Вы находитесь на странице: 1из 13

09-723 Proximal Probe Techniques Linear Harmonic oscillator

Harmonic Oscillator Summary

Mechanical model: mass m on a spring characterized by a spring constant k Elastic restoring force Fs = kx is balanced according to Newton's second law Fs = ma
mx = kx mx + kx = 0
acceleration

x + 0 x = 0 where

0 =

k m

free natural angular frequency

We will show that such system oscillates with amplitude A and angular frequency 0 .

Basic facts about second order linear differential equations: 1. Solutions x = x (t; C1 , C2 ) will have two constants dependent on initial conditions 2. If x1 (t ) is a solution then Cx1 (t ) is also a solution. 3. If x1 (t ) and x2 (t ) are solutions then x1 (t ) + x2 (t ) as well as any linear combination C1 x1 (t ) + C2 x2 (t ) is also a solution. To solve the equation of motion
x + 0 x = 0
2

we multiply both sides by 2 x 2 xx = 2 0 xx which allows us to immediately carry out the first integration:
x 2 = 0 x 2 + C
2 2

09-723 Proximal Probe Techniques

Harmonic Oscillator Summary

We determine the first integration constant C by observing that at a full "swing", the oscillator position is equal to its amplitude, x=A, and its velocity is zero (turning point of 2 oscillation) x = 0 . Thus C = 0 A2 and the equation to be integrated further becomes: x 2 = 0 ( A2 x 2 ) Separation of variables gives
2

dx A2 x 2

= 0 dt

and after integration:


x sin 1 = 0t + A

or in a more familiar form: x = A sin( 0t + )

0 is the natural angular frequency. 0 = 2 f 0 , where f0 is the natural frequency.


Oscillation period T0 =
1 . f0

Alternative solution method uses trial exponential function


x = exp( t ) , and our task is to determine the constant .

Substituting into the equation to be solved we obtain

2 exp( t ) + 0 2 exp( t ) = 0
from which it is immediately clear that

2 = 0 2
and thus

= i 0 where i = 1
2

09-723 Proximal Probe Techniques Thus the general solution has to be of the form x = A1 exp( +i0t ) + A2 exp( i 0t ) (remember: we need two constants). Recall Euler's formula
e i = cos i sin

Harmonic Oscillator Summary

Since A1 and A2 are complex quantities, they may be inconvenient to use, and it is more informative to write the solution as: x = A exp[i (0t + )] = A cos(0t + ) + iA sin(0t + )
Energy considerations

Consider solution x = A sin( 0t + ) The velocity v is equal to x = A0 cos(0t + ) and thus the kinetic energy
1 2 1 2 mx = mA2 0 cos 2 ( 0t + ) = K 0 cos 2 (0t + ) 2 2 where the maximum kinetic energy is equal to K= K0 = 1 1 2 mA2 0 = kA2 2 2

The potential energy work done by applied force displacing the system from 0 to x
U ( x ) = kx dx =
0 x

1 2 kx 2

Substituting x

09-723 Proximal Probe Techniques


1 2 2 kA sin (0t + ) = U 0 sin 2 ( 0t + ) 2

Harmonic Oscillator Summary

U ( x) =

where U0 is the maximum potential energy (for x=A)


U0 = 1 2 kA 2

The average values over one oscillation period are calculated using the definition
t

1 2 f = f (t )dt t2 t1 t1 Thus:
T T

U =

Udt U
0 T

sin 2 (0t + ) T

dt
0

1 1 = U 0 = kA2 2 2

and
K = 1 1 K 0 = kA2 . 2 2

In conclusion, the average values of kinetic and potential energy per oscillation cycle are equal to
U = K = 1 E 2

Damped harmonic oscillator

This time, we introduce the additional force, which will dissipate the energy. Fd = bv = bx The equation of motion gains one more term:

09-723 Proximal Probe Techniques


mx + bx + kx = 0

Harmonic Oscillator Summary

Denote:

b k 2 , 0 = 2m m
2

x + 2 x + 0 x = 0 Use exponential trial function


x = exp( t ) x = exp( t )
2

x = 2 exp( t )

exp( t )[ 2 + 2 + 0 ] = 0 since
exp( t ) 0

2 + 2 + 0 2 = 0 1 = + 2 + 02 2 = 2 + 02
x (t ) = A1 exp( 1t ) + A2 exp(2t ) x (t ) = exp( t )[ A1 exp( +t 2 0 ) + A2 exp( t 2 0 )] Depending on the sign of the expression under the root, there are three possible cases: Underdamped 2 0 2 < 0 1 and 2 are imaginary: oscillating solutions. Overdamped 2 0 2 > 0 1 and 2 are both real Critically damped 2 = 02
2 2

