CEG CEG--5065C Soil Dynamics 5065C Soil Dynamics

Lecture #07 Lecture #07

Free Vibrational Systems
o (1) Undamped Free Vibrations
o (2) Damped Free Vibrations o (2) Damped Free Vibrations
Luis A. Prieto-Portar 2009
Case (1). A free-vibration system without dampening.
The soil subgrade reaction q is the foundation load Wover an area A. In the lumped
parameter system, the displacement z
s
of the soil is proportional to the load W, or
s
W lb
k
z inch
=
q W lb
expressed as an equality by using the spring
constant k,
The coefficient of sub-grade reaction k
s
is,
3
s
s s
q W lb
k
z Az in
= =
When the foundation is disturbed from its
static equilibrium, the foundation-soil system
will vibrate. When damping is not present
c=0, and the equation of motion is simply
0 0
| |
+ = + =
|
\ .

k
mu ku or u u
m
1 2
The solution to this first-order differential equation is of the form,
The parameter is the undamped natural circular frequency of
the system, and thus the natural period and
o
k k
u C sin t C cos t
m m
k
m
k
m

= +
= frequency are,
2 1 m k
1 2
2 1
2 and
2 2
The solution in terms of the circular frequency is,
o
o o
o
o o
m k
T f
k m
u C sin t C cos t




= = = =
= +
( ) ( )
( ) ( )

1 2 2 2
1 2 1 1
The boundary conditions reveals the value of the constants. At initial
conditions, the time 0 with initial displacement and velocity
0 0
0 0
o o
o o
o
o o o o
t u u ,
u C sin C cos C C u
u
u C cos C sin C C

=
= + = =
= = =

Therefore, the equaton of motion becomes,

o
o
o o o
o
u
u sin t u cos t

= +

The displacement of an undamped free vibrating system is,

o

The maximum displacement Z is called the single amplitude. The peak-to-peak amplitude
is 2Z and is also referred to as the double amplitude. The time required for the sinusoidal
displacement to repeat itself is called the period T, which is given by,
2 1
2
1 1 1
2 2 2 2
= = =
| | | | | |
= = = =
| | |
\ . \ . \ .
n
n
n
n
s s
T and the frequency of oscillation f is, f
T
k Wg g
The undamped natural frequency f
m z W z




The plots for the velocity and the acceleration of the foundation can be found from the The plots for the velocity and the acceleration of the foundation can be found from the
first and second derivatives of the displacement z,
2 2
2
=
= = +
= = +

n
n n n n
n n n n
u Acos( t )
u ( A ) sin( t ) A cos( t / ) and
u A cos( t ) A cos( t )



The displacement u of the foundation,
At different timeintervals,
0
0
2
2 0
=
= = =
= = =
+
= = =
+
n
n
n
u Acos( t )
t u Acos( ) Acos
t u Acos( ) A
/
t u Acos( / )








3 2
3 2 0
2
2
Thes
+
= = =
+
= = =
+
= = =
n
n
n
t u Acos( ) A
/
t u Acos( / )
t u Acos( ) A etc...









e results are shown on the next slide...
use the analogy of a pendulum.
( )
2
2
1
An alternative form of this solution is,
sin where,
the amplitude is
and the phase angle is tan

= +
| |
= +
|
\ .
| |
=
|
\ .

o
o
o
o
o o
o
u A t
u
A u
u
u

Example 1.
Find the natural frequency of vibration of a foundation with a mass m supported by a
soil that has experienced a static deflection of 0.5 inches under that mass.
2
1 1 32 2 ft/sec 12 inches/feet
4 4 cycles per second
2 2 0 5 inches
n
s
g ( . )( )
f .
u ( . )
| | | |
= = =
| |
\ . \ .
Example 2.
Find the period of oscillation and the natural frequency of vibration of a foundation
with a weight of 60 kN and a soil (spring) constant of 10
3
kN/m.
3
2
1 1 10
2 04 cycles persecond
2 2 60 9 81
1 1
0 5 seconds
2 04
n
n
k kN / m
f .
m kN / . m / s
T .
f .

| | | |
= = =
| |
\ . \ .
= = =
Example 3.
A small water tower can be simplified as a point weight of 10 kips supported on a
slender steel column (the figure idealized below). Assume that it is an un-damped
system and that a horizontal wind load of 5 kips applied horizontally to the tower
produces a lateral displacement of 0.04 inches. What is the natural circular frequency
and period of the system, and plot its time history when the wind stops.
The stiffness of the column is,
5
125 /
0.04
= = =

wind
F kips
k kip inch
inches
( )( )
( )
2
o
o
The natural circular frequency is,
125 / 12 / 32.2 /
1 10
70 / sec
The natural period is,
2 2
= = =
=
= =
o
o
o
kip in in ft ft s
k k g
m W kips
radians
T
radian
T

0.1seconds
70
=
s
kips
( ) ( ) ( )
The conditions of the problem give the initial displacement and
velocity, therefore
0.04 and 0
Therefore, the equation of motion is,
sin cos 0.04 cos 70
= =
= + =

o o
o
o o o
o
u inches u
u
u t t u t in t

Case (2). A free-vibration system with viscous damping.

