ME2617 – Dynamics of Machines

Free Motion of Damped SDOF Systems

Dr Cristinel Mares
[email protected]
OBJECTIVES

• To formulate spring-mass-dashpot models for SDOF engineering

systems
• To examine the differences between damped and undamped systems
• To evaluate system parameters such as mass, stiffness and damping
using the time response of the system
• To review various types of damping
 Outline

Objectives
Damping – definition, classification, viscous damping model
EOM and solutions, dependence on damping level
Experimental damping determination, logarithmic decrement
Examples
Review
References

3
Damping

Energy dissipating property of materials and members undergoing time

dependent deformations and/or displacements.

Damping is primarily associated with the irreversible transition of mechanical

energy into thermal energy.
 Classification[1]
• Material damping: energy dissipation by deformation in a medium (irreversible inter-crystal heat
flux, grain boundary, viscosity etc).

• Structural damping: damping in assembled structures including:

i. Material damping of members;
ii. Frictional losses: (microslip, macroslip) at contacting surfaces ( bolted, riveted, damped,
welded connections).
iii. Dissipation in medium between surfaces in relative motion (Gas pumping squeeze film
damping, lubricated bearing).

• Radiation damping: energy radiation into surrounding medium (“geometric damping”).

• Active/passive damping: damping with/without external energy and control.

• Internal/external damping: damping inside/outside a defined system boundary.

[1] Lothar Gaul – The influence of damping on waves and vibrations, MSSP, 1999.
DAMPING IDEALISATION – VISCOUS DAMPING MODEL

Damping is seen through the reduction of the amplitude of

vibrations through a complex mechanism of dissipation or
x c x T radiation of energy of the system.
T
Damping is primarily associated with the irreversible
transition of mechanical energy into thermal energy.

A common way of representing damping is by assuming

discrete dashpots which produce reaction forces as a function
c – damping coefficient of velocity.

For simplicity, reaction forces due to damping are assumed to

be a linear function of the relative velocity between two ends
of the dashpots.
The reaction force due to velocity is in the same direction as
the velocity vector and both act along the dashpot element.
6
FREE MOTION OF A DAMPED SDOF SYSTEM

The standard equation of

motion
k c

can be written as
m
x
where:
is the undamped natural frequency

is the viscous critical damping ratio

(damping factor)
FREE MOTION OF A DAMPED SDOF SYSTEM

The equation of motion

Solution is of the form

where A and B are two constants depending on initial conditions

To find , insert into the equation of motion

Given the initial conditions one must determine the values of the constants A
and B in order to determine a particular solution for the EOM.
 Oscillatory motion depending on the damping factor

Case #1 Underdamped oscillatory motion

Both roots , are complex:

The general solution becomes

Where is the
damped natural
frequency
Oscillatory motion depending on the damping factor

Euler’s formula: z

𝑥(𝑡) = 𝐴 𝑒 +𝐴 𝑒 =𝐴 𝑒 +𝐴 𝑒 =𝑒 𝐴 𝑒 +𝐴 𝑒

𝑒 = cos 1 − 𝜍 𝜔 𝑡 + 𝑖sin 1 − 𝜍 𝜔 𝑡
⇒
𝑒 = cos 1 − 𝜍 𝜔 𝑡 − 𝑖sin 1 − 𝜍 𝜔 𝑡

𝑥(𝑡) = 𝑒 𝐴 + 𝐴 cos 1 − 𝜍 𝜔 𝑡 + 𝑖 𝐴 − 𝐴 sin 1 − 𝜍 𝜔 𝑡

𝑥(𝑡) = 𝑒 𝐴cos 1 − 𝜍 𝜔 𝑡 + 𝐵sin 1 − 𝜍 𝜔 𝑡 = 𝑒 𝐶sin 1−𝜍 𝜔 𝑡+𝜙

Note: arbitrary constants of integration can be real or complex

Oscillatory motion depending on the damping factor

Exponential term
2

1 Given the general solution and the initial conditions

t
0

-1
0 1 2 3 4 5
the constants A and B become
-2 ̇( ) ( )
= ;

Oscillatory term and the system solution is

 Oscillatory motion depending on the damping factor

Case #2 Overdamped with no oscillatory motion

Both roots , are real: 𝛼 = −𝜁 + 𝜁 − 1 𝜔 ; 𝛼 = −𝜁 − 𝜁 − 1 𝜔

and the general solution is

( )
𝐴
( ) 𝐴𝑒 ( )

If the initial conditions

are known, A and B are:
𝑣 + 𝜁𝜔 𝑥 + 𝜔 𝑥 𝜁 −1
𝐴= 𝜔 𝑡
2𝜔 𝜁 −1 𝐵𝑒 ( )
𝑥 𝜁𝑥 𝑣
𝐵= − −
2 2 𝜁 − 1 2𝜔 𝜁 − 1 𝐵
Effect of overdamping

