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x EOM:
k
F(t)=F0cosωt m&x& + cx& + kx = F0 cos ωt
m
c
&x& + 2ζω n x& + ωn2 x = f 0 cos ωt
x(t ) = xh (t ) + x p (t )
Homogeneous solution
Homogeneous solution xh(t) Same as free vibration
⎛⎜ − ζ + ζ 2 −1 ⎞⎟ ω t ⎛⎜ − ζ − ζ 2 −1 ⎞⎟ ω t
Over damped 1 < ζ xh (t ) = A1e ⎝ ⎠ n
+ A2 e ⎝ ⎠ n
x p (t ) = X cos(ωt − θ)
or x p (t ) = As cos(ωt ) + Bs sin(ωt )
f0 2ζω n ω
−1
x p (t ) = cos(ωt − tan )
(ωn − ω ) + (2ζω n ω)
2 2 2 2 ωn − ω
2 2
X θ
Response of harmonic excitation (1)
Response of harmonic excitation x(t ) = xh (t ) + x p (t )
Depend on ζ
Ex Underdamped
− ζω n t
x(t ) = Ae sin(ωd t + φ) + X cos(ωt − θ)
xh(t) xp(t)
xh(t) xp(t)
As t → ∞, transient
response dies out and
total response
x(t) → xp(t)
Steady-state response (1)
f0 2ζω n ω
From steady-state response x p (t ) = cos(ωt − tan −1 )
(ω2n − ω2 ) 2 + (2ζω n ω) 2 ωn − ω
2 2
Xk Xω2n 1 2ζ r ω
= = , θ = tan −1 where r=
F0 f0 (1 − r 2 ) 2 + (2ζr ) 2 1− r 2 ωn
Xω2n
Amplitude response θ(r ) Phase response
f0
180º
4
90º
2
0º
0 1 2 0 1 2
r r
Steady-state response (2)
f0 2ζω n ω
From steady-state response x p (t ) = cos(ωt − tan −1 )
(ω2n − ω2 ) 2 + (2ζω n ω) 2 ωn − ω
2 2
Xk Xω2n 1 ω
= = where r=
F0 f0 (1 − r 2 ) 2 + (2ζr ) 2 ωn
2 r = 1 − 2ζ 2 or ω = ω n 1 − 2ζ 2
⎛ Xk ⎞ 1
⎜⎜ ⎟⎟ =
⎝ F0 ⎠ max 2ζ 1 − ζ
0 1 2 2
r
Frequency response method (1)
Euler’s formula e jωt = cos ωt + j sin ωt
EOM m&x&(t ) + cx& (t ) + kx(t ) = F0 cos ωt
Z is a complex-valued constant
Substituting z into EOM (complex form).
F0
x p (t ) = Re( z ) x p (t ) = ⋅ cos(ωt − θ)
[(k − mω ) + (cω) ]
2 2 2 12
Frequency response method (3)
F0 −1 cω
x p (t ) = ⋅ cos(ωt − θ) ; θ = tan
[(k − mω ) + (cω) ]
2 2 2 12
(k − mω2 )
or
f0 2ζω n ω
−1
x p (t ) = cos(ωt − θ) ; θ = tan
(ωn − ω ) + (2ζω n ω)
2 2 2 2 ω 2
n − ω 2
Z = H ( jω) F0 = H ( jω) F0 ⋅ e − jθ
z = H ( jω) F0 ⋅ e j ( ωt −θ)