CHAPTER 4: TRANSIENT VIBRATION

Introduction
2

 So far, all of the driving forces have been sine or cosine

excitations
 We can examine the response to any form of excitation such as
 Impulse
 Sums of sines and cosines
 Any integrable function
 When a dynamical system is excited by a suddenly applied non-
perioidic excitation F(t), the response to such excitation is called
transient response, since steady state oscillations are generally
not produced

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 Impulse Response Function
3

F(t) Impulse Excitation

 0 t t 
F̂  Fˆ
F (t )   t   t  
2  2
0 t t 

t - t + t
t
ε is a small positive number
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 Impulse Response Function
4

Impulse Force   F (t )dt  Ft

F(t) Here, in this case
Fˆ
t 

F̂ i.e. area under pulse I ( )   F (t )dt  2  Fˆ

t  2
2

t - t + t
t
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 Impulse Response Function
5

 As 2ε approaches zero, such

forces tend to become infinite; Dirac Delta
Equal
however, the impulse defined by F(t) function
impulses
its time integral is Fˆ , which is
considered to be finite.

 When Fˆ is equal to unity, such a

force in the limiting case 2  0 is
called the unit impulse or the
delta function. t t

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 Impulse Response Function
6

 A delta function at t = τ is identified by the symbol δ = t – τ and

has the following properties

 (t t )  0 For all t  t

  (t  t )dt  1
0
0 t  

 If δ(t – τ) is multiply by any time function f(t), the product will

be zero everywhere except at t = τ, and its time integral will be


 f (t ) (t  t )dt  Fˆ 0 t  
0
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 Impulse Response Function
7

 From sophomore dynamics the impulse imparted to an object is

equal to the change in the object momentum
 The effect of an impulse on a spring-mass-damper is related to its
change in momentum Just after Just before
impulse impulse
Impulse = Change in Momentum

Ft  mv  m[v(t0 )  v(t0 )]
ˆ Ft
F
Fˆ  mv0  v0  
m m
 Thus the response to impulse with zero IC is equal to the free
response with IC: x0 = 0 and v0 is FΔt/m

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 Impulse Response Function
8

 Recall that the free response to just non zero initial conditions is
mx  cx  kx  0

and, the initial conditions are x(o)  xo & x (o)  vo

 The solution is for this underdamped case is

 n t
 vo   n xo  
x(t )  e   sin d t  xo cosd t 
 d  

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 Impulse Response Function
9

 So for an underdamped system the impulse response at x0 = 0 is

Fˆe  nt unit impulse
x(t )  sin d t (responseto Fˆ ) response function F̂
md
 n t x(t) m
e
x(t )  Fˆh(t ), where h(t )  sin d t
m d
1 k
0.5 c
h(t)

-0.5

-1
0 10 20 30 40 Response to an impulse
Time at t = 0, and zero initial
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conditions
 Impulse Response Function
10

 The response to an impulse is thus defined in terms of the

impulse response function, h(t).

e  n t
h (t )  sin d t
m d

 What is the response to a unit impulse applied at a time different

from zero? The response to δ(t – τ) is h(t – τ)

0 t t
 ( t t )
h(t  t )  e n
sin d (t  t ) t  t
md
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 Impulse Response Function
11

 For the case that impulse occurs at τ note that effects of non-zero
initial conditions and other forcing terms must be superimposed
on this solution 1
t=0

h1
0

-1
0 10 20 30 40
1
For example: If two pulses t=10
h2

0
occur at two different times
then their impulse responses -1
0 10 20 30 40
will superimpose 1
h1+h2

-1
0 10 20 30 40
Time
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 Impulse Response Function
12

 Consider the undamped impulse response

 Setting ζ = 0 in the equation

 Response to unit impulse applied at t = τ i.e. δ(t – τ) is

1
h(t  t )  sin n (t  t )
mn

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 Example 1
13

 Design a camera mount with a vibration constraint and an

impulsive load. Does the system stay with in vibration limits if
hit by a 1 kg bird traveling at 72 kmh?