Underdamped oscillator

09-723 Proximal Probe Techniques k b2 m 4m 2

Harmonic Oscillator Summary

1 = 0 2 2 =

x (t ) = exp( t )[ A1 exp(i1t ) + A2 exp(i1t )] which recalling Euler's formula becomes x (t ) = exp( t ) [i ( A1 A2 )sin(1t ) + ( A1 + A2 ) cos(1t )] Substitute i ( A1 A2 ) = B and A1 + A2 = C x (t ) = exp( t ) [ B sin(1t ) + C cos(1t )] Introduce A = B 2 + C 2 and tan( ) = x (t ) = A exp( t ) cos(1t + ) Damped oscillator moves at "frequency" smaller than undamped:
C B

2 1 = 0 = 0 1 2 0 For small damping expand in binomial series and retain only the first two terms 2 2 + .....) (1 ) 1 = 0 (1 0 2 2 20 2 0 and for small damping 0 and 1 0
2 2

Critically damped

1 = 2 =
Solution x (t ) = ( A1 + A2 ) exp( t ) = ( B1 ) exp( t ) This is not a general solution (it contains just one constant). We can show that if x (t ) = exp( t ) than x (t ) = t exp( t ) is also a solution. Substitute 6

09-723 Proximal Probe Techniques


x (t ) = exp( t ) t exp( t ) = (1 t ) exp( t )

Harmonic Oscillator Summary

x (t ) = (1 t )( ) exp( t ) exp( t ) = ( 2t 2 ) exp( t ) [ 2t 2 + 2 (1 t ) + o t ]exp( t ) = 0 [(o 2 )t ]exp( t ) = 0 Always satisfied. Thus the general solution for a critically damped oscillator is: x (t ) = ( B1 + B2t ) exp( t ) Overdamped
2 2

2 0 2 < 2
x (t ) = exp( t )[ A1 exp( 2t ) + A2 exp( 2t )] Energy considerations Total energy:
E (t ) = E (0) + W f
work performed by friction

Frictional force: f = bx = bv Wf =
0
t

dx fdx = f dt = fvdt = bv 2dt dt 0 0 0

The rate of energy loss:


dE dW f = = bv 2 dt dt E (t ) = K (t ) + U (t ) = 1 2 1 2 mx + kx 2 2

recall that x (t ) = A exp( t ) cos(1t + )

cos(1t + )] 1 Assume that the system is lightly damped ( 1 ), so we can neglect the second term. 1
x (t ) = 1 A exp( t )[ sin(1t + ) +

Then:
E (t ) = 1 2 A exp( 2 t )[m 1 sin 2 (1t + ) + k cos 2 (1t + )] 2

09-723 Proximal Probe Techniques Since light damping was assumed, 1 0 =


E (t ) = 1 2 kA exp( 2 t ) 2
2 2

Harmonic Oscillator Summary


k and E(t) becomes m

The initial energy 1 E0 = kA2 2 and thus E (t ) = E0 exp( 2 t ) (notice that the energy decays twice as fast as amplitude!) The characteristic decay time (E decreases to E/e)
E0 = E0 exp( 2 ) e 2 = 1 1 2m m = = = 2 2b b

Quality factor energy stored in the oscillator energy dissipated in one time period

Q = 2

Define P = power loss = rate of energy dissipation 2 since one time period T1 = 1 the denominator can be written as 2 PT1 = P 1 Thus
Q = 2 E 2 P 1

Since

1 - time necessary to complete 1 radian of oscillation, we can redefine Q as 1 energy stored in the oscillator Q= average energy dissipated per radian

09-723 Proximal Probe Techniques

Harmonic Oscillator Summary

For a lightly damped oscillator Q can be calculated as follows: E (t ) = E0 exp( 2 t ) dE = 2 E dt Thus the energy dissipated in time t will be equal to
dE t = 2 E t dT 1 If we choose t = (time necessary to complete 1 radian) 1 E = Q=

E E = = 1 E 2 E / 1 2

For light damping 1 0 and thus Q= 0 2


Forced (driven) damped harmonic oscillator

Net force
Fnet = Fs + F f + Fd
restoring elastic force dissipative friction force driving force

where: Fs = kx ; F f = bx Fnet = mx mx + bx + kx = Fd assume harmonic driving force Fd = F0 cos( t + 0 ) mx + bx + kx = F0 cos( t + 0 ) This is an inhomogeneous 2-nd order linear differential equation. Its solution is the sum of two parts, according to the following theorem: If Xi is a particular solution of an inhomogeneous differential equation, and Xn is a solution of a complementary homogeneous equation, then X(t)=Xi(t)+Xh(t) is a general solution. 9

