1

Numerical Experimental Approach in Structural Dynamics

III. Fourier Series and Fourier

Transform
x(t ) x(t T ), t R
Co(sin) 0 signal

periodic signal

TILS
Co

Ay sin(0 )
Amplitude and different phase

Periodic excitation: associated with rotating machines, engines, rotor

helicopters
Periodic input signal (force) Fourier decomposition
The amplitude of the response is determined if a component of the Fourier
series coincides with the frequency resonance frequency.

Frequency domain methods are only used for

forced vibration when the forces are known.

Fig.1 Schematic over viewing the input-output structural response

The most important measurement that is needed for

experimental modal analysis is the frequency response function.
Very simply stated, this is the ratio of the output response to the
input excitation force. This measurement is typically acquired
using a dedicated instrument such as an FFT (Fast Fourier
Transform) analyzer or a data acquisition system with software
that performs the FFT.
1

2
Numerical Experimental Approach in Structural Dynamics

x(t ) a0 a1 cos(0 t ) a2 cos(20 t ) ...

.. b1 sin(0 t ) bs sin(20 t ) ...

(1)

f 0 is fundamental frequency
not

0
n

x(t ) a0 an cos(nt ) bn sin(nt ), t R

i 1

(2)

III.1 Fourier coefficients determination in

trigonometric Fourier Series
Determination of constant an :
(1)/ * cos(nt )

(3)
Observations:
Functions cos(nt ) and sin(nt ) form an ortogonal set of functions
The scalar product between the two functions:

(4)

(5)

3
Numerical Experimental Approach in Structural Dynamics

T
2
T

x(t )cos(nt )

an
T
2

Determination of constant bn :
(1) / sin(nt )

(6)
Conform with (5)

T
2
T

x(t )sin(nt )

bn
T
2

(7)

The string: a0 , a1, a2 ,...b0 , b1, b2 ,... express another

representation of signal x(t). The original signal can be perfectly
(re)constructed using the coeficients.

The trigonometric form is difficult to interpret

due to
the presence of sin and cos.
Therefore, a more intuitive approach is the harmonic form
a single sin component on each frequency.

III.2 Armonic Form

The sinusoids amplitude and phase are defined in polar coordinates.

4
Numerical Experimental Approach in Structural Dynamics

An an2 bn2

n arctg

bn
an

(8)

an An cos(n )
bn An sin(n )
n

x(t ) a0 an cos(nt ) bn sin(nt ), t R

i 1

x(t ) An cos n cos(nt ) An sin n sin(nt ), t R

i 1

x(t ) An cos(n nt )
n 0

A0 , A1, A2 ,... amplitude spectrum signal of x(t),

And the string 0 ,1,2 ,... represent Phase spectrum.

The string

Example 1:

It is considered the periodic square signal from the Fig. 1. Use the
trigonometric form to reconstruct the original square signal.
u(t)
1

t
0

T/2

Fig. 1 The square signal

With duty cycle equal and period T=10.

(9)

5
Numerical Experimental Approach in Structural Dynamics

Fig. 2 Reconstructed signal superposition of the first 9 harmonics

Example 2:

In Fig. 3 are considered 2 vectors with the an , and bn lengths which are
moving and their projections an cos(n0t ), bn sin(n0t ) .

d n beeing the resultant of the two vectori at the frequency n0 :

d n an2 bn2 .

Fig. 3 Fourier components

n arctg

an
bn

Trigonometric series representation (with sin)

an cos(n0t ) bn sin(n0t ) dn sin(n0t n )

6
Numerical Experimental Approach in Structural Dynamics

x(t ) a0 an cos(n0t ) bn sin(n0t ), t R

i 1

x(t ) a0 d n sin(n0t n )
n 1

Trigonometric series representation (with cos)

n arctg

bn
an

x(t ) a0 d n cos(n0t n )
n 1

Using the identity

sin A cos( A )
2

d n sin(n0t n ) cos(n0t n )
2
From Fig. 1 n

d n sin(n0t n )
d n cos(n0t n )

