Linkpings Tekniska Hgskola IEI/Mekanik

Carl-Gustaf Aronsson

200-0-2

1()

Program for the course:

TMME40 Structural Dynamics

School year 0/ Lessons 48h in period 1. Examiner: Teacher: Secretary: Examin:
Carl-Gustaf Aronsson C-G Aronsson Elisabeth Peterson, elisabeth peterson@liu.se The written examination contains two parts: Theory part three questions are given and each question gives a maximum of one point. Problem part - four problems are given and each problem gives a maximum of three points. A minimum of 6 points is required to pass the examination.

Theory part: Problem part:

No facilities and a maximum of one hour for this part. Meirovitch, L. "Fundamentals of Vibrations". Mathematical and physical handbooks and handbook in Solid Mechanics. Four compulsory exercises have to be carried out by the student, and these will be distributed during the course.

Marking scale:

Point (p) 6-8 9 - 11 12- 15

Marks 3 4 5

Litterature:

Meirovitch, L. "Fundamentals of Vibrations", International Edition 2001.

Linkpings Tekniska Hgskola IEI/Mekanik

Carl-Gustaf Aronsson

200-06-2

2()

STRUCTURAL DYNAMICS - Theory and Applications

(R) = Rapid reading

CONTENTS
1 Concepts from Vibrations
1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 1.10 1.11 1.12 1.13 1.14 Newton's Laws Moment of a Force and Angular Momentum Work and Energy Dynamics of Systems of Particles Dynamics of Rigid Bodies Kinetic Energy of Rigid Bodies in Planar Motion Characteristics of Discrete System Components Equivalent Springs, Dampers and Masses Modeling of Mechanical Systems System Differential Equations of Motion Nature of Excitations System and Response Characteristics. The Superposition Principle Vibration about Equilibrium Points Summary

2 Response of Single-Degree-of-Freedom Systems to Initial Excitations

2.1 2.2 2.3 2.4 2.5 2.6

Undamped Single-Degree-of-Freedom Systems. Harmonic Oscillator Viscously Damped Single-Degree-of-Freedom Systems Measurement of Damping Coulomb Damping. Dry Friction Plotting the Response to Initial Excitations by MATLAB Summary

3 Response of Single-Degree-of-Freedom Systems to Harmonic and Periodic Excitations

3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 Response of Single-Degree-of-Freedom Systems to Harmonic Excitations Frequency Response Plots Systems with Rotation Unbalanced Masses Whirling of Rotation Shafts Harmonic Motion of the Base Vibration Isolation Vibration Measuring Instruments Energy Dissipation. Structural Damping Response to Periodic Excitations. Fourier Series Frequency Response Plots by MATLAB Summary

Linkpings Tekniska Hgskola IEI/Mekanik

Carl-Gustaf Aronsson

200-06-2

3()

4 Response of Single-Degree-of-Freedom Systems to Nonperiodic Excitations

4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 4.11 4.12 4.13 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.11 5.12 5.13 5.14 5.15 6.1 6.2 6.3 6.4 6.5 6.6

The Unit Impulse. Impulse Response The Unit Step Function. Step Response The Unit Ramp Function. Ramp Response Response to Arbitrary Excitations. The Convolution Integral Shock Spectrum System Response by the Laplace Transformation Method. Transfer Function General System Response Response by the State Transition Matrix Discrete-Time Systems. The Convolution Sum Discrete-Time Response Using the Transition Matrix Response by the Convolution Sum Using MATLAB Response by the Discrete-Time Transition Matrix Using MATLAB Summary System Configuration The Equations of Motion of Two-Degree-of-Freedom Systems Free Vibration of Undamped Systems. Natural Modes Response to Initial Excitations Coordinate Transformations. Coupling Orthogonality of Modes. Natural Coordinates Beat Phenomenon Response of Two-Degree-of-Freedom Systems to Harmonic Excitations Undamped Vibration Absorbers Response of Two-Degree-of-Freedom Systems to Nonperiodic Excitations Response to Nonperiodic Excitations by the Convolution Sum Response to Initial Excitations by MATLAB Frequency Response Plots for Two-Degree-of-Freedom Systems by MATLAB Response to a Rectangular Pulse by the Convolution Sum Using MATLAB Summary Degrees of Freedom and Generalized Coordinates The Principle of Virtual Work The Principle of D'Alembert The Extended Hamilton's Principle Lagrange's Equations Summary Equations of Motion for Linear Systems Flexibility and Stiffness Influence Coefficients Properties of the Stiffness and Mass Coefficients Lagrange's Equations Linearized about Equilibrium

5 Two-Degree-of-Freedom Systems

6 Elements of Analytical Dynamics

7 Multi-Degree-of-Freedom Systems
7.1 7.2 7.3 7.4

Linkpings Tekniska Hgskola IEI/Mekanik

Carl-Gustaf Aronsson

200-06-2

4()

7.5 7.6 7.7 7.8 7.9 7.10 7.11 7.12 7.13 7.14 7.15 7.16 7.17 7.18 7.19 7.20 7.21 8.1

