Fundamentals of

Structural Vibration
Speaker:
Prof. FUNG Tat Ching

Date & Time: Wed 20 August 2014, 1:30 - 5:30 pm

Venue: CEE Seminar Room D (N1-B4C-09B)
School of Civil and Environmental Engineering
N
Nanyang T
Technological
h l i l University
U i it
1

Topics in Fundamentals of
Structural Vibration (1.5 hrs)
z SDoF Systems z MDoF Systems
z Dynamic
y Equilibrium
q z Mode Shapes
p
z Natural Freq/Period z Modal decomposition
z Damping ratio z Modal responses
z Phase lag
z Disp Resp Factor
z Response Spectrum

2
Course Outline for CV6103
Lecture Course Content Chapters in
(21 hours) Textbook
1 Single-Degree-of-Freedom
Si l D fF d Systems
S t
Equations of motion 1.2 – 1.6
Free vibration 2.1 – 2.2
2 Single-Degree-of-Freedom Systems 3.1 – 3.4
Response to harmonic and periodic excitations 3.12 – 3.13
3 g g
Single-Degree-of-Freedom Systems
y
Response to arbitrary, step and pulse excitations 4.1 – 4.11
4 Multi-Degree-of-Freedom Systems
Equations of motion 9.1 – 9.2
Natural vibration frequencies and modes 10.1 – 10.7
5 Multi-Degree-of-Freedom Systems
Free vibration response 10 8 – 10.15
10.8 10 15
6 Multi-Degree-of-Freedom Systems
Forced vibration response 12.1 – 12.7
7 S t
Systems with
ith Generalized
G li d Degrees
D off Freedom
F d
Generalized coordinates and their applications 14.3, 17.1 3

Textbook and References

● Main Text
● Chopra, A
Ch A. K
K., D
Dynamicsi off St
Structures:
t Th
Theory
and Applications to Earthquake Engineering,
Prentice Hall
Hall, 4rd Edition,
Edition 2011.
2011

● References
● Clough, R. W., and Penzien, J.,
Dynamics of Structures,
McGraw-Hill, 1993.
● Meirovitch,, L. Fundamentals of
Vibrations, McGraw-Hill, 2001.
4
Why Is There A Need To Do
Dynamic Analysis?
● Static analysis
● External Load = Internal Force
z Magnitude of loading & stiffness
● Dynamic analysis
● External Load ≠ Internal Force
z Magnitude off loading & stiffness
ff
z Frequency characteristics of loading, and the dynamic
properties of structures (mass
(mass, stiffness
stiffness, damping)

Examples of SDOF Systems

¾ Water tank
¾ Mass concentrated at one location
¾ Supports assumed to be massless
¾ Can
C b be modeled
d l d as a SDOF system
t

¾ Pendulum
¾ Rod is assumed to be massless
¾ Only allowed to rotate about hinge
¾ Can be modelled as a SDOF system
6
Equation of Motion
Damping force Restoring force

mu&& + fD + fS = p
External force

Newton’s Second Law of Motion:

p − fS − fD = mu&&

D’Alembert’s Principle Inertia force

(Dynamic equilibrium):
p − fS − fD − fI = 0 with fI = mu&&
7

Single-degree-of-freedom
(SDoF) Systems u(t)
c
Typical
m
representation: p(t))
p(
(mass)
Mass-spring-damper
system k

Assumptions:
¾ External force p(t)
¾ Linear elastic restoring force
¾ Restoring force ku
¾ Linear
Li viscous
i d
damping
i du
¾ Damping force c
2
dt
du
mu&& + cu& + ku
k = p(t ) ¾ Inertia
I ti force
f m
dt 2 8
Undamped Free Vibration
● Equation of Motion: mu&& + cu& + ku = p(t )
● with c = 0, p(t) = 0
2 k
mu + ku = 0
&& or u&& + ωn u = 0 ωn =
m
● Initial conditions: u = u(0), u& = u& (0)
● Exact Solution:
u& (0)
u(t ) = u(0) cos ωnt + sin ωnt
ωn
or u(t ) = umax cos(ωnt − θ )
See Page 46 in Chopra