III.3 Exponential (complex) Form

- Represent the most general Fourier decomposition:

e jx e jx
e jx e jx
cos( x)
,sin x j
(10)
2
2

(10) A
x(t ) An cos(n nt ) n (e j (n nt ) e j (n nt )
2
n 0
n 0

An j (n nt )
A
(e
) n (e j (n nt ) )
2
2
n 1
n

A0

We introduce the notation

(11)

7
Numerical Experimental Approach in Structural Dynamics

(12)

The series (11) become:

x(t )

Ance jnt Complex/exponential Fourier series

III.4 Fourier Transform

Definition: If x(t) is a signal which integral is:

(13)
It is defined the Fourier Transform of a signal x(t) :

X ( ) F x(t ) ( )

x(t )e jt dt

The original signal can be recovered from the

Transform.

x(t ) F 1 X ( ) (t )

1
2

inverse Fourier

X ( )e jt d

Eq. (14) i (15) are used in vibrations analysis

(14)

(15)

8
Numerical Experimental Approach in Structural Dynamics

Fig. 4 a) Periodic signal with the period T b) Spectrum Amplitude (The Anc
coeficients module of the signal represented in a)
c) Periodic signal with the period T1 T d) Spectrum Amplitude (The Anc
coeficients module of the signal represented in c)
The semnification of X ( ) is the same with the Anc

X ( ) X ( ) e j ( )

III.5 The discrete Transform Fourier

DFT - Discrete Fourier Series Coeffcients
x p ( x0 , x1, x2 ,...xN 1)

Xk
1
IDFT - x p
N

N 1

N 1

x pe

2 kp
)
N

p 0

Xke

k 0

j(

j(

2 kp
)
N

N 1

kp
x
W
p N
p 0

N 1

X kWN pk

k 0

N - fundamental period of the sequence.

9
Numerical Experimental Approach in Structural Dynamics

Periodic function can be synthesized as a linear combination of

complex exponentials whose frequencies are multiples (or harmonics) of
the fundamental frequency (which is 2 / N ).
In the analysis of vibrations are known the sets represented in
discrete time data at constant intervals (sampled values)
n

x(t ) a0 an cos(n0t ) bn sin(n0t )

i 1

(16)

x(t ) a0 2 ak cos(
i 1

2 kt
2 kt
) bn sin(
)
T
T

0
an
2 T
2 kt
x
(
t
)cos(
)
dt

k
T 0
T
2
b
2 T
2 kt
bn x(t )sin(
)dt bk n
T 0
T
2

(17)

an

(18)

Consider

2 kt
T

cos(

2 kt
2 kt
) j sin(
)
T
T

(19)

The general form of (18) can be written as:

Xk

j
1 T
x(t )e
T 0

2 kt
T

dt , X k ak jbk

(20)

10
Numerical Experimental Approach in Structural Dynamics

In the real measurements, x(t) became o series with discrete

T
T
time values at equal intervals , t p p ,
N
N
N - the total number of values in x(t)
T the period of time in seconds

Xk

j
1 T
x(t )e
T 0

2 kt
T

j(
1 N 1
x pe
T j 0

N 1

x pe

k
, k 0,1,...N 1
T

j(

dt , X k ak jbk

2 k
) p
T

2 kp
)
N

p 0

(21)
DFT - Discrete Fourier Transform of discrete series
x p ( x0 , x1, x2 ,...xN 1)
IDFT inverse Discrete Fourier Transform
2 kp
N 1
j(
)
N
xp
X ke
(22)
k 0

Xk

an
b
j n
2
2

Properties of Fourier Transform

1.

