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Dynamics of Engineering Systems ENG534: Analysis of Characteristic Roots

This document discusses the analysis of characteristic roots and their application to engineering systems. It covers topics such as damped frequency of oscillation, graphical representation of roots, logarithmic decrement, and stability. Different types of damped motion, including undamped, overdamped, critically damped, and underdamped motion are visualized. Derivations of the characteristic equation with damping ratio and natural frequency are shown. Graphical representation of roots and their relationship to time domain response is also presented. Methods for determining damping ratio from logarithmic decrement are described.

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Súññý Siddardh Roy
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63 views17 pages

Dynamics of Engineering Systems ENG534: Analysis of Characteristic Roots

This document discusses the analysis of characteristic roots and their application to engineering systems. It covers topics such as damped frequency of oscillation, graphical representation of roots, logarithmic decrement, and stability. Different types of damped motion, including undamped, overdamped, critically damped, and underdamped motion are visualized. Derivations of the characteristic equation with damping ratio and natural frequency are shown. Graphical representation of roots and their relationship to time domain response is also presented. Methods for determining damping ratio from logarithmic decrement are described.

Uploaded by

Súññý Siddardh Roy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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DYNAMICS OF

ENGINEERING
SYSTEMS
ENG534

Analysis of Characteristic roots


1
Further analysis of the characteristic roots

• Damped frequency of oscillation


• Graphical Representation
• Logarithmic decrement
• Stability

• Relevance
– Deeper understanding by alternate
representations

2
Undamped Motion Overdamped Motion

Visualizing Free and Forced Harmonic Oscillations using Maple V R5, Harald Pleym
Telemark College, Department of Technology
http://www.maplesoft.com/applications/view.aspx?SID=3926&view=html 3
(14.12.2016)
Critically Damped Motion Underdamped Motion

Visualizing Free and Forced Harmonic Oscillations using Maple V R5, Harald Pleym
Telemark College, Department of Technology
http://www.maplesoft.com/applications/view.aspx?SID=3926&view=html 4
(14.12.2016)
Derivation: CE with damping ratio and
natural frequency

• What is the characteristic equation (CE)?

• What are the expressions for natural frequency and damping


ratio )in terms of m,c and k)

5
Derivation: CE with damping ratio and
natural frequency

• Have a go at deriving a CE without m,c or k

6
Derivation: CE with damping ratio and
natural frequency

7
Natural and damped frequencies of
oscillation
s + 2 n s + n = 0
2 2 Define the damping
C.E. ratio:

c
roots: s = − n  in 1 −  2
 =
2 mk
where the complex part of the root is the ‘damped natural
frequency’
d = n 1 −  2

and the underdamped equation of motion becomes:


− nt
x = Be sin(d t +  )
Note that the imaginary part of the root is the frequency of
oscillation

8
Graphical representation
C.E. of roots

s + 2 n s + n = 0
2 2

roots:

s = − n  in 1 −  2

damped natural frequency


(complex part)

d = n 1 −  2

Source: (c) Mechanical Vibration, Palm 2007


9
Time domain response from root location

• A model is stable iff all


roots have negative real
parts (left hand side of
the plane)
• Note the oscillating part
and the bounding
function

Source: (c) Mechanical Vibration, Palm 2007


10
Logarithmic decrement
 x (t ) 
 = ln  
 x (t + P ) 

1  B1 
 = ln  
n  Bn +1 

 =
4 + 
2 2

Source: (c) Mechanical Vibration, Palm 2007


11
Quiz
• Draw the time domain response for a underdamped system with a
high damping and another with low damping.

• What measurements would you take to determine the damping ratio?

12
Worked Example: Logarithmic Decrement

 x (t )  1  B1 
 = ln    = ln  
 x (t + P )  n  Bn +1 


 =
4 2 +  2

13
14
15
16
Thank You

17

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