Soil Dynamics
Ch 2: Vibration Theory
Dept. of Civil & Environmental Engineering
Dongyoup Kwak
Chapter 2 Vibration Theory
1. Introduction
2. System with SDOF
3. Vibratory Motion
4. System with MDOF
5. Damping
6. Fourier Spectra
7. Response Spectra
2.1 Introduction
MDOF
• Vibration System
MDOF
SDOF
▼
Kwok et al. (2007)
Single Degree of Freedom (SDOF)
Equation of Motion (EOM)
m : mass
k : spring coefficient
𝑘𝑧 𝑚𝑧ሷ c : damping coefficient
𝑓(𝑡)
𝑧ሷ : acceleration
𝑧ሶ : velocity
𝑐 𝑧ሶ 𝑧 : displacement
Free vibrations
• Undamped: c = 0, f(t) = 0
𝑚𝑧ሷ + 𝑐 𝑧ሶ + 𝑘𝑧 = 𝑓 𝑡 • Damped: c > 0, f(t) = 0
Forced vibrations
• Undamped: c = 0, f(t) > 0
• Damped: c > 0, f(t) > 0
Motions
• Periodic motion: Oscillatory motion that repeats itself
regularly in equal intervals of time
• Harmonic motion: The simplest form of periodic
motion; a motion that can be described by function of
sine and cosine.
2.2 System with SDOF
• 2.2.1 Free vibration, undamped
• 2.2.2 Free vibration, damped
• 2.2.3 Forced vibration, undamped
• 2.2.4 Forced vibration, damped
2.2.1 Free Vibration, Undamped
• Example SDOF: Shallow Foundation
W W
W 𝑊
𝑧ሷ
Soil 𝑔
k W+kz
Rock
If vibrates
𝑚𝑧ሷ + 𝑘𝑧 = 0
𝑘
𝑧ሷ + 𝑧=0
𝑚
𝑘
𝑧ሷ + 𝑧=0 2nd order homogenous ODE 𝐿𝑒𝑡 𝑧 = 𝑒 𝜆𝑡 , 𝑧ሷ = 𝜆2 𝑒 𝜆𝑡
𝑚 𝑘
𝜆2 + =0
𝑚
𝑧 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡
𝑘
𝜆 = ±𝑖 = ±𝑖𝜔𝑛
𝑘 𝑚
𝜔𝑛 =
𝑚 𝑧1 = 𝑒 𝑖𝜔𝑛 𝑡 , 𝑧2 = 𝑒 −𝑖𝜔𝑛 𝑡
𝑧 = 𝐴1 𝑒 𝑖𝜔𝑛 𝑡 + 𝐴2 𝑒 −𝑖𝜔𝑛 𝑡
Initial conditions
𝑡 = 0, 𝑧 = 𝑧0 → 𝐴1 = 𝑧0 𝐸𝑢𝑙𝑒𝑟 𝐹𝑜𝑟𝑚𝑢𝑙𝑎
𝑒 𝑖𝑥 = cos 𝑥 + 𝑖 sin 𝑥
𝑣0 𝑒 −𝑖𝑥 = cos 𝑥 − 𝑖 sin 𝑥
𝑡 = 0, 𝑧ሶ = 𝑣0 → 𝐴2 =
𝑘/𝑚
𝑣0 𝑒 𝑖𝑥 + 𝑒 −𝑖𝑥
𝑧 = 𝑧0 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡 = cos 𝑥
𝜔𝑛 2
𝑒 𝑖𝑥 − 𝑒 −𝑖𝑥
𝑣0
2 = sin 𝑥
𝑧 = 𝑍 sin 𝜔𝑛 𝑡 + 𝛼 2 2𝑖
𝑍= 𝑧0 + 𝑧 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡
𝜔𝑛
𝑧ሶ = 𝑍𝜔𝑛 cos 𝜔𝑛 𝑡 + 𝛼
𝑧ሷ = −𝑍𝜔𝑛2 sin 𝜔𝑛 𝑡 + 𝛼 𝑧0 𝜔𝑛
𝛼= tan−1
𝑣0
