Oscillations and Waves - Lecture 4

Dr. Simon Hanna February 10, 2004

4.6

Damped SHM in an LCR circuit

1/C is the stiness term (large capacitors are more compliant) when R = 0:

R
I

Q d2 Q + =0 2 dt LC

2 i.e. undamped oscillation at frequency 0 = 1/LC.

We have: 4.6.1 VC = Q/C VR = IR VL = L dI/dt where Q is the charge on the capacitor. From Kirchho (loop rule) we have: VL + VR + VC = 0 i.e. 4.6.2 Q dI L + IR + =0 dt C L dQ Q d2 Q +R + =0 dt2 dt C (1) Semi-rigorous approach Assume: Q = aet and subst. into (1). Would nd: real for overdamped case complex for underdamped case Rigorous approach

i.e.

Assume the form of the solution: Q = Q0 et ei( t+) dQ = ( + i )Q dt d2 Q = ( + i )2 Q dt2

since I = dQ/dt. This is equation of damped SHO, for charge Q on plates of capacitor. It is the same as the mass/spring example given in lectures 2 & 3, with damping constant b = R. N.B. L plays role of mass (inertial term) 1

Subst. in (1) to obtain: L( + i )2 Q + R( + i )Q + Q =0 C

i.e. L(2 2i 2 )Q + R( + i )Q + Q =0 C Time constant for decay of amplitude (charge, Q) is: 1 2L = = R

Compare Real and Imaginary parts: Imaginary

large R rapid decay 2 L + R = 0 Therefore: = R 2L 4.6.5 Real (2 2 )L R + Therefore: =

2 2 0

small R slow decay

Critical damping R2 4L2

1 =0 C

2 0 =

R2 4L2

square root is zero, and soln. contains NO oscillatory part. Condition for critical damping is:

Hence general solution is: Q = Q0 e

2 0 (R/2L)2 .t+ (R/2L)t i

R=2 Then, solution becomes:

L C

Q = Q0 eRt/2L 4.6.3 Special cases i.e. exponential decay of charge, time constant = 2L/R, as above.

Choose origin so that = 0 and take +ve root (+ and are equivalent). Consider quantity inside square root:
2 (0 R2 /4L2 )

4.6.6

Heavy damping R2 4L2

2 0 <

4.6.4

Light damping

i.e. square root is imaginary, and solution contains NO oscillation:

R2 4L2 i.e. square root is real and system oscillates.

2 0 >

Q = Q0 e(R/2L)t e

2 (R/2L)2 0 t

Therefore condition for oscillation is: R<2 L C 2

Note: the two roots in the above equation are not equivalent (one describes exponential damping, the other growth(!)), so in general should take a combination of the two:

Q = Q1 e Q2 e

h i 2 (R/2L)+ (R/2L)2 0 t i h 2 (R/2L) (R/2L)2 0 t

with Q1 and Q2 determined by boundary condi- R = 5.2 k critical damping (R = 2 L/C) tions. The net eect is an exponential decay of charge with larger time constant (i.e. slower decay) than critical case. 4.6.8 Example 2: L = 68 mL, R = 50

4.6.7

Example 1: L = 68 mH, C = 10 nF

Timebase is 500 s/div in all gures. We look at voltage across C which is Q. C = 0.1 F light damping (C < 4L/R2 ) 0 = 12127 rad/s; f0 = 1930 Hz; = 12121 rad/s; f = 1929 Hz;

R = 50 light damping (R < 2

L/C)

0 = 38348 rad/s; f0 = 6103.3 Hz; = 38346 rad/s; f = 6103.0 Hz; T = 164 s. C = 1 F light damping (C < 4L/R2 ) 0 = 3835 rad/s; f0 = 610 Hz; = 3817 rad/s; f = 607.5 Hz;

R = 2 k heavier damping (R < 2 L/C) = 35416 rad/s; f = 5637 Hz; T = 177 s. 3

C = 100 F Critical damping (C = 4L/R2 )

5.1

Transient solution

The transient solution of the forced oscillator equation is identical to the solution of damped SHM i.e. equation (2) with r.h.s. set to zero: x = A0 e(b/2m)t ei( t+ ) C = 150 F Heavy damping (C > 4L/R2 ) or: x = A0 e(b/2m)t cos( t + )

Forced oscillations

This contribution to the motion rapidly decays away, with time constant = 2m/b. is just the phase constant for the transient oscillation.

