of the force function in a single degree of
freedom oscillator, against the ratio of the characteristic period or frequency of
the forcing function to the natural period or frequency of the oscillator (2).
Regarding shock phenomena, it is more convenient to use the period (duration) of
the impulse, and the natural period of the system involved, rather than
frequencies. This approach is convenient because in transient loading the
excitation is relatively short in duration, or has the nature of a single pulse. This
lead to use a period spectrum (2).

The maximum absolute displacement, velocity, or acceleration of the system

occurring at any time as a result of the forcing function, is called the maximax
response , denoted by νm. (2)

The maximum displacement of the system during the residual vibration era, called
the residual amplitude, and measured with respect to the final position of
equilbrium, denoted by νr(2).

3. - SINGLE DEGREE OF FREEDOM SYSTEMS

3.1. - Undamped, linear system.

Lets consider a SDOF system, linear, and with no damping. The input is a function
of time, and may be a force function acting on the mass, or a displacement of the
base or foundation. Sometimes is more convenient to express it as ground
acceleration. (Fig. 1)

F(t)

x x2 x2

m m
m

X (t) •• x 1
k k
k
a b c

Fig. 1.- Single spring-mass system, subjected to impulsive excitations. (a) Force F(t), (b) Ground
displacement, (c) Ground acceleration.
The differential equation governing the motion of the systems shown in figure 1, are:

••
or
F (t )
••
mx
m x =−kx + F(t)
+x= (1) k k

••
••
mx
or
m x =−k[x −u(t)] + x = u(t) (2) k

•• ••

δx +δx = − mu(t)
•• ••
m
⎡ )⎤ (3)
m ⎢⎣δx + x(t ⎥⎦ =−kδx or k k

Where x is the absolute displacement of the mass relative to a fixed reference, and δx
is the displacement relative to a moving ground. The relationship between these
displacements and the ground displacement is x= u + δx.

In this report, the motion of a system will be described using a more general form of
the equations (1, 2, 3). The equation is:

m •• v+ v =ξ(t)
(4) k
Where v is the response of the system, and ξ the excitation, both functions of time.
However, sometimes it is necessary to express excitation and response using more
specific notations. The alternate forms of excitation and response are given in
table 1(1).

Excitation ξ(t) Response v(t)

F (t )
Force k Absolute displacement x

Ground displacement u(t) Absolute displacement x

••

Ground acceleration − u2(t)

Relative displacement δx
ωn

••
••

Ground acceleration u(t) Absolute acceleration x

•
•
Ground velocity u(t) Absolute velocity x

nth derivative of nth derivative of

n
d u d nx
ground displacement n (t) dt absolute displacement n dt

Table 1. - Alternate forms of excitation and response of equation 4.

3.1.2. - Steplike and pulselike excitation.

The impulsive excitations cause vibrational responses in elastic systems, and the
maximum values of these responses may be less than, equal to, or greater than
the corresponding static responses (3). In general, the response depends upon the
system properties, and the nature of the load. For single degree of freedom
systems, the characteristic that determines the response is the natural period (or
natural frequency). In addition, the shape and duration of the impulse plays an
important role in the response. Shock phenomena can be modelated using ideal
step and pulse functions, which represent very well the behavior of real transient
imputs.

The following analysis is based on the assumption that the system is initially at rest.

Step type excitation functions.

The most fundamental transient excitation is the form of the step function. To be
fully realistic, these functions must describe the translation of the system through
a finite distance, in a finite time, with finite acceleration and deceleration (4).
Many functions rise to their maximum ξc in a finite time t, called rise time.
Consider the three next functions, the excitation functions and the expressions for
maximax response are given by (1):

a) Constant slope front.

⎧t ⎫
⎪ξ c [0 ≤ t ≤τ]⎪ ξ(t)=⎨ τ ⎬
(5)

⎪⎩ ξc [τ≤ t] ⎪⎭

νξm =1+ T sin⎛⎜⎝ πT τ⎞⎟⎠ (6)

c πτ

a) Versed sine front front.

⎧ξc ⎛
⎪
 ⎜ ⎜ ⎟ ⎟
ξ(t)= ⎨ 2 ⎝ 1-cos⎝ ⎛πτt ⎠ ⎞⎠ ⎞ [0 ≤ t ≤τ]⎬⎪⎫ (7)

⎪
⎩ ξc [τ≤ t] ⎪⎭

νξmc =1+ ( 2 )
1 T2 −1cos⎛⎜⎝πTτ⎞⎟⎠ (7)
4τ

a) Cycloidal front.

⎧ξc ⎛ 2πt
⎜ ⎜ ⎟⎟
ξ(t)=⎪ ⎨ 2 ⎝ τ -sin ⎝⎛ 2τπt ⎠ ⎞ ⎠⎞ [0 ≤ t ≤τ]⎪⎬⎫ (8)

⎪
⎩ ξc [τ≤ t] ⎭⎪

νm 1+ 1−1 τ2 T2 ) sin⎛⎜⎝πTτ⎞⎟⎠ (9)

ξc πτ (
Where T is the natural period of the system involved.