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 Example 1
14

 Keeps length ‘l’ of the mounting bracket of 0.61 m, so that the

camera from vibration more than 0.01 m of maximum amplitude
under a wind load of 15 N at 10 Hz. The mass of the camera is
3 kg.
 The natural frequency of the camera system is

k 3Ebh3
n  
mc mcl 3

3  7.1 1010  0.02  0.023

  223.71 rad / sec
3  0.613

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 Example 1
15

 From the equation as given below with ζ = 0, the impulsive

response is

Fˆ e t
n
Fˆe  t  n

x(t )  sin d t  sin n 1   2 t
md mn 1   2  

Fˆ Ft
 sin nt  sin nt
mn mcn
mbv
 sin nt
mcn
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 Example 1
16

 The magnitude of the response due to impulse is thus

1  721000
mbv 3600  0.029 m
X 
mcn 3  223.71

 This max value exceeds the camera tolerance

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 Example 2
17

 In vibration testing, an instrumented hammer is often used to hit

a device to excite it and to measure the impact force
simultaneously. If the device being tested is a SDOF system,
calculate the response given that m = 1 kg, c = 0.5 kg/sec, k = 4
N/m, and Fˆ = 0.2 N-sec. It is often difficult to provide a single
impact with a hammer. Sometimes a “double hit” occurs, so the
exciting force may have the form
F (t )  0.2 (.t )  0.1 (t  t )
Find the response of the same system with a double hit, and
compare it with the response to a single impact.

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 Example 2
18

Solution: The natural frequency of the system is

k 4
n    2 rad / sec
m 1

 The damping ratio is c 0.5

    0.125
2 km 2 4 1

 The damped natural frequency is

d  n 1   2  2 1  0.1252  1.984 rad / sec

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 Example 2
19

 The response of the system will be

0.2e  nt 0.2  e 0.1252t
x1 (t )  sin d t  sin(1.984)t
md 11.984
 1.008e 0.25t sin(1.984)t t 0

 Similarly, the response to 0.1δ(t-τ) can be calculated as

0.1e  n (t t ) 0.1 e 0.1252(t t )

x2 (t )  sin d (t  t )  sin1.984(t  t )
md 11.984
 0.0504e 0.25(t t ) sin1.984(t  t ) t t

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 Example 2
20

 Using the principle of superposition for linear systems, the

response to the ‘double impact” will be the sum of the preceding
two impulse responses

x  x1 (t )  x2 (t )

 Therefore,
1.008e 0.25t sin(1.984)t 0  t t
x
1.008e 0.25t sin(1.984)t  0.0504e 0.25 (t t ) sin1.984(t  t ) t t

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 Example 3
21

 Consider the system (mass normalized)

x(t)  2x(t)  4x(t)   (t)   (t  4)
compute and plot the response with initial conditions x0 = 1 mm
and v0 = -1 mm/s. Solve the problem and add the results.
Solution: By inspection, the natural
frequency is ωn = 2 rad/sec.
c
 2 n  2  2 n    0.5
m
 Thus the system is underdamped. Computing the damped natural
frequency yields    1   2    3 rad / sec
d n d

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 Example 3
22

 The homogenous solution is given by

 n t
 v0   n xo  
xh (t )  e   sin d t  xo cosd t 
 d  
t   1  1 
xh (t )  e  sin 3t  cos 3t 
 3 
 e t cos 3t

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 Example 3
23

 Computation of response to first impulse for the time interval

0  t  4. The corresponding impulse solution is

ˆ
Fe  n t
xI (t )  sin d t
md
Fˆ  nt 1
 e sin d t  e 0.52t sin d t
md 1 3
1 t
 e sin 3t 0t 4
3
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 Example 3
24

 Total response for 0 < t < 4 is

x1 (t)  xh (t)  xI (t)

t 1
 e (cos 3t  sin 3t),
3
for 0  t  4

 Next, compute the response of the system to the second impulse

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 Example 3
25

1  t  4
x2  e sin 3(t  4), t  4
3
et 4
 sin 3(t  4) H (t  4)
3 Heaviside Step function

 Here the Heaviside step function is used to “turn on” the response
to the impulse at t = 4 seconds.
 The Heaviside step function is defined by
0, t  t
 (t  t ) 
1, t  t
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 Example 3
26

 To get the total response add the partial solutions

t  4
1 e
x(t )  e t ( sin 3t  cos 3t )  sin 3(t  4)H (t  4)
3 initial condition 3
frist impulse second impulse
1

0.5
Heaviside function is used to indicate that x2 starts after t = 4

x t
0 2 4 6 8 10

0.5

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t Israr - Institute of Space Technology
 Response to an Arbitrary Input
27

 The response to general force, F(t), can be viewed as a series of

impulses of magnitude F(ti) Δt
 Response at time t due to the ith impulse and zero IC
xi(t) = [F(ti) Δt ].h(t-ti) for t>ti xi
F(t) ti t
Impulses If t  t I (the i th time interval)
F(ti) I
x(t I )   [ F (ti ) t ]h(t  ti )
i 1

t  0, ti  t 
t

t1,t2 ,t3 ti t x(t )   F (t )h(t  t )dt

0
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convolution integral
 Response to an Arbitrary Input
28