𝑧 = 𝑍 sin 𝜔𝑛 𝑡 + 𝛼
2𝜋
𝑇= Natural period
𝜔𝑛
1 1 𝑘
𝑓= = Natural frequency
𝑇 2𝜋 𝑚
• Vibration is harmonic with 𝜔𝑛
𝑘
• 𝜔𝑛 = 𝑚
, k↑, 𝜔𝑛 ↑, and m↑, 𝜔𝑛 ↓
• 𝜔𝑛 does not depend on 𝑧(0) & 𝑧(0)
ሶ
• Amp of vibration depends on 𝑧(0) & 𝑧(0)
ሶ
2.2.2 Free Vibration, damped
W k: spring constant
c: dashpot coefficient
k c
𝑚𝑧ሷ + 𝑐 𝑧ሶ + 𝑘𝑧 = 0 2nd order homogenous ODE
Let 𝑧 = 𝐴𝑒 𝜆𝑡 , 𝑧ሶ = 𝐴𝜆𝑒 𝜆𝑡 , 𝑧ሷ = 𝐴𝜆2 𝑒 𝜆𝑡
𝑐 𝑘
𝜆2 + 𝜆+ =0
𝑚 𝑚
𝑐 𝑐2 𝑘
𝜆=− ± −
2𝑚 4𝑚2 𝑚
𝑐2 𝑘
1) − 𝑚 > 0: Overdamping case
4𝑚2
𝑐2 𝑘
2) − 𝑚 = 0: Critical damping case
4𝑚2
𝑐 𝑐
𝑐𝑐 = 2 𝑘𝑚, 𝐷 = 𝑐 = 2 (D: Damping ratio)
𝑐 𝑘𝑚
𝑐2 𝑘
3) − 𝑚 < 0: Underdamping case
4𝑚2
Solution for initial conditions 𝑧0 , 𝑣0
𝑣0 + 𝐷𝜔𝑛 𝑧0
Overdamping 𝑧 = 𝑒 −𝐷𝜔𝑛𝑡 sinh 𝜔𝑛 𝐷2 − 1𝑡 + 𝑧0 cosh 𝜔𝑛 𝐷2 − 1𝑡
𝜔𝑛 𝐷2 −1
Critical damping 𝑧 = 𝑧0 + 𝑣0 + 𝜔𝑛 𝑧0 𝑡 𝑒 −𝜔𝑛𝑡
𝑣0 + 𝐷𝜔𝑛 𝑧0
Underdamping 𝑒 −𝐷𝜔𝑛𝑡 sin 𝜔𝐷 𝑡 + 𝑧0 cos 𝜔𝐷 𝑡
𝜔𝐷
2.2.3 Forced Vibration, undamped
Q Q: external force
W
𝑚𝑧ሷ + 𝑘𝑧 = 𝑄0 sin 𝜔𝑡 2nd order non-homogenous ODE
𝑄0 1 𝜔
𝑧ℎ = 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡 𝑧𝑝 = sin 𝜔𝑡 𝛽=
𝑘 1 − 𝛽2 𝜔𝑛
k
𝑧 = 𝑧ℎ + 𝑧𝑝
Solution with initial conditions 𝑧0 & 𝑣0
Displacement under static loading
𝑣0 𝑄0 1
𝑧= sin 𝜔𝑛 𝑡 + 𝑧0 cos 𝜔𝑛 𝑡 + × sin 𝜔𝑡 − 𝛽 sin 𝜔𝑛 𝑡
𝜔𝑛 𝑘 1 − 𝛽2
Amplification factor due to dynamic loading
𝑣0 𝑄0 1
𝑧= sin 𝜔𝑛 𝑡 + 𝑧0 cos 𝜔𝑛 𝑡 + × sin 𝜔𝑡 − 𝛽 sin 𝜔𝑛 𝑡 (𝑧0 = 𝑣0 = 0)
𝜔𝑛 𝑘 1 − 𝛽2
1
𝑀= 𝛽 = 1: resonance condition
1 − 𝛽2
1 𝑄0
𝑧𝑚𝑎𝑥 = 𝑛𝜋𝑧𝑠 𝑧𝑠 =
2 𝑘
𝑊ℎ𝑒𝑛 𝛽 = 1 𝜔 = 𝜔𝑛 ,
𝑆𝑒𝑡 𝑧𝑝 = 𝐴𝑡 sin 𝜔𝑡
2.2.4 Forced Vibration, damped
Q Q: external force
W
𝑚𝑧ሷ + 𝑐𝑧ሶ + 𝑘𝑧 = 𝑄0 sin 𝜔𝑡
𝑧ℎ = 𝑒 −𝐷𝜔𝑛 𝑡 𝐶1 sin 𝜔𝐷 𝑡 + 𝐶2 cos 𝜔𝐷 𝑡
k c
𝑄0 1
𝑧𝑝 = 1 − 𝛽 2 sin 𝜔𝑡 − 2𝐷𝛽 cos 𝜔𝑡
𝑘 1 − 𝛽 2 2 + 2𝐷𝛽 2
𝑄0 1 2𝐷𝛽
𝑧𝑝 = 𝐴 sin 𝜔𝑡 + 𝛼 𝐴= 𝛼 = tan−1 −
𝑘 1 − 𝛽2 2 + 2𝐷𝛽 2 1 − 𝛽2
𝑧 = 𝑧ℎ + 𝑧𝑝
If 𝑧0 = 0 If 𝑣0 = 0
𝑄0 2𝐷𝛽 𝑄0 𝜔 𝛽2 − 1
𝐶2 = 𝐶1 = 𝜔𝐷 = 𝜔𝑛 1 − 2𝐷2
𝑘 1 − 𝛽 2 2 + 2𝐷𝛽 2
𝑘 𝜔𝐷 1 − 𝛽 2 2 + 2𝐷𝛽 2