Tipler Ch. 14.5

5.2
Damped oscillators lose energy by dissipation; To maintain amplitude, must supply energy at same rate as it is lost e.g. child on swing;

Steady state solution

At steady state, energy put in by driving force = energy dissipated per cycle due to damping. If there is no damping, the amplitude increases indenitely, there is no steady state this is unphysical. The frequency of the driven oscillator is equal to the driving frequency.

The equation of forced SHM e.g. for a mass on a spring, is: m d2 x dx +b + kx = F0 eit 2 dt dt (2)

Amplitude (and energy) of system in steady state where F0 eit represents an oscillating force, amp- depends on: litude F0 and frequency . The driving frequency should be distinguished from the natural undamped frequency of the oscillator, 0 = k/m, and the frequency of the 2 damped unforced oscilator, = 0 b2 /4m2 . Forced oscillation consists of two regimes: 1. Amplitude of driving force; 2. Frequency of driving force.

For steady state solutions to equation (2), try a solution of the form: x = Beit

1. An initial transient period, in which the oscillations become established; 2. A steady state period, in which the oscillations have constant amplitude, and frequency = to driving frequency.

Dierentiating as usual, and substituting into (2) gives: m 2 x + ibx + kx = F0 eit = F0 x B (3)

Rearranging for B, we nd that it is complex: The general solution of the equation of forced SHM is a combination of the transient and steady state solutions. 4 B= F0 2 ) + ib

2 m(0

2 where 0 = k/m: 0 being the natural frequency of the system in the absence of damping. 2 Rewrite m(0 2 ) + ib in form rei , where:

r=

2 m2 (0 2 )2 + b2 2

= arctan Then B becomes: B=

b 2 m(0 2 )

(4)

F0 ei
2 m2 (0 2 )2 + b2 2

Therefore a complex amplitude implies an addi- Above gure shows power transferred to system tional phase angle. (which is A2 ) versus frequency. The width (at half height) is designated by and can be related Therefore solution is: to the Q of the system by: x = Beit = F0 ei eit
2 m2 (0 2 )2 + b2 2

1 = 0 Q Therefore:

which we can write as: x = Aei(t)

Small damping large Q sharp resonance; with: A= F0

2 m2 (0

Large damping small Q broad resonance. (5)

2 )2 + b2 2

5.3

This use of Q is important it gives a measure of the sharpness (or quality) of a resonance. It may Steady state behaviour - Resonance be applied to many systems, including electronic circuits. The phase of x, relative to the driving force is given by :

On varying the driving frequency we nd:

The amplitude of oscillation, A, has a maximum corresponding to the natural frequency, 0 ; This is known as resonance; For small damping, amplitude is a narrow function of ; For large damping, amplitude is broad function of . 5

/2

The phase changes rapidly at 0 , (at which x = A ei(t) e(b/2m)t ei( t) point = /2) which can be diagnostic of a resonant state. At resonance, driving force and dis- Finally, the actual displacement is given by the placement are in quadrature i.e. force is max when real part of x: x is changing most rapidly. (x) = A cos(t ) e(b/2m)t cos( t )

5.4

Full solution of the forced oscillator

Special cases:

As stated above, the full solution of the forced oscillator is given by: x = transient + steady state i.e. where: is given by eq. (4); A is given by eq. (5); A0 and depend on initial conditions; is the driving frequency; is the frequency of damped (transient) oscillations. x = A0 e(b/2m)t ei( t+ ) + Aei(t (6)

<<0 t

>>0

When = 0 and b is small, so that can write: (x) = A cos(0 t ) 1 e(b/2m)t

, we

Initial conditions: take x = 0 at t = 0. Therefore, from eq. (6): 0 = A0 ei + Aei A0 = Aei(+ ) Compare real and imaginary parts. Imaginary part: 0 = A sin( + ) + = Real part: A0 = A cos( + ) A0 = A cos i.e. A0 = A i.e. =

=0 t

Therefore, eq. (6) becomes: x = A ei(t) + e(b/2m)t ei( t) ei 6