IV Damping Models for Structural Vibration

IV.1 Dynamics of Undamped Systems

- Equation of Motion
- Modal Analysis
IV.2 Models of damping
- s -DOF systems
- m-DOF systems
IV.3 Modal Analysis of Viscously Damped Systems
IV.4 Analysis of Non-Viscously Damped Systems
IV.5 Identification of Viscous Damping
IV.6 Identification of Non-Viscous Damping

IV Damping Models for Structural Vibration

IV.1 Dynamics of Undamped Systems
- Equation of Motion
Linear dynamics of undamped systems - central role in vibrational
studies of engineering systems.
Suppose N degrees of freedom system executing small oscillations
around equilibrium points. Theory of small oscillations -Rayleigh
(1877). Generalized coordinates:
q = {q1(t), q2(t), , qN(t)}T

The potential energy could be expanded in the form of Tayler series in

the neighborhood of equilibrium
Elastic coefficients

IV Damping Models for Structural Vibration

IV.1 Dynamics of Undamped Systems
- Equation of Motion
The potential energy written in quadratic form:

K- stiffness matrix, symmetric, non-negative matrix.

Similar way, kinetic energy of
the system:

M mass matrix, symetric and positive definite of the systems,

-vector of generalised velocities
The equation
of motion of free vibration, based on Lagrange equation:
-is the Lagrangian
- non conservative forces,
applied forces acting on the system.

IV Damping Models for Structural Vibration

IV.1 Dynamics of Undamped Systems
- Equation of Motion

coupled second-order ODE.

- Modal Analysis
- Rayleigh (1877) shown that undamped linear system are capable of natural motions.
- This implies that all the system coordinates execute harmonic oscillation at a given frequency
and form a certain pattern .
Oscillation frequency is called natural frequencies
Displacement pattern is called normal modes.
The natural frequencies and the mode shapes
are intrinsec characteristic and can be obtained
by solving the associated matrix eigenvalue problem:
Rayleigh shown undamped eigenvectors satisfy orthogonality relationship over mass and K.

allows to transform a coupled differential eq to a set

of independent eq.

IV Damping Models for Structural Vibration

IV.1 Dynamics of Undamped Systems
-

Modal Analysis

Use a coordinate transformation:

The equation of motion in the modal coordinates may be:
is the forcing function in modal coordinates.
this approach of analyzing linear undamped system:
modal analysis, the most efficient tool for vibration analysis of complex
engineering structures.

IV Damping Models for Structural Vibration

IV.1 Dynamics of Undamped Systems A 2 Degree-of-Freedom system has
-

Modal Analysis of 2-DOF system

k2(x2

- Two equations of motion

-x ) Two natural frequencies
1

Free vibrations, so homogeneous eqs (2 homogeneous and coupled equations)

Equations are coupled (In this case the coupling is due to k2): two coupled, second
-order, ordinary differential equations with constant coefficients
- Both have x1 and x2.
- If only one mass moves, the other follows

- Needs 4 constants of integration to solve

Thus 4 initial conditions on positions and velocities

If k2 = 0, no coupling occurs and can be solved as two

independent SDOF systems

x1 (0) x10 , x1 (0) x10 , x2 (0) x20 , x2 (0) x20

IV Damping Models for Structural Vibration

IV.1 Dynamics of Undamped Systems
-

Modal Analysis of 2-DOF system

A 2 Degree-of-Freedom system has

- Two equations of motion

- Two natural frequencies
x (t )
x (t )
x (t )
x(t ) 1 , x(t ) 1 , x(t ) 1
x2 (t )
x2 (t )
x2 (t )
m
M 1
0

0
,
m2

Mx Kx 0

k k
K 1 2
k2

k2
k2

- can connect the vibration problem with the

algebraic eigenvalue problem developed in
math
All the codes have eigen-solvers so these
painful calculations can be automated

m1x1 (t ) (k1 k2 ) x1 (t ) k2 x2 (t ) 0
m2 x2 (t ) k2 x1 (t ) k2 x2 (t ) 0

IV Damping Models for Structural Vibration

IV.1 Dynamics of Undamped Systems
-

Modal Analysis of 2-DOF system

Assume q(t ) ve jt in q(t ) Kq(t ) 0

2 ve jt Kve jt 0,
Kv 2 v
vibration problem

v 0 or

Kv v

v0

real symmetric
eigenvalue problem

How the vibration problem relates to the real symmetric eigenvalue problem

Note that the martrix K contains the same type of information

as does n2 in the single degree of freedom case.

IV Damping Models for Structural Vibration

IV.1 Dynamics of Damped Systems

- Transfer function (matrix) completely defines its input-output

relationship in steady state.