Liniarity
If x(t) and y(t) are 2 signals with integral module and
a, b C

F ax(t ) by (t ) ( ) aF x(t )} bF{ y (t ) ( )

2. The displacement in time

10

(23)

11
Numerical Experimental Approach in Structural Dynamics

The displacement in time with a constant quantity t0 of a

signal, coresponds to a deviation introduced in Phase
spectrum

F x(t t0 ) ( ) X ( )e jt0
3. The displacement in spectrum
Deplasarea spectrului unui semnal cu o frecven
constant 0 corespunde nmulirii semnalului n timp cu o
cosinusoid complex:
F 1 X ( 0 ) (t ) x(t )e j0t
4. Schimbarea de scal
O contracie a semnalului cu o constant a corespunde
unei relaxri a spectrului cu aceeai constant i vice-versa

F x(at ) ( )

X( )
a
a

5. Derivarea n timp

dx(t )
F
( ) j X ( )
dt

6. Integrarea n timp

F
7. Simetria

x(t ) () j1 X ()

F x(t ) ( ) X ( )
F x(t ) ( ) 2 x( )

8. Conservarea energiei semnalului

x 2 (t )dt

1
2

11

X ( ) d

12
Numerical Experimental Approach in Structural Dynamics

9. Convoluia n timp
Spectrul semnalului obinut prin convoluia temporal
a dou semnale se obine ca produsul spectrelor celor dou
semnale

z (t ) x(t ) * y (t )

x( ) y(t )d

x(t ) y( )d

Atunci ntre transformatele Fourier ale celor 2 semnale

are loc:

Z ( ) X ( ) Y ( ), R
10.

Convoluia n frecven

Spectrul semnalului obinut prin produsul a dou

semnale se obine prin convoluia spectrelor celor dou
semnale

Z ( )

1
2

1
1
X ( ) * Y ( )
2
2

X (0 )Y ( 0 ) d0

X ( 0 )Y (0 )d0

12

13
Numerical Experimental Approach in Structural Dynamics

Example 4
The response (elongation z) of a s-DOF system excited by a
periodic-sinusoidal force la F P sin t

Fig. 5 S-DOF mass-damper-spring system

Force description Fourier Series of the form (2)
n

F (t ) a0 an cos(n0t ) bn sin(n0t ), t R

n 1
Using the expression of series, the force is equal with:

F (t ) a0 d n cos(n0t n ) ,
n 1

bn
an
The equilibrum of forces: F mz cz kz
2
Forma standard cu k m n , c 2mn
d n an2 bn2 , n arctg

F / m z 2n z n 2 z
The simplify expresion of elongation z is:

z C cos t D sin t

Examples for Discrete Fourier Series representation

1. Find DFS representation of the periodic sequence given
below:
xn {...,0,1,2,3,0,1,2,3,0,1,2,3,...}

Solution: The fundamental period of the above sequence is

N=4. Hence W4 e

2
4

13

14
Numerical Experimental Approach in Structural Dynamics
3

X k xnW4nk , k 0, 1, 2,...
n 0

k 0 : X0

n 0

xnW4n0

xn x0 x1 x2 x3 6
n 0

Similarly:
3

k 1: X1

n 0
0

xnW4n1

xn ( j ) n
n 0
1

x0 ( j ) x1 ( j ) x2 ( j ) 2 x3 ( j )3 j 2 3 j 2 2 j
3

n 0
3

n 0
3

n 0

n 0

k 2 : X 2 xnW4n2 xn ( j ) 2 n 2
k 3: X 3 xnW4n3 xn ( j )3n 2 2 j

Inefficient in Matlab implementation - for coefficients is

needed for end loops,
matrix vector multiplication WN is a square matrix- DFS
matrix
X k WN xn

1
1

1
1 WN
kn
WN [WN ,0 k , n N 1]

1 WNN 1

... WNN 1

( N 1) 2
... WN

...