2
⎛ u& (0) ⎞ u& (0)
= (u(0)) + ⎜⎜
2
umax ⎟⎟ θ = tan−1 9
⎝ ωn ⎠ ωnu(0)

Free Vibration of a System

y without
Damping

umax

umax umax

10
Periods of Vibration of
Common Structures
Common Structures Period
20-story moment resisting frame 1.9 sec
10-story moment resisting frame 1.1 sec
1-story moment resisting frame 0.15 sec

20-story braced frame 1.3 sec

10-story braced frame 0.8 sec
1-story braced frame 0.1 sec

Gravity dam 0.2 sec

Suspension bridge 20 sec
11

Viscously Damped Free

Vibration
Equation of Motion: mu&& + cu& + ku = 0

Divided by m: &u& + c u& + k u = 0

m m
c c
Let ζ = = (reasons will be clear later)
zeta
2mωn ccr
k
Hence
2
u&& + 2ζωnu& + ω
nu =0 ωn =
m
as before
Note: cccr = 2mωn = 2 km
× critical damping ratio 12
Type of Motion

ζ :damping ratio
ccr : critical damping coefficient
Three scenarios
¾ ζ < 1, i.e. c < ccr ⇒ under-damped (oscillating)
¾ ζ = 1, i.e. c = ccr ⇒ critically damped
¾ ζ > 1, i.e. c > ccr ⇒ over-damped 13

Typical Damping Ratio

Structure ζ
Welded
e ded stee
steel frame
a e 00 0
0.010
Bolted steel frame 0.020

Uncracked prestressed concrete 0.015

Uncracked reinforced concrete 0.020
Cracked reinforced concrete 0 035
0.035

Glued p
plywood
y shear wall 0.100
Nailed plywood shear wall 0.150

Damaged steel structure 0.050

Damaged concrete structure 0.075

Structure with added damping 0.250 14

Effects of Damping in Free
Vibration
⎛ u& (0) + ζωnu(0) ⎞
u(t ) = e −ζωnt ⎜⎜ u(0) cos ωDt + i ωDt ⎟⎟
sin
⎝ ωD ⎠
ωD = ωn 1 − ζ 2

Tn
TD =
ρ = umax 1− ζ 2 15

Decay of Motion
One way to measure damping is from rate of
decay from free vibration
TD

TD
u(t ) = e −ζωnt umax cos(ωDt − θ )
((exactly)
y)
Since peaks are separated by TD ,
ui e −ζωnt ⎛ 2πζζ ⎞
= −ζω (t +T ) = exp(ζωnT D ) = exp⎜ ⎟
ui +1 e n D ⎜ 1− ζ 2 ⎟
⎝ ⎠ 16
 Type of Excitations
Steady-state
● Harmonic / Periodic Excitations Responses
● Commonly encountered in engineering
z Unbalanced rotating machinery
z Wave loading
● Basic components in more general periodic
excitations
z Fourier series representation
● More General Excitations Transient
T i t
Responses
● Step/Ramp Forces
● Pulses Excitations
17

Equation of Motion
mu&& + cu& + ku = p(t ) Resonance

● Linear
● ⇒u(t) can be replaced
by u(t) + any free
vibration responses
p
ω / ωn > 2
● For example, Rapidly
Slowly loaded
● c=00, u(t) = u0sinωt loaded

● (-mω2 + k) u0 sinωt = p(t)

● ⇒ p(t) = p0 sinωt
k p0 1
ωn = u0 =
m k 1 − (ω / ωn )2 18
 Excitation
p0 sin ωt

ω
= 0.2
ωn
Response u (0) = 0
ω p
u& (0) = n 0
k

p0 1
u p (t ) = sin ωt
1 (ω / ωn )
2
k 1−
19

Undamped Resonant Systems

● For resonance, ω = ωn Derivation: See Page 70 & 72 in Chopra
1 p0
u(t ) = − (ωnt cos ωnt − sin ωnt )
2 k
u(0) = 0, u& (0) = 0
● Response
p g
grows indefinitely y
● Becomes infinite after infinite duration