D(s)- dynamic stiffness matrix

IV Damping Models for Structural Vibration

IV.2 Models of damping
- s -DOF systems
- m-DOF systems
IV.3 Modal Analysis of Viscously Damped Systems
IV.4 Analysis of Non-Viscously Damped Systems
IV.5 Identification of Viscous Damping
IV.6 Identification of Non-Viscous Damping

K- stiffness matrix, symmetric, non-negative

matrix
M mass matrix, symetric and positive
definite of the systems,
-vector of generalised velocities

IV Damping Models for Structural Vibration

IV.2 The most popular approach to model damping in the context of
m-DOF is to assume viscous damping. This approach was first
introduce by Rayleigh(1877). By analogy with potential and kinetic
energy, Rayleigh assume the dissipation function:

j c j q j
Frictional forces: f j c j q j
F

1
2

Generalized forces include the friction forces:

Qj Qj f j

The friction force can be expressed as:

fj

F
q j

The Lagrange equation with dissipation becomes:

d L
L F
(
)

0
dt q j
q j q j

IV.5 Modal Analysis Identification Technique

System identification
Objectives: System identification using discrete time delta operator
The identification procedure of structural dynamics is known as
experimental modal analysis and it became very popular in the 1970s;
Since then it has developed into a wide range of domains and
applications, like substructure coupling, model updating and damage
detection. However, experimental analysis started with the development
of identification techniques:
For a N degree of freedom system (n-DOF) with viscous damping, the dynamic
equilibrium equation is given by:

Mz Cz Kz F t

In steady state conditions, and from the harmonic excitation case, it

is possible to establish the relation between the complex amplitudes
of response and the amplitudes of the applied forces.

IV.5 Modal Analysis Identification Technique

System identification
y p (t ) Ay ( ) sin(t ( ))

Frequency domain methods are only used for forced vibration when the forces
are known.

IV.5 Modal Analysis Identification Technique

System identification
Classification according to the type of identified dynamic properties
There is one more classification to consider in both domains: direct and indirect.
Direct methods estimate the dynamic properties in terms of stiffnesses, masses and
damping coefficients, i.e. they work out the matrices in equation (1);

Indirect methods evaluate the properties associated with each mode of vibration,
the so-called
Modal parameters: natural frequency, damping ratio and modal constant (amplitude
and phase). Figure 1 shows the classification of time and frequency domain
methods.

IV.5 Modal Analysis Identification Technique

System identification
the attention is paid towards identification using discrete time
operator.
d

(), Ts 0

dt

,
sTs
q

1
e

, Ts 0
Ts
Ts

q (1 Ts )
C nj

C nj (Ts ) j

n 0

j!
n !( j n)!

One issue of this -operator model is that they can be applied to a wide range of
discrete-time systems, from sampled data systems with coarse sampling intervals to
rapidly sampled, near continuous-time systems. Although there is a linear
transformation between the two discrete domains, the two operators have distinct
conceptual roles.
In the case of delta domain, the stability region is the interior of a circle with
radius 1 Ts centered at 1 Ts ,0

IV.5 Modal Analysis Identification Technique

Stability region
Im

Im

Im

Domeniul z

Domeniul s

Domeniul

Re

-1

e sTs 1
Ts

Re

1
Ts

Re

In the case of delta domain, the stability region is the interior of a circle with
radius 1 Ts centered at 1 Ts ,0
Im
Domeniul s

Re

Im

e sTs 1
Ts

1
Ts

Re

IV.5 Modal Analysis Identification Technique

The classical ARX discrete time model is described by:

Aq (q) y(k ) Bq (q)u(k ) q ne(k )

In discrete time d-domain the ARX model is
1
1
1
A
(1

)
y
(
k
)

B
(1

)
u
(
k
)

(1 Ts ) n e(k )
q
s
q
s
n
n
n
Ts
Ts
Ts
A ( ) y (k ) B ( )u (k ) (

1 n
) e( k ).
Ts

Analog with the classical ARMAX model, the ARMAX model is:

A ( ) y(k ) B ( )u(k ) C ( )e(k )

The relationship between the two discrete models
A

Aq I
Ts

, B

Bq
Ts

, C Cq , D Dq .

Middleton and Goodwin have proposed a procedure for obtaining state space
model directly from the continuous model. Thus, they suggest the following relations
T
for conversion:
1 s Ac
1 AcTs

e
d

(e
I ) Ac 1

Ts 0
Ts
eAcTs I
A
Ac , B Bc , C Cc , D Dc .
A cTs A c 2Ts 2
Ts
I

2!

3!

IV.5 Modal Analysis Identification Technique

1

Ts

Ts

A
e c d
0

1 AcTs
(e
I ) A c 1
Ts

A cTs A c 2Ts 2
I

2!
3!

The correspondence between the two domains is emphasized in the limit case:
lim A A c

Ts 0

lim B Bc

Ts 0

For the limit case, there is no equivalence between the matrices obtained in the
discrete time q-domain and s- domain as one would expect:
lim A q I

Ts 0

lim B 0

Ts 0