01SingleDOF Maged

Dynamics of Aerospace
Structures
SPC408
Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

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Maged Mostafa http://WikiCourses.WikiSpaces.com
Single degree of freedom
systems

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Objectives
• Recognize a SDOF system
• Be able to solve the free vibration equation
of a SDOF system with and without
damping
• Understand the effect of damping on the
system vibration
• Apply numerical tools to obtain the time
response of a SDOF system

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Single degree of freedom systems
• When one variable can describe the
motion of a structure or a system of
bodies, then we may call the system a 1-D
system or a single degree of freedom
(SDOF) system. e.g. x(t), θ(t) Z(t), y(x).

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Stiffness
• From strength of materials recall:

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Newton’s Law
mx(t )  kx(t )
• Newton’s Law:
mx(t )  kx(t )  0
x(0)  x0 , x (0)  v0
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Solving the ODE
• The ODE is mx(t )  kx(t )  0
• The proposed t
solution: x(t )  ae
• Into the ODE you get
the characteristic k t
t
equation:
 ae  ae  0
2
m
k k
• Giving:  
2
j
m m
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Solving the ODE (cont’d)
k k
• The proposed j t j t
solution becomes: x(t )  a1e m
 a2 e m
• For simplicity, let’s k

define: 
m
jt  jt
• Giving: x(t )  a1e  a2 e
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Let’s manipulate the solution!

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Recall
e  Cos a   jSina 
ja
Sina  b   Sina Cosb   Cosa Sinb 

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Manipulating the solution
jt  jt
• The solution we have: x(t )  a1e  a2 e
x(t )  a1 Cos t   jSint 
• Rewriting:
 a2 Cos t   jSint 

x(t )  a1  a2 Cos t   j a1  a2 Sint 
x(t )  A1Cos t   A2 Sint 

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Further manipulation
x(t )  A1Cos t   A2 Sint 
A  A1  A2
2 2
Cos    & Sin  

A2 A1
A A
x(t )  ASin Cos t   Cos  Sint 
x(t )  ASint   
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Different forms of the solution
x(t )  ASin( t   )
x(t )  A1Sin t  A2Cos t
j t  j t
x(t )  a1e  a2 e

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NOTE!

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Natural Frequency of Oscillation
• In the previously obtained solution:
x(t )  ASint   
• The frequency of oscillation is w
• It depends only on the characteristics of the
oscillating system. That is why it is called the
natural frequency of oscillation
k
n 
m
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Frequency
n is in rad/s is called the natural frequency
n rad/s n cycles n
fn    Hz
2 rad/cycle 2 s 2
2
T s is the period
n
We often speak of frequency in Hertz or

RPM, but we need rad/s in the arguments
of the trigonometric functions.
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Recall: Initial Conditions

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Amplitude & Phase from the ICs
x 0  A sin(  n 0   )  A sin 
v 0   n A cos(  n 0   )   n A cos 
Solving yields
1   n x 0 
2
v
A  x 0  2 ,   tan 
2 0

n  v0 
        
Amplitude Phase

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Some useful quantities
A  peak value
T
1
x  lim  x (t ) dt = average value
T  T
0
T
1
x  lim  x 2 (t ) dt = mean - square value
2
T  T
0
xrms  2
x = root mean square value
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Peak Values
Maximum or peak (amplitude) values:
displacement : xmax  A
velocity : xmax  A
acceleration : xmax   A 2

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Samples of Vibrating Systems
• Deflection of continuum (beams, plates,
bars, etc) such as airplane wings, truck
chassis, disc drives, circuit boards…
• Shaft rotation
• Rolling ships

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Wing Vibration

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Ship Vibration

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Effective Stiffness of
Structures

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Bars
• Longitudinal motion
• A is the cross sectional
l area (m2)
EA
k • E is the elastic modulus

(Pa=N/m2)
m
• l is the length (m)
x(t) • k is the stiffness (N/m)

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Rods
• Jp is the polar
moment of inertia of
the rod
GJ p • J is the mass
Jp
k moment of inertia of
 the disk
0
• G is the shear
J θ t)( modulus, l is the
length
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Helical Spring
d = diameter of wire
2R= diameter of turns
2R n = number of turns
x(t)= end deflection
x(t) G= shear modulus of
spring material
4
Gd
k 3
64nR
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Beams
• Strength of materials
and experiments
f
yield:
m
3EI
k 3

x 3EI
n  3
m
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Equivalent Stiffness

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Example 1.5.2 Effect of fuel on
frequency of an airplane wing
• Model wing as transverse
beam
• Model fuel as tip mass
• Ignore the mass of the
wing and see how the
E, I m frequency of the system
changes as the fuel is
l used up
x(t)

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Mass of pod 10 kg empty 1000 kg full
I = 5.2x10-5 m4, E =6.9x109 N/m, l = 2 m
• Hence the
5
natural 3EI 3 (6 .9 109
)(5 .2 10 )
full  
frequency m 3
1000  2 3
changes by an  11.6 rad/s = 1.8 Hz

order of 3EI 3(6.9 109 )(5.2 105 )
magnitude empty  
m 3
10 23
while it  115rad/s = 18.5Hz
empties out
fuel.