Matlab code for discrete Fourier Series:

function [Xk] = dfs(xn,N)
%% Computes Discrete Fourier series Coefficients ; too
%%[Xk] = dfs(xn,N);
% Xk = DFS coefficient array over 0 <=k<= N-1
% xn - one period of periodic signal over 0<=n<N-1
%N- fundamental period of xn
n = [0:1:N-1]; % row vector for n
k = [0:1:N-1]; %row vector for k
WN = exp(-j*2*pi/N);%Wn vector
nk = n'*k;%creates a N X N matrix of nk values
WNnk = WN.^nk;%DFS matrix
Xk=xn*WNnk;%row vector for DFS coefficients
The matlab code for inverse Discrete Fourier Series:
function [xn] = idfs(Xk,N)
%% Computes Inverse Discrete Fourier series Coefficients
14

15
Numerical Experimental Approach in Structural Dynamics

%%[xk] = idfs(Xk,N);
% Xk = DFS coefficient array over 0 <=k<= N-1
% xn - one period of periodic signal over 0<=n<N-1
%N- fundamental period of xn
n = [0:1:N-1]; % row vector for n
k = [0:1:N-1]; %row vector for k
WN = exp(-j*2*pi/N);%Wn vector
nk = n'*k;%creates a N X N matrix of nk values
WNnk = WN.^(-nk);%DFS matrix
xn=(Xk*WNnk)/N;%row vector for DFS coefficients
3. Harmonic excitation of undamped SDOF system
subject to an external force
The system under consideration is shown in Fig.2. The
forcing function is assumed to be of the form F F cos t where is
driving frequency.
0

Fig.6 sDOF system with an external force

For the case with no damping Newtons Second law gives
the equation of motion:

M n xn Kn xn F0 cos t or
xn n2 xn

f0 cos t , f0

F0
Mn

The solution of the response x is:

x(t ) A1 sin n t A2 cos n t

f0
cos t
,
n2 2

With
A1

v0

, A2 x0

f0
f0
A3
n2 2 ,
n2 2 .

15

16
Numerical Experimental Approach in Structural Dynamics

The diferential equation of the dynamics with damping can

be written:
F F e F f Fi
F k z c z m z

The key parameters which define the response are the

natural frequency and driving frequency, or ratio between
them.
1. The code illustrated in the following permits to show the
effect of varying driving frequency for a given natural frequency
.
Matlab code
n

%This file varies driving frequency of a single degree

%of freedom undamped oscillator at a set natural
%frequency. The initial displacement is 0, the velocity is
%0, the force magnitude per unit mass is 6, and the
%natural frequency is 7.
wn=7;
x0=0;
v0=0;
f0=6;
tf=10;
wdr=zeros(3,1);
x=zeros(3,1001);
for i=1:3;
wdr(i)=wn;
while wdr(i)==wn;
wdr(i)=input('Enter the driving frequency. ');
if wdr(i)==wn;
fprintf('This will produce resonance!!')
end
end
end
t=0:tf/1000:tf;
for j=1:3
A1=v0/wn;
A2=x0-(f0/(wn^2-wdr(j)^2));
A3=f0/(wn^2-wdr(j)^2);
16

17
Numerical Experimental Approach in Structural Dynamics

x(j,:)=A1*sin(wn*t)+A2*cos(wn*t)+A3*cos(wdr(j)*t);
end
for k=1:3
subplot(3,1,k)
plot(t,x(k,:))
title(['Response for
wdr=',num2str(wdr(k)),',wn=',num2str(wn)])
ylabel('Response x')
grid
end
xlabel('Time, seconds')
Note that two of the three constants in the expression for
x(t) involve the difference between the frequencies. This gives
rise to two interesting phenomena: beats and resonance. Beats
occur when the natural frequency and the driving frequency are
close but not equal. The result is then a rapid oscillation with a
slowly varying amplitude,
2. Illustrate the resonance and the beats for the
corresponding .
By changing the values of the initial conditions, wn, and f0
to input statements, this program would become a general solver
for the single-degree of freedom undamped oscillator, subject to
harmonic forcing.
%This program shows beats and resonance in undamped
systems. Again, in order to better see the effects, the initial
velocity and displacement are zero.
x0=0;
v0=0;
wn=3;
wdr=input('Enter the driving frequency. ');
f0=6;
tf=120;
%This section chooses the proper response formula for the
given situation.
t=0:tf/1000:tf;
if wdr==wn
A1=v0/wn;
A2=x0;
A3=f0/2*wn;
n