Highly overdamped

Slightly overdamped t
𝑇 2𝑇
 Oscillatory motion depending on the damping factor

Case #3 Critically damped motion having the max rate of decay

Double roots

The solution becomes

x(t)
𝑥 𝑡 =𝑒 𝐴 + 𝐵𝑡 𝑥̇ 0 > 0
𝑥(0)
𝑥̇ 0 = 0
𝑥̇ 0 < 0
and for initial conditions
t

The constants are:

=
Oscillatory motion depending on the damping factor
Double roots

The first solution is and we seek to find a second solution since the
differential equation is of second order. We can determine if a solution
satisfies the equation:

After substitution one obtains:

   
  2  2n  n2  t  2    n   0
     
 0    n 
This shows that the solution is:
Oscillatory motion – damping determination

x(t)  X exp(znt ) sin(dt   )

𝑇

2
Xexp(-znt)
X 1

X sin x1 x2
0
0 1 2 3 4 5

-1

The equation indicates that the motion is oscillatory

-2
with diminishing amplitude. The decay in amplitude with
time is proportional to −𝜁𝜔𝑛 𝑡 as shown by the dashed
curves; 𝑛 is the rate of decay of the amplitude.
Logarithm decrement
A way to determine the amount of damping in a vibrating system is to measure the
rate of decay of oscillations. Consider two consecutive peaks:

x1  Xeznt1 sin(dt1   )
x2  Xeznt2 sin(dt2   )  Xeznt2 sin(dt1   )

Logarithm decrement: the natural logarithm of the ratio of any

two successive amplitudes.

x1
  ln  zn  t1  t2   znTd
x2

z 
 nTd
Oscillatory motion – damping determination
If the peak amplitude of vibration is plotted on a logarithmic scale against the cycle
number, the points will fall on a straight line assuming the damping is of viscous type.
The slope of this line is then used to determine the damping ratio.

1
2
3
4
5
6

𝑠𝑙𝑜𝑝𝑒
𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝑟𝑎𝑡𝑖𝑜 =
𝜋

0 2 4 6 8
Elapsed semi-cycles
Logarithm decrement
For the underdamped (z<1) SDOF oscillating system the logarithmic decrement can be
determined as

where is the amplitude after n cycles of elapsed vibrations.

0 0 1 2 𝑛−2 𝑛−1
𝑛 1 2 3 𝑛−1 𝑛
0 0 1 2 𝑛−2 𝑛−1
𝑛 1 2 3 𝑛−1 𝑛
0
𝑛
Example: time response for different damping levels
A mass-spring-dashpot vibrating system has the following data:
𝑚 = 1𝑘𝑔, 𝑘 = 10000 . The initial conditions are
3𝑚 k
𝑥 𝑡 = 0 = 𝑥 = 0.01𝑚; 𝑥̇ 𝑡 = 0 = 𝑥̇ = . c
𝑠
Determine the equation of motion and plot the displacement
variation in time for the following cases:
m
x
a) 𝑐 = 20𝑁𝑠/𝑚
b) 𝑐 = 200𝑁𝑠/𝑚
c) 𝑐 = 500𝑁𝑠/𝑚

The characteristics of the vibrating systems are: 𝑐

𝜁=
𝑘 𝑐
𝜔 = = 100𝑟𝑎𝑑/𝑠 a) 𝜁 = 0.1 the system is underdamped
𝑚
b) 𝜁 = 1.0 the system is critically damped
𝑐 = 2 𝑘𝑚 = 200𝑁𝑠/𝑚 c) 𝜁 = 2.5 the system is overdamped
 Example: time response for different damping levels
𝑐
𝜁=
𝑐
a) 𝜁 = 0.1 the system is underdamped
b) 𝜁 = 1.0 the system is critically damped k c
c) 𝜁 = 2.5 the system is overdamped
The equations of motion are
a) 𝑥 𝑡 = 𝑒 𝑥 0 𝑐𝑜𝑠𝜔 𝑡 +
̇( ) ( )
𝑠𝑖𝑛𝜔 𝑡 m
x
̇( ) ( )
𝐴=𝑥 0 ; 𝐵 = ;
b) 𝑥 𝑡 = 𝑒 𝑥 0 + (𝑥̇ 0 + 𝑥 0 𝜔 )𝑡
𝐴 = 𝑥 0 ; 𝐵=(𝑥̇ 0 + 𝑥 0 𝜔 );
c) 𝑥 𝑡 = 𝐴𝑒𝑥𝑝 −𝜁 + 𝜁 − 1 𝜔𝑡 + 𝐵𝑒𝑥𝑝 −𝜁 − 𝜁 − 1 𝜔𝑡
𝑥̇ 0 + 𝜁𝜔𝑥 0 + 𝜔𝑥 0 𝜁 −1
𝐴=
2𝜔 𝜁 − 1
𝑥 0 𝜁𝑥 0 𝑥̇ 0
𝐵= − −
2 2 𝜁 − 1 2𝜔 𝜁 − 1
Example: time response for different damping levels
𝑐
𝜁=
𝑐
a) 𝜁 = 0.1 the system is underdamped
b) 𝜁 = 1.0 the system is critically damped k c
c) 𝜁 = 2.5 the system is overdamped