20
Harmonic Vibration of Viscous
Damping
Equation of Motion
Sinusoidal force k
ωn =
mu&& + cu& + ku = p0 sin ωt m
Excitation frequency
Amplitude of force
Particular Solution
S
u p (t ) = C sin ωt + D cos ωt Derivation: See
Page 73 in Chopra

p0 1 − (ω / ωn )2
C=
k [1 − (ω / ωn )2 ]2 + [2ζω
ζ / ωn ]2
p0 − 2ζω / ωn
D=
k [1 − (ω / ωn )2 ]2 + [2ζω / ωn ]2 21

Steady-State Solution
The particular solution can also be written as:
u p (t ) = u0 sin(ωt − φ )
−D
where u0 = C 2 + D 2 φ = tan−1
C
Using previously derived results for C and D,
p0 1
umax = u0 =
k
[1 − (ω / ω ) ] + [2ζ (ω / ω )]
n
2 2
n
2

−1 2ζ (ω / ωn )
φ = tan
1 − (ω / ωn )
2

22
 ζ = 0.2

™ Static response exactly in-phase

in phase with force
™ Dynamic response has a time lag, φ/ω 23

General Solution
Complementary solution is the free damped
vibration response:
ωD = ωn 1 − ζ 2
uc (t ) = e −ζωnt (A cos ωDt + B sin ωDt )
Recall: A, B derived by
Complete solution: satisfying initial conditions

u(t ) = uc (t ) + u p (t )
= e −ζωnt (A cos ωDt + B sin ωDt ) + C sin ωt + D cos ωt

Transient Steady state

Derivation: See Page 73 in Chopra 24

Example 1
ω /ωn= 0.2, ζ = 0.05, u(0) = 0, u& (0) = ωn p0 / k

Observe how the transient response decays due to

damping, leaving only the steady state part
25

Example 2
ω = ωn (resonant response), ζ = 0.05

u st
With d
damping,
i h u max =
response approach
2ζ 26
But can still be larger for another value of ω!
Example 3

27

Significance of Steady-state
Solutions
● In certain problems, e.g. wave loads on an
offshore structure, the load is assumed to be
in place for a sufficiently long time, so that the
transient response has completely decayed
decayed.
● The interest is in the steady-state solution.

28
 Maximum Response and
Phase Angle
St d state
Steady t t solution
l ti is i (ωt − φ )
i u p (t ) = u0 sin

p0 1
u0 =
k
[1 − (ω / ω ) ] + [2ζ (ω / ω )]
n
2 2
n
2

−1 2ζ (ω / ωn )
φ = tan Called Deformation Response
1 − (ω / ωn )
2
Factor ((DRF)) Rd in Chopra
p
textbook (Page 76)
φ is the phase lag
Time lag = φ/ω
29

DRF and Phase

R
Resonance
For ω /ωn << 1
¾ Slowlyy varying
y g
¾ DRF ≅ 1
¾ u0 ≅ p0/k
¾ Displacement in-phase with force
¾ Response dominated by stiffness
DRF
D

Rapidly For ω /ωn >> 1

Slowly
loaded loaded ¾ R idl varying
Rapidly i
¾ DRF → 0
2
p0 ⎛ ωn ⎞ p
Phase φ

u0 ≅ ⎜ ⎟ = 02
¾ k ⎝ω ⎠ mω
¾ Displacement anti-phase with force
P

¾ Response dominated by mass

30
When ω ≈ ωn
● Forcing freq ≈ natural freq
● Resonance
● large, close to max at ωn
DAF is very large
p0 / k p0 p0 / k
●
u0 ≅ = (u )
0 max =
2ζ cωn 2ζ 1 − ζ 2
● Response dominated by damping
● Displacement is 90° out of phase with force
when ω = ωn
● This is the scenario we want to avoid! (but
not always possible) 31

Periodic Excitation
p

T0 T0 T0 ω0 = 2π / T0
p(t + jT0 ) = p(t ) j : integer in (-∞, ∞ )