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Example 1.5.5 Design of a spring mass
system using available springs: series vs parallel
• Let m = 10 kg
• Compare a series and
k1 k2 parallel combination
m • a) k1 =1000 N/m, k2 = 3000
k3 N/m, k3 = k4 =0
k4 • b) k3 =1000 N/m, k4 = 3000
N/m, k1 = k2 =0

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Case a) parallelconnection:
k3  k4  0, keq  k1  k2  1000 3000  4000 N/m
keg 4000
  parallel    20 rad/s
m 10
Case b) seriesconnection:
1 3000
k1  k2  0, keq    750 N/m
(1 k3 )  (1 k4 ) 3  1
keg 750
 series    8.66 rad/s
m 10
Same physical components, very different frequency
Allows some design flexibility in using off the shelf components
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Harmonic Excitation of
Undamped Systems
• Consider the usual spring mass damper system
with applied force F(t)=F0cosωt
• ω is the driving frequency
• F0 is the magnitude of the applied force
• We take c = 0 to start with

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Equation of motion
mx(t )  kx(t )  F0 cos(t )

x(t )   x(t )  f 0 cos(t )
2
n
where f 0  F0 / m, n  k
m

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Linear non-homogenous ODE:
• Solution is sum of homogenous and
particular solution
• The particular solution assumes a form
of forcing function (physically the input
wins)
x p (t )  X cos(t )

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Substitute into the equation of
motion:
xp  n2 x p
   
  X cos t  n X cos t  f 0 cos t
2 2
f0
solving yields : X  2
n   2

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Thus the particular solution has
the form:
f0
x p (t )  2 cos(t )
n   2

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General Solution
particular
  
f0
x(t )  A1 sin nt  A2 cos nt  2 cos t
 n   2
homogeneous

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Apply the initial conditions to evaluate the constants
f0
x(0)  A2  2  x0
n   2
x (0)  n A1  v0
Solving for the constants and substituting into x yields
v0  f0  f0
x(t )  sin nt   x0  2  cos nt  2
2 
cos t
n  n    n   2

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Comparison of free and forced
response
• Sum of two harmonic terms of different
frequency
• Free response has amplitude and phase
affected by forcing function
• Our solution is not defined for ωn = ω

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Example
• Compute and plot the response for m=10 kg, k=1000 N/m,
x0=0,v0=0.2 m/s, F=23 N, ω=2ωn
Solution
k 1000 N/m
n    10 rad/s,   2n  20 rad/s
m 10 kg
F 23 N v0 0.2 m/s
f0    2.3 N/kg,   0.02 m
m 10 kg n 10 rad/s

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Example (cont’d)
f0 2.3 N/kg 3
  7.9667 10 m
n  
2 2
(10  20 ) rad / s
2 2 2 2
Substituting into the general solution:
3
x(t )  0.02 sin 10t  7.667 10 (cos10t  cos 20t )

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Response to Harmonic Excitation

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Beat !
• What happens when the driving frequency
is near the natural frequency?

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Example
• Given zero initial conditions a harmonic input of 10 Hz
with 20 N magnitude and k= 2000 N/m, and measured
response amplitude of 0.1m, compute the mass of the
system.
Solution:
x(t )  2
f0
cos t  cos nt 
n   2

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Example (cont’d)
• Using Trigonometric Identities:
2 f0    n     n 
x(t )  2 sin  t sin  t
n   
2
2 
   2

Slow term Fast term
• Using given data
2 f0 2(20 / m)
n  
2 2
 0.1 

2000  (20 ) 2
m
 0

.1
m  0.45 kg

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Plotting the result

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Twice Frequency and Beat

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Resonance
• When excitation frequency is equal to the
natural frequency, the previous solution
fails.
• The particular solution of the ODE
become:
x p (t )  tX sin(t )

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Substituting!
Use the particular solution into the equation:

f0
X
2
The total solution becomes:
grows without bound

f0
x(t )  A1 sin t  A2 cos t  t sin(t )
2
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Resonance

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Summary
• Write down the equation of motion using Newton’s law
• Solve the equation of motion for a SDOF
• Use initial conditions to determine the amplitude and
phase of vibration for a SDOF
• Evaluate the effective stiffness of structural members
• Analyzing the response of a SDOF to harmonic
excitations
• Different types of response depend on the excitation
frequency
• What happens during the beat and resonance
phenomena

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HW #1
1. The amplitude of vibration of an undamped
system is measured to be 1 mm. the phase
shift is measured to be 2 rad and the
frequency 5 rad/sec. Calculate the initial
conditions.
2. Using the equation:
x(t )  A1Cos t   A2 Sint 
evaluate the constant A1 and A2 in terms of
the initial conditions

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HW #1 (cont’d)
3. A vehicle is modeled as 1000 kg mass
supported by a stiffness k=400 kN/m.
When it oscillates, the maximum
deflection is 10 cm. when loaded with the
passengers, the mass becomes 1300 kg.
calculate the change in the frequency,
velocity amplitude, and acceleration if the
maximum deflection remain 10 cm.

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Dynamics of Aerospace

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

• For simplicity, let’s k

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Sina  b   Sina Cosb   Cosa Sinb 

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

 a2 Cos t   jSint 

x(t )  A1Cos t   A2 Sint 

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Cos    & Sin  

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

We often speak of frequency in Hertz or

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

changes by an  11.6 rad/s = 1.8 Hz

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

mx(t )  kx(t )  F0 cos(t )

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Substituting into the general solution:

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Use the particular solution into the equation:

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

Single Degree of Freedom Systems SPC408 – Dynamics of Aerospace Structures

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