 The convolution integral, or Duhamel integral, for underdamped

systems is
t
x(t )   F (t )h(t  t )dt
o
 As we know

e n t
h(t )  sin d t
md
e n (t t )
and at (t  t )  h(t  t )  sin d (t  t )
md

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 Response to an Arbitrary Input
29

 Properties of convolution integrals: It is symmetric

Let   t  t , t fixed so that t  t    dt  d

Also, t  0    t & t  t    0
t 0
x(t )   F (t )h(t  t )dt   F (t   )h( )(d )
0 t
t
  F (t   )h( )(d )
0

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 Response to an Arbitrary Input
30

1  nt t

 nt
x(t )  e [ F (t ) e sin d (t  t )]dt
md 0

1 t

md  0
F (t  t )e  nt sin dt dt

 The response to any integrable force can be computed with

either of these forms
 Which form to use depends on which is easiest to compute

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 Example 1
31

 0 0  t  t0
mx  cx  kx  
 F0 t0  t
x0  0, v0  0, 0    1

 Apply the relation as discussed earlier:

t
1 nt 0 1 nt t
 
nt nt
x(t )  e (0) e sin  (t  t ) dt  e F e sin d (t  t )dt
md md
d t 0
0
0

F0 nt t nt

md
e t 0
e sin d (t  t )dt

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 Example 1
32

 Integration yields
F0 F0
x(t )   e  n ( t to ) cos[d (t  to )   ), t  to
k k 1  2

  tan 1

1  2

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 Example 2
33

 Undamped oscillator under IC and constant force

 For an undamped system: F(t)
F 0
1
h(t )  sin nt
mn
 The homogeneous solution is
t1 t2
xh 
v0
sin nt  x0 cos nt , t  t1 F(t)
n
 Good until the applied force acts at t1, then: x(t)
t
m
x12   F (t )h(t  t )dt , t1  t  t2
0 k
t1 0 t
  F (t )h(t  t )dt   F (t )h(t  t ) dt
0 t 1
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 Example 2
34

 Next compute the solution between t1 and t2

For t1  t  t2
t
1
x12   F0 sin n (t  t ) dt
t1
mn

F0  (1)(1)
t

  cos n (t  t ) 
mn  n t1 
 
F0
 [1  cos n (t  t1 )]
mn 2

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 Example 2
35

 Now compute the solution for time greater than t2

0 0
t1 t2 t
x2   F (t )h(t  t )dt   F (t )h(t  t )dt   F (t )h(t  t )dt
0 t1 t2


F0  1
t2

  cos n (t  t )  For t  t2
mn  n t1 
 
F0
 [cos n (t  t2 )  cos n (t  t1 )]
mn 2

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 Example 2
36

 Total solution is superposition

 v0
 sin nt  x0 cos nt t  t1
  n
 v0 F
x(t )   sin n t  x0 cos nt  0 2 [1  cos n (t  t1 )] t1  t  t2
 n mn
 v0 F
 sin n t  x0 cos nt  0 2  cos n (t  t2 )  cos n (t  t1 )  t  t2
 n mn
m  F0  1,  n  8,t1  2,t 2  4, x0  0.1, v0  0
Check points: x increases after application of F. Undamped response around x  0
Displacement x(t)

0.3
0.2
0.1
0
-0.1
0 2 4 6 8 10
Time (s)
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 Example 3
37

 A load of dirt of mass md is dropped on the floor of a truck bed.

The truck bed is modeled as a spring-mass-damper system. The
load is modeled as a force md g applied to the spring-mass-damper
system, as illustrated in the figure. This allows a crude analysis of
the response of the truck’s suspension when the truck is being
loaded. Calculate the vibration response of the truck bed and
compare the maximum deflection with the static load on the truck
bed.

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 Example 3
38

 Static vs. dynamic load

md g t  0
mx  cx  kx  
 0 t 0

md g  1   t
 x(t )  1   e n cos d t   
k  1  2 
To obtain a rough idea about the
mg
  0  x(t )  d (1  cosnt ) nature of this expression, its un-
k damped value is
md g
 This has max value of xmax  2 , twice the static load
k
 Means that ‘t’ is such that cosnt  1
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 Example 3
39

 Observations:
 Thus if the truck were designed with springs based only on the static
load, with no margins of safety, the springs in the truck would
potentially break, or permanently deform, when subjected to the same
mass applied dynamically (i.e. dropped) to the truck.
 Hence, it is important to consider the vibration (dynamic) response in
designing structures that could be loaded dynamically.

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