Separate into harmonic components using Fourier series

∞ ∞
p(t ) = a0 + ∑a
j =1
j cos(( jω0t ) + ∑ b sin(( jω t )
j =1
j 0

Note: Arbitrary excitations can also be transformed into Fourier

series with appropriate technique, such as FFT. 32
Response To Arbitrary Time-
Varying Forces
E
Equation
ti off Motion
M ti
mu&& + cu& + ku = p((t )
Initial conditions:
u(0) = 0, u& (0) = 0
p(t): varying arbitrarily with time
e.g. step forces (with finite rise time),
pulses etc
etc.
Interested in the max response.
p
Max response Ö Response/Shock spectrum 33

Simple Examples
Step Force p
p0
p(t ) = p0 t ≥0

0 t
p
Ramp or
li
linearly
l p0
increasing t
p(t ) = p0 t ≥0
force tr
0 tr t

p
Step force
with finite p0
⎧ p (t / t r ) t ≤ tr
rise time p(t ) = ⎨ 0
⎩ p0 t ≥ tr
0 tr t 34
Dynamic Response to
Step Forces
p0 ⎡ ⎛
−ζωnt ⎜ ζ ⎞⎤
u(t ) = ⎢1 − e cos ωDt + sin ωDt ⎟⎥
k ⎢ ⎜ 1 − ζ 2 ⎟⎥
⎣ ⎝ ⎠⎦

35

Dynamic Response of Ramp p0

t
tr
or Linearly Increasing Force
p0 ⎛ t sin ωnt ⎞
u(t ) = ⎜⎜ − ⎟⎟
k ⎝ tr ωnt r ⎠

p0
(ust )0 =
k
ζ =0
tr
= 2.5
Tn

36
Dynamic Response to Step
Force With Finite Rise
p
Time
p0
⎧ p (t / t r ) t ≤ tr
p(t ) = ⎨ 0
⎩ p0 t ≥ tr
0 tr t

Consider undamped response: Phase 1 Phase 2

p0 ⎛ t sin ωnt ⎞
1. Ramp phase: u(t ) = ⎜⎜ − ⎟⎟ t ≤ t r
k t
⎝ r ω t
n r ⎠

⎧
2. Constant phase: u(t ) =
p0
⎨1 −
1
[sin ωnt − sin ωn (t − tr )]⎬⎫ t > tr
k ⎩ ωnt r ⎭

37

Step Force With Finite Rise

Time

38
 Maximum Deformation

sin(πt r / Tn )
Rd = 1 +
πt r / Tn

Response Spectrum 39

Single Pulse Excitations

F
Force
● Example of pulse excitations: Blast
● underground explosions overpressure

● Idealized by simple shapes Time

● E
E.g.

40
Response Spectrum

u ⎧ 2 sin πtd / Tn td / Tn < 1

2
Rd = 0 = ⎨
ust ,0 ⎩ 2 td / Tn ≥ 1
2

Also called Shock Spectrum for single pulse

41

Multi-Degree-of-Freedom
Systems

p4(t)
u4(t)
c4 k4
p3((t))
u3(t)
c3 k3
p2(t)
u2(t)
c2 k2
p1(t)
u1(t)
c1 k1

42
General Approach for Complex
Structures
● Elastic resisting forces
● Same as static analysis (i
(i.e.
e ku
ku=p)
p)
● fS = ku
● D
Damping
i fforces: usually
ll rather
th simple
i l
● fD = cu&
● Inertia forces: usually simple
● fI = mu
&&
● Equations of motion
&&(t ) + cu& (t ) + ku
mu k (t ) = p(t )
43

Arbitrary u(0)
• NOT Simple Harmonic Motion (SHM)
• Frequency of motion cannot be defined
• u1 and u2 are not proportional (⇒deflected shapes varies with time)

Modal coordinators

44
When u(0) = φ1
• can be SHM with appropriate initial conditions
• u1 proportional to u2
• φ1 is a natural mode

45

When u(0) = φ2
• can be SHM with appropriate initial conditions
• u1 proportional to u2
• φ2 is a natural mode

46
Natural Frequency
The natural period of vibration Tn = the time
required
q for one cycle
y of the harmonic motion in
one of these natural modes.
1 2π
fn = Tn =
Tn ωn
fn = natural cyclic frequency of vibration
ωn = natural circular frequency of vibration