Linear Transformations. Coupling Undamped Free Vibration. The Eigenvalue Problem Orthogonality of Modal Vectors Systems Admitting Rigid-Body Motions Decomposition of the Response in Terms of Modal Vectors Response to Initial Excitations by Modal Analysis Eigenvalue Problem in Terms of a Single Symmetric Matrix Geometric Interpretation of the Eigenvalue Problem Rayleigh's Quotient and its Properties Response to Harmonic External Excitations Response to External Excitations by Modal Analysis Systems with Arbitrary Viscous Damping Discrete-Time Systems Solution of the Egenvalue Problem. MATLAB Programs Response to Initial Excitations by Modal Analysis Using MATLAB Response by the Discrete-Time Transition Matrix Using MATLAB Summary Relation Between Discrete and Distributed Systems. Transverse Vibration of Strings Derivation of the String Vibration Problem by the Extended Hamilton Principle Bending Vibration of Beams Free Vibration. The Differential Eigenvalue Problem Orthogonality of Modes. Expansion Theorem Systems with Lumped Masses at the Boundaries Eigenvalue Problem and Expansion Theorem for Problems with Lumped Masses at the Boundaries Rayleigh's Quotient. The Variational Approach to the Differential Eigenvalue Problem Response to Initial Excitations Response to External Excitations Systems with External Forces at Boundaries The Wave Equation Traveling Waves in Rods of Finite Length Summary Discretization of Distributed-Parameter Systems by Lumping Lumped-Parameter Method Using Influence Coefficients Holzer's Method for Torsional Vibration Myklestad's Method for Bending Vibration Rayleigh's Principle The Rayleigh-Ritz Method An Enhanced Rayleigh-Ritz Method The Assumed-Modes Method. System Response The Galerkin Method

8 Distributed-Parameter Systems: Exact Solutions

8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 8.10 8.11 8.12 8.13 8.14 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 9.9

9 Distributed-Parameter Systems: Approximate Methods

Linkpings Tekniska Hgskola IEI/Mekanik

Carl-Gustaf Aronsson

200-06-2

5(6)

9.10 The Colloction Method 9.11 MATLAB Program for the Solution of the Eigenvalue Problem by the Rayleigh-Ritz Method 9.12 Summary

10 The Finite Element Method

10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8 10.9

The Finite Element Method as a Rayleigh-Ritz Method Strings, Rods and Shafts Higher-Degree Interpolation Functions Beams in Bending Vibration Errors in the Eigenvalues Finite Element Modeling of Trusses Finite Element Modeling of Frames System Response by the Finite Element Method MATLAB Program for the solution of the Eigenvalue Problem by the Finite Element Method 10.10 Summary

11 Nonlinear Oscillations

11.1 Fundamental Concepts in Stability. Equilibrium Points 11.2 Small Motions of Single-Degree-of-Freedom Systems from Equilibrium 11.3 Conservative Systems. Motions in the Large 11.4 Limit Cycles. The van der Pol Oscillator 11.5 The Fundamental Perturbation Technique 11.6 Secular Terms 11.7 Lindstedt's Method 11.8 Forced Oscillation of Quasi-Harmonic Systems. Jump Phenomenon 11.9 Subharmonics and Combination Harmonics 11.10 Systems with Time-Dependent Coefficients. Mathieus Equation 11.11 Numerical Integration of the Equations of Motion. The Runge-Kutta Methods 11.12 Trajectories for the van der Pol Oscillator by MATLAB 11.13 Summary

Linkpings Tekniska Hgskola IEI/Mekanik

Carl-Gustaf Aronsson

200-06-2

6(6)

SSnr 1
2 3 4

Problems Theory (ch. 1 and 2)

1.2, 1.7, 1.8, 1.12 1.29, 1.31, 1.33 2.11, 2.20, 2.22

Problems (Homework)

1.5, 1.6, 1.9, 1.13 1.18, 1.28, 1.32 2.14, 2.19, 2.25 3.5, 3.12, 3.15 4.2, 4.4, 4.6 4.7, 4.10

5
6 7 8

Theory (ch.3and 4)
3.3, 3.8, 3.14 4.1, 4.3, 4.5 4.9, 4.16, 4.23 Exercise 1 (ch. 4)

9
10 11 12 13

Theory (ch. 5 and 6)

5.3, 5.6, 5.13 5.16, 5.25 Exercise 2 (ch. 5) 6.3, 6.6, 6.8 6.11, 6.12, 6.15 5.4, 5.5, 5.8, 5.16 5.21, 5.22 6.4, 6.7, 6.9 6.13, 6.14 7.9, 7.12, 7.16 7.19, 7.27

14
15 16

Theory (ch. 7)
7.2, 7.4, 7.15 7.21, 7.29 Exercise 3 (ch. 7)

17
18 19

Theory (ch. 8)
8.3, 8.5, 8.8 8.9, 8.16, 8.28, 8.37 8.4, 8.6, 8.14, 8.20 8.24, 8.26, 8.29, 8.37, 8.42 9.19, 9.20 10.7

20
21

Theory (ch. 9)
9.18, 9.31

22
23

Theory (ch. 10)

10.2, 10.4, 10.6 Exercise 4 (ch. 10.)

24

Theory (ch. 11)