Steady state 𝑄0 1
𝐴=
𝑧 = 𝑒 −𝐷𝜔𝑛 𝑡 𝐶1 sin 𝜔𝐷 𝑡 + 𝐶2 cos 𝜔𝐷 𝑡 + 𝐴 sin 𝜔𝑡 + 𝛼 𝑘 1 − 𝛽2 2 + 2𝐷𝛽 2
Transient state −2𝐷𝛽
𝛼= tan−1
1 − 𝛽2
Transient state
𝜔
Tuning ratio, 𝛽: 𝜔𝑛
Steady state Magnification factor, M:
𝐴
𝑄0 /𝑘
Resonant frequency
Total
𝜔𝐷 = 𝜔𝑛 1 − 2𝐷2
𝑓𝐷 = 𝑓𝑛 1 − 2𝐷2
Resonant amp 𝛽 = 1 − 2𝐷2
𝑄0 𝑄0 1
𝑍= 𝑀𝑚𝑎𝑥 =
𝑘 𝑘 2𝐷 1 − 𝐷2
2.3 Vibratory Motion
• Two categories of vibratory motion
– Periodic motion: repeat at regular interval
– Non-periodic motion: do not repeat
• Simplest form of periodic motion: harmonic
motion (sinusoidal motion)
2.3 Vibratory Motion
1. Harmonic motion: Trigonometric notation
2. Harmonic motion: Complex notation
3. Displacement, Velocity, Acceleration
2.3.1 Harmonic Motion:
trigonometric notation
𝐴 sin 𝜔𝑡 + 𝜙
Amplitude Phase
Frequency
𝑢 𝑡 = 𝑎 cos 𝜔𝑡 + 𝑏 sin 𝜔𝑡
𝑢 𝑡 = 𝐴 sin 𝜔𝑡 + 𝜙
𝐴= 𝑎2 + 𝑏2
𝑎
𝜙 = tan−1
𝑏
2.3.2 Harmonic Motion: complex
notation
Euler’s law 𝑒 𝑖𝛼 + 𝑒 −𝑖𝛼
𝑅𝑒 𝑒 𝑖𝛼 = cos 𝛼 cos 𝛼 =
𝑒 𝑖𝛼 = cos 𝛼 + 𝑖 sin 𝛼 2
𝐼𝑚 𝑒 𝑖𝛼 = sin 𝛼 𝑒 𝑖𝛼 − 𝑒 −𝑖𝛼
sin 𝛼 = −𝑖
2
𝑢 𝑡 = 𝑎 cos 𝜔𝑡 + 𝑏 sin 𝜔𝑡
𝑒 𝑖𝛼 + 𝑒 −𝑖𝛼 𝑒 𝑖𝛼 − 𝑒 −𝑖𝛼
=𝑎 − 𝑏𝑖
2 2
𝑎 − 𝑖𝑏 𝑖𝜔𝑡 𝑎 + 𝑖𝑏 −𝑖𝜔𝑡
= 𝑒 + 𝑒
2 2
𝑢 𝑡 = 𝑎 cos 𝜔𝑡 + 𝑏 sin 𝜔𝑡 Trigonometric notation
𝑎 − 𝑖𝑏 𝑖𝜔𝑡 𝑎 + 𝑖𝑏 −𝑖𝜔𝑡 Complex notation
= 𝑒 + 𝑒
2 2
Argand diagram
𝑒 𝑖𝜔𝑡 : unit vector rotating counter-clockwise
𝑒 −𝑖𝜔𝑡 : unit vector rotating clockwise
Amp and phase of vector sum
−1
𝑎
2
𝐴 = 𝑎 +𝑏 2 𝜙 = tan
𝑎 𝑏 𝑏
− 𝑖
2 2
𝑎 𝑏
+ 𝑖
2 2
1
Length of each vector: 𝑎2 + 𝑏2
2
2.3.3 Displacement, Velocity,
Acceleration
Trigonometric Complex
Displacement 𝑢 𝑡 = 𝐴 sin 𝜔𝑡 𝑢 𝑡 = 𝐴𝑒 𝑖𝜔𝑡
𝜙
Velocity 𝑢ሶ 𝑡 = 𝜔𝐴 cos 𝜔𝑡 = 𝜔𝐴 sin 𝜔𝑡 + 𝑢ሶ 𝑡 = 𝑖𝜔𝐴𝑒 𝑖𝜔𝑡
2
Acceleration 𝑢ሷ 𝑡 = −𝜔2 𝐴 sin 𝜔𝑡 = 𝜔2 𝐴 sin 𝜔𝑡 + 𝜋 𝑢ሷ 𝑡 = −𝜔2 𝐴𝑒 𝑖𝜔𝑡
Chapter 2 Vibration Theory
1. Introduction
2. System with SDOF
3. Vibratory Motion
4. System with MDOF
5. Damping
6. Fourier Spectra
7. Response Spectra