An N-DOF system has N number of natural periods

and N number of natural modes.
modes

47

How to Find the natural

periods and natural modes?
● EoM: mu &&(t ) + cu& (t ) + ku(t ) = p(t )
● Natural frequency ωn and mode shape φn can
be obtained by solving the following
eigenvalue problem
[k − ωn2m]φn = 0
● Different modes can be shown to be
orthogonal wrt the m and k matrices, i.e.
φTn mφr = 0 φTn kφr = 0 (n ≠ r)

Μn = φTn mφn , K n = φTn kφn 48

Vibration Analysis of MDOF
Systems
● EoM: mu&&(t ) + cu& (t ) + ku(t ) = p(t ) with u(0) and u& (0)
● Time Stepping Methods
● E.g. Central Difference, Newmark’s method etc.
● Modal Decomposition
● MDoF problem ⇒ a number of SDoF problems
u = φ1q1 + φ2q2 + L + φN qN
q = Φ−1u
⎧ q1 ⎫
N
⎪ ⎪ φTn mu
= ∑ φr qr = [φ1 L φn ]⎨ M ⎬ = Φq
q qn = T
φn mφn
r =1 ⎪q ⎪
⎩ N⎭ 49

Uncoupled Equations
● EoM:
&&(t ) + cu& (t ) + ku(t ) = p(t ) with u(0) and u& (0)
mu
● Transformed into N SDoF Systems,
y , each
Mnq&&n (t ) + Cnq& n (t ) + K nqn (t ) = Pn (t ) classical damping

Μ n = φTn mφn , K n = φTn kφn , Pn = φTn p(t ) Cnr = φTr cφn

P (t ) Kn
q&&n (t ) + 2ζ nωn q& n (t ) + ωn2qn (t ) = n ωn =
Mn Μn
● With initial conditions
φTn mu(0) φT &
n mu(0)
qn,0 = T qn,0 = T
&
φn mφn φn mφn 50
Displacement Responses
Once q1(t), …, qN(t) are determined, the
response u1(t),
(t) …, uN(t) in u(t) can be obtained
from N
u(t ) = ∑ φnqn (t )
n =1
and subsequently the internal forces can also
be calculated if required

Caution: The expression could be very lengthy.

51

Modal Contribution
It is useful to define the contribution of the nth
mode to u(t) as
un (t ) = φnqn (t )

Then internal force due to un(t) can be evaluated

first and then sum up for all the modes later.
later
Further Improvement
p
Since qn(t) is a scalar function, the internal force
due to φn can be evaluated first ((static analysis)
y ) and
then times qn(t) before sum up for all the modes
later.
52
How To Calculate the Internal
Forces?
● Directly from u(t) or un(t) or φn
● Alternatively the same internal forces can be
Alternatively,
obtained by considering the same structure
s bjected to the equivalent
subjected eq i alent static forces ku
k ( t)
or kun(t) or kφn

53

Equivalent Static Force

&&(t ) + cu& (t ) + ku
mu k (t ) = p(t )
p(t ) − mu
&&(t ) − cu& (t ) fS (t ) = ku(t )
m5
p5(t) m5u&&5 (t ) fS5(t) u5(t)
k5 k5
m4
p4(t) m4u&&4 (t ) fS4(t) u4(t)
k4 k4
m3
p3(t) m3u&&3 (t ) fS3(t) u3(t)
k3 k3
m2
p2(t) m2u&&2 ((tt ) fS2(t) u2(t)

k2 k2
m1
p1(t) m1u&&1((tt ) fS1(t) u1(t)
k1 k1

V(t) V(t)
54
 fn (t ) = kun (t ) = kφnqn (t ) = ωn2mφnqn (t )

Forces : kφ1 or ω12mφ1

M1
P1(t) q1(t)
r1(t) = r1st q1(t)
r1st K1, ζ1

Forces: kφN or ωN2mφN

MN
PN(t) qN(t)
rN(t) = rNst qN(t)
rNst KN, ζN

55

Recap
z SDOF Systems z MDOF Systems
z Dynamic
y Equilibrium
q z Mode Shapes
p
z Natural Freq/Period z Modal decomposition
z Damping ratio z Modal responses
z Phase lag
z DAF/DRF
z Response Spectrum

56