We saw before that a free vibration imposed upon an un-damped foundation-soil
system will continue to vibrate without end. In reality, all vibrations will gradually
decrease in amplitude with time due to damping. The figure below shows the modeling
of the damping through the use of a dashpot with a coefficient c.
In reality, all systems have some damping, which results from friction, heat, air
resistance, etc. The equation of motion is therefore,
2
2 2
2 2
0
Dividing by and setting / yields,
0 0
This is commonly written as,
2
0
o
o o
mu cu ku
m k m
c k c
u u u or u u u
m m k
c
u u u

+ + =
=
+ + = + + =
+ + =



2 2
0
2
The denominator of the velocity constant is known as the critic
o o
u u u
km
+ + =

2
al damping
coefficient ; the is defined as,
2 2
2
Thus, the equation of motion with dampi

ng is,
2 0
c
o
c o
o o
c
c c c c
damping
c m k
km
u u
ratio
u
n

= = = =
+ + =

The solution to the damped free vibration differential equation depends on the value
of the damping ratio .
1) When < 100% the system is under-damped. In earthquake engineering, all cases
of seismic events are under-damped.
2) When = 100% the system is critically damped.
3) When > 100% the system is over-damped.
The solution to the differential equation for the under-damped condition is of the
following form,
( ) ( )
2 2
1 2
sin 1 cos 1
o
t
o o
u e C t C t

(
= +
(

Notice that the bracket portion is multiplied by an exponential that gradually gets
smaller with time and eventually becomes zero.
The damped natural circular frequency
d
permits a different mode of solution,
[ ]
1 2
sin cos
o
t
d d
u e C t C t

= +
[ ]
( )
( ) ( )
( )
1 2
1 2

0
1 2 2

0
1
where the coefficients and can be found from initial conditions.
The initial displacement is,
sin 0 cos 0
The initial velocity is,
cos
o
o
d d
o
o
o
o d
C C
u
u e C C C
u
u e C

( = + =

=

( ) ( )
( )
( ) ( )
0
2 1 2
1 2
0 sin 0 sin 0 cos 0
o
d d d o d d
o d o
C e C C
u C C

( ( +

=
( )
( )
1 2
Therefore,
and
The solution for a damped free vibration system is,
sin cos
o
o o o
o
d
o o o t
d o d
d
u u
C C u
u u
u e t u t

+
= =
| | +
= +
|
\ .

Example 4.
A small billboard tower has mass of 1,000 kg, a stiffness of 20,000 N/m and has a
natural damping of 1,000 N-m/sec.
An earthquake displaces the billboards foundation laterally 10 mm with an initial
velocity of 50 mm/sec.
(a) Find the systems damped natural frequency, and
(b) Plot the time history of response of the billboards mass.
( )( )
The undamped natural frequency is,
1 1 20, 000 /
0.71
2 2 2 1, 000
The damping ratio is,
1, 000 / sec
0.12
2
2 20, 000 / 1, 000
The damped natural frequency is,
= = = =

= = =
o
o
o
d
f
k N m
f hertz
m kg
c N m
km
N m kg
f

( )
2
1 0.71 1 0.1 = =
d o
f f hz
( )
( )
( )
2
o
2 0.70
The undamped natural circular frequency is,
2 2 0.71 4.5 radians/sec
The damped natural circular frequency is,
2 2 0.70 4.4 radians/sec
=
= = =
= = =
o
o
d
d d
hertz
f hz
f hz

( )
( )( )
( )( )( )
( ) ( ) ( )
( ) ( )
0.12 4.4
0.53
Thus, the displacement response is,
sin cos
0.05 0.12 4.5 0.01
sin 4.4 1 cos 4.4
4.4
cos 4.4 0.01sin 4.4
o
o o o t
d o d
d
t
t
u u
u e t u t
u e t t
u e t t

| | +
= +
|
\ .
| | +
= +
|
\ .
( =

References.
1. Das, B., Principles of Soil Dynamics, PWS-Kent Publishing Co., Boston, 1993;
2. Richart F.E., Hall J.R., Woods R.D., Vibrations of Soils and Foundations,
Prentice-Hall Inc., New Jersey, 1970;
3. Humar J.L., Dynamics of Structures, Prentice-Hall, New Jersey, 1990;
4. Prakash S., Soil Dynamics, McGraw-Hill, New York, 1981;