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Lecture 2 SD Single Degree of Freedom (SDOF) System

This document discusses single degree of freedom (SDOF) structural dynamics. It begins by introducing vibrations and defining concepts like stiffness, equilibrium position, and displaced position. It then discusses undamped free vibration and defines terms like natural period, frequency, and circular frequency. The document derives the equation of motion for an SDOF system using Newton's law and explains how to obtain solutions for undamped free vibration using initial conditions. It also discusses damping, forced vibration, and the natural periods of common structural systems.

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Sarose Prajapati
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250 views

Lecture 2 SD Single Degree of Freedom (SDOF) System

This document discusses single degree of freedom (SDOF) structural dynamics. It begins by introducing vibrations and defining concepts like stiffness, equilibrium position, and displaced position. It then discusses undamped free vibration and defines terms like natural period, frequency, and circular frequency. The document derives the equation of motion for an SDOF system using Newton's law and explains how to obtain solutions for undamped free vibration using initial conditions. It also discusses damping, forced vibration, and the natural periods of common structural systems.

Uploaded by

Sarose Prajapati
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Structural Dynamics

Single Degree of Freedom


(SDOF) System (1)
Lecture 2
M.E. in Earthquake Engineering
Khwopa Engineering College, Bhaktapur
2020
Vibrations – What ?

1. Introduction

Example 1:

Equilibrium position

A displaced position

K: stiffness

E 316 Lecture 7 2
Vibrations – What ?

Stiffness:
a measure of how difficult to make a system or an
object deform or change its configuration
Force or moment / displacement or angle
Force needed to produce one unit displacement

K?
Vibrations – what ?

Example 2

Equilibrium position

Displaced position
Vibrations – What ?

Free vibration Un-damped


Force vibration Damped

Period: Time for one cycle (back and forth): T


Frequency: How many cycles per second -> f=1/T
Vibrations - Analysis
Mathematical Expression or Model
Mathematical representation of the physics of a
concerned entity. In developing a model, we need to
have some assumptions

Undamped free vibration

Step 1: Free diagram. Take the figure in example 1 as


an example.
Structural Engineer’s Geotechnical Engineer’s
View of the World View of the World
Basic Concepts
 Degrees of Freedom
 Newton’s Law
 Equation of Motion (external force)
 Equation of Motion (base motion)
 Solutions to Equations of Motion
– Free Vibration
– Natural Period/Frequency
Degrees of Freedom
The number of variables required to describe the motion of
the masses is the number of degrees of freedom of the
system
Continuous systems – infinite
number of degrees of freedom

Lumped mass systems – masses can


be assumed to be concentrated at
specific locations, and to be connected
by massless elements such as springs.
Very useful for buildings where most
of mass is at (or attached to) floors.
Degrees of Freedom
Single-degree-of-freedom (SDOF) systems

Vertical translation Horizontal translation Horizontal translation Rotation


Idealized Single Degree of Freedom Structure

F(t)
Mass F (t ),v(t )

t
Damping
Stiffness
v(t)

t
Equation of Dynamic Equilibrium
f I (t ) F (t )

f D (t )
0.5 f S ( t ) 0.5 f S ( t )

F (t )  f I (t )  f D (t )  f S (t )  0
f I (t )  f D (t )  fS (t )  F (t )
Observed Response of Linear SDOF
(Development of Equilibrium Equation)
Spring Force, kips Damping Force, Kips Inertial Force, kips
30.00 4.00 50.00

15.00 2.00 25.00

0.00 0.00 0.00

-15.00 -2.00 -25.00

-30.00 -4.00 -50.00


-0.60 -0.30 0.00 0.30 0.60 -20.00 -10.00 0.00 10.00 20.00 -500 -250 0 250 500
Velocity, In/sec 2
Displacement, inches Acceleration, in/sec

SLOPE = k SLOPE = c SLOPE = m


= 50 kip/in = 0.254 kip-sec/in = 0.130 kip-sec2/in

f S (t )  kv(t ) f D (t )  cv(t ) f I (t )  mv(t )


Equation of Dynamic Equilibrium
f I (t ) F (t )

f D (t )
0.5 f S ( t ) 0.5 f S ( t )

f I (t )  f D (t )  fS (t )  F (t )

(t )  cv(t )  k v(t )  F (t )


mv
Development of Effective Earthquake Force
vt
vg vr
vg (t )
Ground Motion Time History
0.40

GROUND ACC, g
0.20

0.00

-0.20

-0.40
0.00 1.00 2.00 3.00 4.00 5.00 6.00
TIME, SECONDS

m[vg (t )  vr (t )]  cvr (t )  kvr (t )  0


mvr (t )  cvr (t )  k vr (t )  mvg (t )
RELATIVE TOTAL

vr vTotal  vg  vr


M M

FI ,r  vr  M FI ,Total  vTotal  M


Somewhat Meaningless Total Base Shear
Undamped Free Vibration
Equation of Motion: mv(t )  k v(t )  0
Initial Conditions: v0 and v0
Assume: v(t )  A cos(t )  B sin(t )
v0 
k
Solution: A  v0 B
 m

v0
v(t )  v0 cos(t )  sin(t )

Undamped Free Vibration (2)
v0 T = 0.5 seconds
1.0
Displacement, inches

3
2
1
0
v0
-1
-2
-3
0.0 0.5 1.0 1.5 2.0
Time, seconds

Circular Frequency Cyclic Frequency Period of Vibration


(radians/sec) (cycles/sec, Hertz) (seconds/cycle)

k  1 2
 f  T 
m 2 f 
Periods of Vibration of
Common Structures
20 story moment resisting frame T=2.2 sec.
10 story moment resisting frame T=1.4 sec.
1 story moment resisting frame T=0.2 sec

20 story braced frame T=1.6 sec


10 story braced frame T=0.9 sec
1 story braced frame T=0.1 sec
Newton’s Law
Consider a particle with mass, m, moving in one dimension
subjected to an external load, F(t). The particle has:
position  v
velocity  v
acceleration  v m
F(t)
According to Newton’s Law:
d
mv   F (t )
dt
If the mass is constant:
d d
mv   m v   mv  F (t )
dt dt
Equation of Motion (external load)
Mass
Dashpot
P (t)
Spring
External
load

Dashpot force

Spring force P (t)


External
load

From Newton’s Law, F  mv


P t   f D  f S  m v
Equation of Motion (external load)

P (t)

v v

Viscous resistance Elastic resistance

mv  cv  kv  P (t )
Vibrations
Features of governing equation:
- ordinary differential equation
- homogeneous/non-homogeneous
- second order
- linear
- constant coefficient

mv  cv  kv  P (t )
Solutions to Equation of Motion
mv  cv  kv  P (t )
Four common cases
Free vibration: P(t) = 0
Undamped: c = 0
Damped: c ≠ 0

Forced vibration: P(t) ≠ 0


Undamped: c = 0
Damped: c ≠ 0
Solutions to Equation of Motion
Undamped Free Vibration
mv  kv  0
Solution:
v (t )  A cost  B sin t
where
k
 Natural circular frequency
m
How do we get A and B? From initial conditions
Solutions to Equation of Motion

Undamped Free Vibration


v (t )  A cost  B sin t
Assume initial displacement (at t = 0) is v(0).
Then,

v 0  A cos (0)  B sin  (0)


v 0  A(1)  B(0)
v 0  A
Solutions to Equation of Motion
Assume initial velocity (at t = 0) is v(0).
Then,
v   A sin t  B cos t
v0   A sin  (0)  B cos  (0)
v0   A (0)  B (1)
v0  B
v0
B

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