LECTURE NOTES

EMT 2502 VIBRATIONS

MECHATRONIC ENGINEERING
Y5 S1
DeKUT

By
Inno Odira

c Copyright by Inno Odira, 2018
Table of Contents

Table of Contents iii

0.1 Damped response to Periodic forcing functions . . . . . . . . . . . . . . . . . 1

Bibliography 3

REFERENCES 3

iii
 1
0.1 Damped response to Periodic forcing functions
• Damped eigenvalues and eigenvectors do not always match undamped case, but only
in some special cases like Proportional Damping

• In Proportional Damping: C = αM + βK where α and β are real scalar constants.

• However, we do not expect to always see proportional damping in the real world. So
we do not get eigenvectors that can decouple the system.

• In such cases, just ignore the off-diagonal term when they are small compared to those
on the diagonal after formal decoupling (Forced Decoupling)

Example:
Consider a simple 2DOF forced and damped mass- spring system Fig. 1

Figure 1: 2DOF Mass-Spring-Damper system

EOM:
In Matrix form:
" #" # " #" # " #" # " #
m1 0 ẍ1 c1 + c2 −c2 ẋ1 k1 + k2 −k2 x1 f1
+ + =
0 m2 ẍ2 −c2 c2 + c3 Ẋ2 −k2 k2 + k3 X2 f2
| {z } | {z } | {z } | {z } | {z } | {z } | {z }
M Ẍ C Ẋ K X F
(1)
In a familiar form
M Ẍ + C Ẋ + KX = F (2)
Assume The forcing function is harmonic and using our earlier parameter values for mode
2:

" # " #
f¯1 1
F = F̄ eiωt and = cos(ζt)
f¯2 −1
 2
where ζ is the real part of eζit and ζ ≡ ω
We can assume a solutions:
X = X̄eiωt (3)
Plug in the Equation of motion to give,

 2 −1
X̄ = −ω 2 M + iωC + K
 
−ω M + iωC + K X̄ = F̄ → F̄ (4)

" # " #−1 " #

X̄1 −ω 2 m1 + iω(c1 + c2 ) + (k1 + k2 ) iωc2 − k2 f¯1
=
X̄2 iωc2 − k2 −ω 2 m2 + iω(c2 + c3 ) + (k2 + k3 ) f¯2
| {z }
This will be imaginary
(5)
Note: Take the real part to match the realness of the input
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