Scribd
Upload
51 views

General Forced Response: P T N B P T N A A T F

This lecture discusses methods for solving the forced response of systems using Fourier series and the Laplace transform. Fourier series represents any periodic signal as a sum of sines and cosines, allowing periodic inputs to be analyzed. The Laplace transform converts a time domain signal to the complex frequency domain, enabling differential equations describing forced responses to be solved algebraically. Common Laplace transform properties and the inverse transform are reviewed. Response solutions are obtained by taking the inverse Laplace transform of the output function found by transforming and solving the relevant differential equation.

Uploaded by

Sathish Kumar S
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
51 views

General Forced Response: P T N B P T N A A T F

This lecture discusses methods for solving the forced response of systems using Fourier series and the Laplace transform. Fourier series represents any periodic signal as a sum of sines and cosines, allowing periodic inputs to be analyzed. The Laplace transform converts a time domain signal to the complex frequency domain, enabling differential equations describing forced responses to be solved algebraically. Common Laplace transform properties and the inverse transform are reviewed. Response solutions are obtained by taking the inverse Laplace transform of the output function found by transforming and solving the relevant differential equation.

Uploaded by

Sathish Kumar S
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
You are on page 1/ 11

LECTURE 8: CHAPTER 5

GENERAL FORCED RESPONSE


1. LEARNING OBJECTIVES
a. Solving response to general periodic inputs USING Fourier
series
b. Reviewing the Laplace transform
c. Solving forced response using the Laplace transform for a
variety of inputs
d. MATLAB/Simulink applications
2. RESPONSE TO GENERAL PERIODIC INPUTS
Periodic motion means that time-varying signal/s that would repeat itself at a
given time, t. General theorem states that any periodic function can be
represented by a constant term plus an infinite series of sines and cosines
with increasing frequencies. This theorem is known as the Fourier theorem.
Fourier Series
Any time domain signal, f(t) no matter how complex it is, as long as it is
repetitive i.e. periodic, with a period, P, where f(t + P) = f(t), it can be
represented as a linear combination of simple harmonic motion (consisting of
sine and cosines) of varying amplitudes and varying frequencies, for a defined
interval of t
1
t t
1
+ P, where t
1
and P are constants and P > 0, then the
Fourier Series can be expressed as;
( )

,
_

+ +
1
2
sin
2
cos
2
n
n n
o
P
t n
b
P
t n
a
a
t f

Eq. 5.1
where,
( ) dt
P
t n
t f
P
a
P t
t
n

,
_


+
2
cos
2
1
1
( ) dt
P
t n
t f
P
b
P t
t
n

,
_


+
2
sin
2
1
1
KMEM 3211 MECHANICAL VIBRATION
Study Example 5.1-2
Complex Number
Contains REAL and IMAGINARY parts [s = + j]
: REAL part
: IMAGINARY part where j
2
= -1
In s-plane:
Poles and Zeros
( ) ( ) ( )
( ) ( ) ( )
n
m
p s p s p s
z s z s z s
K s G
+ + +
+ + +

2 1
2 1
) ( Eq. 5.2
Zeros = the numerator where z1, z2 and zm are the values of s for G(s) = 0.
Poles = the denominator where p
1
, p
2
and p
n
are the values of s for G(s)
becomes infinite.
K = gain (constant)
3. THE LAPLACE TRANSFORM
The Laplace Transform
Conversion of a function, in the time domain (variables are of function of t), to
the complex-frequency domain (variables are function of s).
2
(,)
j

0
KMEM 3211 MECHANICAL VIBRATION
( )


0
) ( ] ) ( [ dt
st
e t g t g L s G
Eq. 5.3
Unit Step
U(t) = 1 for t > 0
= 0 for t < 0
Exponential, u(t) = e
-at

Trigonometric function, f(t) = sin t or cos t
Using integration by parts, we have
For cosine function, f(t) = cost
3

0
. sin ] sin [ dt
st
e t t L
( )


0
) ( ] ) ( [ dt
st
e t u t u L s U

0
] ) ( [ dt
st
e t u L
s s
e
t
t
st
1
0

s
t u L
1
] ) ( [

0
. ] ) ( [ dt
st
e
at
e t u L

0
) (
] [ dt
t a s
e
at
e L

+
+

0
) (
) ( a s
e
t a s
a s
at
e L
+

1
] [
( )

0
cos sin
2 2
) (
t t s
s
st
e

[ ]
2 2
sin

+

s
t L
[ ]
2 2
cos

+

s
s
t L

0
. cos ] cos [ dt
st
e t t L
KMEM 3211 MECHANICAL VIBRATION
4
KMEM 3211 MECHANICAL VIBRATION
Transform Properties
Multiplication by a Constant; a
Superposition
Multiplication by an Exponential Function (The First Shift Theorem)
Multiplication by Time (Theorem 2)
Multiplication by 1/Time (Theorem 3)
5
( )
( )