The plots for the excitation function, and the time response curves are superimposed
in fig. 2.
 a b c
Figure 3.- Time response curves and excitation func tions for (a) constant slope front, (b)versed sine
front and (c)cycloidal front.

Symmetrical pulses.

A pulselike excitation is a more complex function, being equivalent to the

superposition of two or more successive step functions. Consider three single
symmetrical pulses; rectangular, half sine and versed sine. The excitation
functions and time response equations are given by the following equations (1).
Residual response factors are set in brackets.

a) Rectangular

⎪ p ⎪ (10)
⎨ ⎬ [0 ≤ t ≤τ]
⎪⎩ν=ξp (1−cos(ωnt))⎪⎭
(11)

⎧ξ(t)= 0 ⎫
⎪ ⎪
⎨ ⎡ ⎛πt ⎞⎤ ⎛ τ⎞⎬ [τ≤ t]
⎪⎩ν=ξp ⎢⎣2sin⎜⎝ T ⎟⎠⎥⎦sinωn ⎜⎝t − 2 ⎟⎠⎪ ⎭

(12)
b) Half cycle sine

⎧ ⎛πt ⎞ ⎫ ⎪ξ(t)=ξp sin⎜τ ⎟ ⎪

 ⎪ ⎝ ⎠ ⎪
⎨ ⎬ [0 ≤ t ≤τ]
⎪ν= ξp ⎛sin⎛πt ⎞− T sinωt⎞ ⎪
⎧ξ(t)=ξ ⎫

⎪⎩ 1−T 2 4τ2 ⎜⎝ ⎜⎝ τ ⎟⎠ 2τ n ⎟⎠⎪⎭

⎧ξ(t)= 0 ⎫
⎪ ⎪ ⎪⎪
⎨ ⎡(T τ)cos(πτ T)⎤ ⎛ τ⎞ ⎬ [τ≤ t] (13)

⎩ ⎭
⎪⎪ν=ξp ⎢⎢⎣ ( 2 )
4τ2 −1 ⎥⎥⎦sinωn ⎜⎝t
− 2 ⎟⎠⎪⎪ T
c) Versed sine

⎧ ξp ⎛ ⎛ 2 πt ⎞⎞ ξ(t)= 1−cos ⎫

⎪ 2 ⎜⎝ ⎜⎝ τ ⎟⎠ ⎟⎠⎪⎪
⎪
⎪ 2
ξp ⎛ τ τ ⎛ ⎨ ⎪ ν= 2 T2 ⎝⎜1−T22 + T22 cos⎜⎝ 2τπt ⎟⎠⎞−cos ωt ⎞⎠⎪⎬⎭ [0 ≤ t
≤τ] (14)
 1−τ ( n )⎟⎪
⎩

⎧ξ(t)= 0 ⎫
⎪ ⎪
⎨ ⎡sin(πτ T)⎤ ⎛ τ⎞⎬ [τ≤ t] (15)
⎪ν=ξp ⎢ 1−τ2 T2 ⎥⎦sinωn ⎝⎜t − 2 ⎟⎠⎪⎭

⎩ ⎣

Time response curves and excitation functions are shown in fig. 5, for different values
of the ratio τ T .

Ratio

τT Rectangular Half sine Versed sine

1/4

1/2

1
 3/2

5/2

Figure 5.- Time response curves for several symmetrical pulses; rectangular, half sine, and versed
sine, for different values of τT
3.2. – Shock spectrum.

Any mechanical system is capable of transient vibrations in the form of motions of

one part with respect to another, and involving resonances at a number of
frequencies (5). The primary effect of shock is to excite the equipment at its
resonance frequencies. This vibration dies away depending of the amount of
damping present in the system. As a result, damage or malfunction may take place.
The peak acceleration and peak relative displacement of the system are
particularly important.

Spectrum was defined as a plot of a response quantity (displacement, velocity or

acceleration), against the ratio of the period or frequency of the forcing function,
to the natural period or frequency of the system. In this report, we will refer to
shock spectra, also regarded as response spectra. Shock spectra are simply the
peak acceleration or displacement produced by the shock in the mass as a function
of the resonant frequency (4). Shock spectrum can be experimentally measured,
computed from waveforms, or determined theoretically. Such diagrams are of
interest in design, because they provide the possibility of predicting the maximum
dynamic stress (3), and the potential damage in the system.

In fact, the shock spectrum gives a full and realistic measure of the damaging
potential of a shock disturbance. To select a damage criterion (acceleration or
displacement), the duration of the pulse and the natural period of the system are
of great importance. If T τ, the system behavior becomes stiff, and the motion of
the mass closely follows the motion of the support. The acceleration becomes the
quantity of concern. Otherwise, when T τ, the element becomes soft, and the mass
remains substantially at rest until motion of the support has been ceased, is the
maximum displacement the value that determines potential damage. Moreover, if
the transient disturbance is neither fast nor slow enough to fit into one of the
previous cases, no simple damage criterion can be found (4).