09-723 Proximal Probe Techniques

Harmonic Oscillator Summary

From our previous considerations, the solution of the complementary homogeneous equation is given by one of the three equivalent forms: xh (t ) = exp( t ) [ A1 exp( +i1t ) + A2 exp( i1t )] xh (t ) = exp( t ) [ B sin(1t ) + C cos(1t )] xh (t ) = Ah exp( t ) cos(1t + h ) For an inhomogeneous equation, let's postulate the following particular solution xi (t ) = A cos( t ) and focus on the sign solution. xi (t ) = A cos( t ) xi (t ) = A sin( t )
xi (t ) = A 2 cos( t ) Upon substitution mA 2 cos( t ) bA sin( t ) + kA cos( t ) = F0 cos( t )

(for simplicity we assumed that 0 = 0 ). Recall that:


cos( t ) = cos t cos + sin t sin sin( t ) = sin t cos cos t sin

thus mA 2 [cos t cos + sin t sin ] bA [sin t cos cos t sin ] + kA [cos t cos + sin t sin ] = = F0 cos( t ) This can be regrouped as cos t[ mA 2 cos + bA sin + kA cos ] sin t[ mA 2 sin bA cos + kA sin ] = F0 cos( t ) + 0 sin( t ) Since the cos( t ) and sin( t ) coefficients on both sides of the equation have to be equal, we obtain the system of two equations:

10

09-723 Proximal Probe Techniques


F0 A 2 ( k m )sin b cos = 0 ( k m 2 ) cos + b sin =

Harmonic Oscillator Summary

From the above it follows that: sin b 2 = = = 2 2 2 k cos k m 2 0 m b

tan =

thus sin =
cos =

2 ( 0 2 ) 2 + 4 2 2
2

02 2
( 0 2 ) 2 + 4 2 2
2

Substistute these back to obtain F0 / m A= 2 02 2 + 4 2 2

Thus a particular solution of the inhomogeneous equation is:

xi (t ) =

F0 / m

2 0

+ 4
2

cos( t )

where

= tan 1

2 0 2 2

The general solution is:

x (t ) = xh (t ) + xi (t ) = Ah exp( t ) cos(1t + h ) +
transient term

F0 / m

2 0

+ 4
2

cos( t )

steady state term

11

09-723 Proximal Probe Techniques


Amplitude resonance

Harmonic Oscillator Summary

The amplitude of the particular solution reaches maximum when the driving force is equal to

= r = 02 2 2
On resonance, the phase shift = 2 Far below resonance r , 0 Far above resonance r ,
Energy resonance
x (t ) = A cos( t ) v = x (t ) = A sin( t ) 1 1 K (t ) = mv 2 = m 2 A2 sin 2 ( t ) 2 2 1 1 U (t ) = kx 2 = kA2 cos2 ( t ) 2 2 1 2 A [m 2 sin 2 ( t ) + k cos2 ( t )] 2 Recall that per period: 1 cos 2 ( t ) = sin 2 ( t ) = 2 Substitute A ( ) to K(t) E (t ) = K (t ) + U ( t ) =

K (t ) =

F0 / m 2 1 m 2 sin 2 ( t ) 2 2 2 2 2 2 0 + 4

K (t ) =

1 F0 2 4 m 2 2 2 + 4 2 2 0

Kinetic energy resonance:

d K (t ) = 0 for = 0 d

12

09-723 Proximal Probe Techniques


Potential energy resonance

Harmonic Oscillator Summary

since U (t ) =

1 2 2 kx , occurs at the same frequency as amplitude resonance = 0 2 2 2

Total energy resonance. Resonance peak width and Q


E (t ) = 1 2 2 1 A m sin 2 ( t ) + A2k cos2 ( t ) 2 2

and after substituting A E = 1 F0 2 + 0 4 m 2 2 2 + 4 2 2 0


2 2

For very weak damping

2 + 0 20

2 02 = ( 0 )( + 0 ) 20 ( 0 )
E ( ) = 1 F0 1 8 m ( 0 )2 + 2
Lorentzian
2

Maximum at = 0 1 F0 1 8 m 2 The energy is equal of its value at ( 0 )2 = 2 or 0 = Resonance peak width at half height E ( 0 ) =
= 2 Recall from previous considerations that Q= 0 2 This is the basis for determining Q from the energy resonance peak width: Q=
2

0 .

13

Вам также может понравиться