0
. ] [ dt
st
e t f a t f a L
( )

0
. dt
st
e t f a ( )
s F a
( ) ( )
( ) ( ) [ ]

+ +
0
. ] [ dt
st
e t g t f t g t f L
( ) [ ] ( ) [ ]

0
.
0
. dt
st
e t g dt
st
e t f
( ) ( )
s G s F +
( )
( )

0
. ] [ dt
st
e
at
e t f t f L
at
e
( )
( )

0
. dt
t a s
e t f ( )
a s F +
( ) ( )
s F
ds
d
t f t L ] . [
( )
( ) ds
s
s F
t
t f
L . ] [

( )
.
0
lim
exists
t
t F
t
1
]
1

KMEM 3211 MECHANICAL VIBRATION


Inverse Transforms, L
-1

L
-1
: The inverse transform of
For simple form use the Table.
More difficult form use Partial Fraction Expansion
Rules of Partial Fractions
1. The numerator must be of lower degree than the denominator. If it is not,
then divide out.
2. Factorise the denominator into its prime factors.
3. A linear factor (s + a) gives a partial fraction A / (s + a), where a, is the
constant to be determined.
4. A repeated factor (s + a)
2
gives;
( )
( )
2
a s
B
a s
A
+
+
+
Eq. 5.4
6
If,
KMEM 3211 MECHANICAL VIBRATION
5. A quadratic factor (s
2
+ ps +q) gives a PFE of;
( ) q ps s
Q Ps
+ +
+
2
Eq. 5.5
Partial Fraction Expansion (PFE)
( )
( )
( )
0
1
1
0
a s a s
b s b
s D
s N
s F
n
n
n
m
m
+ + +
+ +

Eq. 5.6
Case 1: Distinct Poles
( )
n
n
s s
A
s s
A
s s
A
s F

+ +


2
2
1
1
Eq. 5.7
PFE for proper rational function m < n
Where, A
1
, A
2
, , A
n
= constants to be determined
and s
1
, s
2
, , s
n
= the poles
The solution in time domain becomes,
( )
t
n
s
n
t s t s
e A e A e A t f + + +
2
2
1
1
for t > 0 Eq. 5.8
Case 2: Repeated Poles
( )
( )
( )
n
n
s s
A
s s
A
s s
A
s s
A
s F

+ +


3
3
1
12
2
1
11
Eq. 5.9
The solution in time domain becomes,
( )
t
n
s
n
t s t s t s
e A e A e A e A t f + + + +
3
3
1
12
1
11
for t > 0 Eq. 5.10
7
KMEM 3211 MECHANICAL VIBRATION
Case 3: Complex Poles
Two methods: (1) Using PFE (2) Completing the square
Method 2 Completing the square
If we have,
( )
( ) ( ) j a s j a s
C Bs
s F
+ + +
+

Eq. 5.11
Multiply the denominator of F(s) to b;
( )
( )
2 2 2
2 + + +
+

a as s
C Bs
s F Eq. 5.12
Write the denominator as the sum of the perfect square (s + a)
2
and a
constant
2
. Thus,
( )
( )
2 2
+ +
+

a s
C Bs
s F
Eq. 5.13
Rearranging the numerator of F(s) in the form of (s + a),
( )
( ) ( )
( )
2 2
+ +
+ +

a s
aB C a s B
s F
( )
( ) ( )
1
]
1

+ +

,
_


+
1
]
1

+ +
+

2 2 2 2

a s
aB C
a s
a s
B Eq. 5.14
Referring to Table 5.2-1, the solution in time domain is in the form of,
( ) t e
aB C
t e B t f
at at

sin cos

,
_


+ Eq. 5.15
8
KMEM 3211 MECHANICAL VIBRATION
Solutions of Linear Differential Equations
1
st
Derivative
2
nd
& Higher Derivatives
Integration
Use integration by parts with ;
Solving for the Response
9
dt
st
e
dt
df
f L .
0
] [

,
_

[ ] ( ) ( )
0 f s F s f L

( ) ( ) ( )
0 f s G s g L If,
Let
( ) ( ) ( ) ( )
t f t g then t f t g


( )
( )
[ ]
( ) 0 f t f L s f L


( ) ( )
[ ]
( ) 0 0 f f s F s s


( )
( ) ( ) ( ) 0 0
2
f f s s F s f L



( ) ( ) dt e d f d f L
st
t t

1
]
1

1
]
1

0 0 0

( ) dt e dv and d f u
st
t




0
( )
s
e
v and dt t f du
st

( ) ( ) s F
s
d f L
t
1
0

1
]
1



KMEM 3211 MECHANICAL VIBRATION
1. Write the differential equations and immidiately transform the DEq (for t >
0); evaluating all the initial conditions.
2. Solve the algebraic equations for the transform of the output.
3. Evaluate the inverse transform to obtain the output as a function of time.
10
KMEM 3211 MECHANICAL VIBRATION
11

You might also like