3.2.1 – Shock spectra for particular pulse and step shapes.

Further insight into the significance of shock spectrum can be obtained by studying
the spectra corresponding to a number of simply shapes (5). Consider the functions
discussed on section 3.2.1 and 3.2.2.

Fig. 6 shows the spectra for maximax response resulting from the step functions
discussed on section 3.2.1, plotted as a function of the ratio between rise time
and natural period of the system. Maximax response occurs after the excitation as
reached its constant maximum, and is related to the residual amplitude by(1):
νm =νr +ξc (16)

Maximax response for step functions

2.5

2.0

1.5

Constant Slope
Versed Sine
1.0
Cycloidal

0.5

0.0
0 1 2 3 4

Ratio τ/T
Figure 5.- Maximax response spectrum for three step functions; constant slope, versed sine, and
cycloidal.

From the analysis of these graphs we can observe that the extreme values of the
ratio of maximum response to step height νm ξc are 1 and 2. When the ratio of step
rise time to natural period τ T tends to 0, νm ξc tends to its maximum of 2, and
when τ T approaches infinity, the step is no longer a dynamic excitation, in
consequence the inertia forces of the system tends to zero, and νm ξc approaches
the lower value of 1(1).
It is clear that for certain values of τ T , the ratio νm ξc is equal to 1. The lowest value
of τ T for which νm ξc =1, are: constant slope, 1.0; versed sine,
1.5; cycloidal, 2.0 (1).

Response spectra for symmetrical pulses (rectangular, half-sine and versed sine)
are shown in fig. 6. A further analysis of these plots and the time response curves
(Fig. 5) reveals that for values of τT less than ¼ (this is the case of short duration
pulses), the shape of the pulse is of less importance in determining the maximum
value of the response, but, in contrast, if τT is larger than ½, the shape may be of
great significance.

The maximum value of the residual response amplitude for the shapes discussed is
often a good approximation to maximum of maximax response, and they occur at
values of τ T not greatly different from each other (1). The residual response
amplitude generally has zero values for certain finite values of τ T (1).
Response spectrum for rectangular pulse
Single degree of freedom, undamped
2.5

2.0

1.5 Residual response

Maximax response

1.0

0.5

0.0
0 1 2 3 4

Ratio τ/T

(a)
Response spectrum for half sine pulse
Single degree of freedom, undamped
2.5

2.0

1.5
Maximax response
Residual response

1.0

0.5

0.0
0 1 2 3 4

Ratio τ/T
(b)
Response spectrum for versed sine pulse
 SIngle degree of freedom undamped
2.5

2.0

1.5 Residual response

Maximax response

1.0

0.5

0.0
0 1 2 3 4

Ratio τ/T
(b)
Figure 6.- Shock response spectrum for maximax and residual amplitude for three symmetrical
pulses; (a)rectangular, (b)half sine. (c)versed sine.

3.2. - Linear system with viscous damping.

Regarding steady forced vibration, even if the system has little values of damping,
it has great importance in limiting the system response near resonance. However,
if the excitation is a pulse or step function, the effect of damping may be of less
importance, unless the system is highly damped (1). Nevertheless, as a result of
the introduction of damping in the system, maximax response decreases, as well
the residual response. Although, less work had been done in damped systems under
shock excitations.

For damped systems, the equation of motion under general notation, is:

m •• c • v+
v+v =ξ(t) k k

or

1•• 2ζ •
2v+ v+v =ξ(t) ωn ωn

Figure 6 shows a response spectrum for a single degree of freedom system with viscous
damping, subjected to a half sine pulse excitation (1).
 Figure 6. – Maximax response spectrum for a single degree of freedom system with viscous damping
under subjected to a half sine pulse excitation, for various values of damping ratio(1).

3. – CONCLUSIONS AND REMARKS.

The most important quantities in shock measurements are the maximax response
and the residual response, both used to determine the severity of the shock. A
powerful tool in the analysis of shock motions is the shock response spectrum,
which gives information about the relationship between maximax response, and
the duration of the shock and the natural period of the system.

From the shock response spectrum and time responses for step functions, it is clear
that the maximax response occurs always after the excitation has reached its
maximum. On the other hand, for pulse functions, the response depends upon the
ratio between the duration of the pulse and the natural period of the system. Or,
in other words, if the pulse is of short duration, the shape of the pulse has not
importance (for τT less than 1/2), and the maximax occurs after the excitation has
ceased. In contrast, when the pulse is long, the shape plays an important role, and
maximax response can occur during the pulse, and after it has ceased. For some
values of τ T , residual response its zero.

The inclusion of viscous damping in the system causes a decrease in the maximax
response. Most of the work has been carried out considering only viscous damping.
Further research can be done in investigating the behavior of the system when the
damping is structural.