m
x
After calculations the equation of motion for each case become (in (m)):

a) 𝑥 𝑡 = 0.01 Cos 30 11𝑡 − 0.029146 Sin[30 11𝑡]

b) 𝑥 𝑡 = 𝑒 (0.01  − 2.0 𝑡)
( ) ( )
c) 𝑥 𝑡 = 0.00609 𝑒 + 0.00391 𝑒
Example: time response for different damping levels
𝑐
𝜁=
𝑐
a) 𝜁 = 0.1 the system is underdamped
k c
𝑥 𝑡 = 0.01 Cos 30 11𝑡 − 0.029146 Sin[30 11𝑡]

m
x
Example: time response for different damping levels
𝑐
𝜁=
𝑐
a) 𝜁 = 1.0 the system is critically damped
k c
𝑥 𝑡 =𝑒 (0.01  − 2.0 𝑡)

m
x
Example: time response for different damping levels
𝑐
𝜁=
𝑐
a) 𝜁 = 2.5 the system is overdamped
k c
( ) ( )
𝑥 𝑡 = 0.00609 𝑒 + 0.00391 𝑒

m
x
Example: time response for different damping levels

k c

m
x

Note: All graphs scaled (x 1000) for

better presentation
Example: time response for different damping levels

𝜁 = 0.1 the system is underdamped

𝑥 𝑡 =𝑒 (0.01 cos 99.4987 𝑡 − 0.0291461 sin(99.4987 𝑡) (m)

c = 0 no damping

𝑥 𝑡 = 0.01 cos 100 𝑡 − 0.03 sin(100 𝑡) (𝑚)

Time response for different damping levels
Undamped Underdamped
Equation of motion
Constant amplitude C Time dependent amplitude

Period

Damping affects the period of

oscillation.
Response characteristics The response is harmonic The response is a combination
scaled by C of a harmonic
(C determined by the initial scaled by a decaying
conditions). exponential .

The oscillation stops after a

The oscillation continues certain time period
indefinitelly.
Damped vibrations - Review

Damped harmonic motion: 𝑥̈ + 2𝜁𝜔 𝑥̇ + 𝜔 𝑥 = 0

𝑐
𝜁=
2 𝑘𝑚
𝑘
𝜔 =
𝑚
Underdamped harmonic system:
𝑣 + 𝜁𝜔 𝑥
𝑥 𝑡 =𝑒 𝑥 𝑐𝑜𝑠 𝜔 𝑡 + 𝑠𝑖𝑛 𝜔 𝑡
𝜔
𝑥 𝑡 = 𝐶𝑒 sin 𝜔 𝑡 + 𝜙 ; 𝜔 =
𝜔 1−𝜁
𝑥 𝜔
𝜙 = 𝑡𝑎𝑛
𝑣 + 𝜁𝜔 𝑥
𝑣 + 𝜁𝜔 𝑥
𝐶= 𝑥 +
𝜔
 Damped vibrations - Review

Overdamped system:
𝑥 𝑡 = 𝐴𝑒 ( ) + 𝐵𝑒 ( ) Logarithmic Decrement:
𝑥 2𝜋𝜁
𝑣 + 𝜁𝜔 𝑥 + 𝜔 𝑥 𝜁 − 1 𝛿 = 𝑙𝑛 = 𝜁𝜔 𝑇 =
𝐴= 𝑥 1−𝜁
2𝜔 𝜁 − 1
𝑥 𝜁𝑥 𝑣 𝛿
𝐵= − − 𝜁=
2 2 𝜁 − 1 2𝜔 𝜁 − 1 4𝜋 + 𝛿

If 𝒙𝒏 represents the amplitude, after n cycles

Critically damped system:
of vibration
𝑥 𝑡 =𝑒 𝑥 + 𝑥 𝜔 +𝑣 𝑡 1 𝑥
𝛿 = 𝑙𝑛
𝑛 𝑥
Summary
• Learning objectives:
- Determine a solution, the damped natural frequency and the period for the damped 1 DoF
vibrations.
- Determine the EOM solution using the initial conditions;
- Determine the damping factor and the logarithmic decrement from a vibration time series; their
physical meaning.
- Evaluate system parameters (stiffness, mass and damping) using the response of the system.

• References:

- Lecture and seminar notes ME5557.

- Ch. 2.6 in [1]; suggested examples: 2.118-2.123;2.125;2.131;
2.136;2.138;2.145;2.149;2.150;2.155-2.159;2.161 in the problems section.

- [1] Mechanical Vibrations by S. Rao (see module reading list and BB link).
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E-mail: [email protected]