17

18
Numerical Experimental Approach in Structural Dynamics

x=A1*sin(wn*t)+A2*cos(wn*t)+A3*t.*cos(wdr*t);
else
A1=v0/wn;
A2=x0-(f0/(wn^2-wdr^2));
A3=f0/(wn^2-wdr^2);
x=A1*sin(wn*t)+A2*cos(wn*t)+A3*cos(wdr*t);
end
plot(t,x);
if wdr==wn
title('Example of Resonance Phenomenon');
else
title('Example of Beat Phenomenon');
end
xlabel('Time, seconds')
ylabel('Response x')
grid
3. Using the function which computes the discrete Fourier
Series (or fft.m), illustrate the magnitude and the angle of the
input and ouput signal from the above problems 1 and 2 (see
problem 4).
4. The matlab code for illustrating the Magnitude and the
angle of the DTF for the sequence xn = [0 1 2 3 4 5 6 7 8 ] is:
xn = [0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8 ];
N=9*2;
Xk=dfs(xn,N)
%%%Magnitude
magXk=abs(Xk(1:1:N));
phaXk=angle(Xk)*180/pi;
k=0:1:N-1;w=2*pi/N*k;%frequency in pi units
%%Figures
subplot(3,1,1);plot(w/pi,magXk);ylabel('DTFT
Magnitude','FontSize',14)
set(gca,'FontSize',14,'FontName','Helvetica');

18

19
Numerical Experimental Approach in Structural Dynamics

subplot(3,1,2);plot(w/pi,phaXk);ylabel('DTFT
Angle','FontSize',14)
set(gca,'FontSize',14,'FontName','Helvetica');
subplot(3,1,3);stem(w/pi,xn);ylabel('Signal
xn,0<n<9','FontSize',14);xlabel('frequency
in
units','FontSize',14)
set(gca,'FontSize',14,'FontName','Helvetica');
% %%Inverse DFS
% xn=idfs(Xk,N)

pi

5. Consider the sDOF system illustrated in Fig. 2 (but with

damping), illustrate the time response of the system for different
damping coefficients.
The equation of motion is:

The homogeneous solution is:

The particular solution is:

With

The complete solution is:

.
%This program solves for the response of a damped single
degree of freedom system subject to a harmonic external force.
wdr=3;
wn=3.5;
fo=4;
19

20
Numerical Experimental Approach in Structural Dynamics

tf=10;
t=0:tf/1000:tf;
for k=1:3
zeta(k)=input('Enter a damping ratio (zeta). ');
if (zeta(k)<0 || zeta(k)>=1)
error('Zeta out of range for this program!')
end
end
for k=1:3
wd=wn*sqrt(1-zeta(k)^2);
Ao=fo/sqrt((wn^2-wdr^2)^2+(2*zeta(k)*wn*wdr)^2);
phi=atan2(2*zeta(k)*wn*wdr,(wn^2-wdr^2));
Z1=-zeta(k)*wn-wdr*tan(phi);
Z2=sqrt((zeta(k)*wn)^2+2*zeta(k)*wn*wdr*tan(phi)+
(wdr*tan(phi))^2+wd^2);
Z=(Z1+Z2)/wd;
Anum=Ao*((zeta(k)*wn*Z-wd)*cos(phi)+wdr*Z*sin(phi));
Aden=Z*wd;
A=Anum/Aden;
theta=2*atan(Z);
x(k,:)=A*exp(zeta(k)*wn*t).*sin(wd*t+theta)+Ao*cos(wdr*t-phi);
end
for k=1:3
subplot(3,1,k)
plot(t,x(k,:))
title(['Response for zeta=',num2str(zeta(k)),', wn=', ...
num2str(wn),', and wdr=', num2str(wdr)])
ylabel('Response x')
grid
end
xlabel('Time, seconds')

20