Journal of Sound and Vibration (1985) 101(2), 181-192

EXTENDED DAMPING MODELS FOR VIBRATION

DATA ANALYSIS
J. A. FABUNMI
Department of Aerospace Engineering, University of Maryland, College Park,
Maryland 20742, U.S.A.
(Received 5 January 1984, and in revised farm 6 August 1984)
A simple 3 degree of freedom spring-mass-damper system has been used to investigate
the response of structural systems when the damping mechanisms are more general than
viscous or hysteretic damping. The damping forces in the dashpots were assumed propor-
tional to a general power of the relative velocity, which led to a system of equations having
a frequency dependent damping matrix. The numerical results obtained from this study
seem to agree with the trends in the mobility measurements made on helicopter-like
structures by other investigators. The analysis also led to a formulation for the modal
series equation for such structures, which admits damping models more general than
viscous or hysteretic.
1. INTRODUCTION
Steady state vibratory response of structures to dynamic excitations is possible because
of the mechanisms present in those structures which dissipate the energy that would
otherwise cause the responses to grow without bounds. The theories that are used to
analyze the vibration of structures, or interpret measured vibration data, are only as good
as the model adopted for characterizing the damping in the structure. An instructive
discussion of the role of damping in vibration theory has been given by Crandall [1].
Nowadays, it has become accepted to use various techniques of modal testing to study
the vibration characteristics of a wide variety of structures, ranging from simple beams
to complex aerospace structures [2]. These techniques have proven sufficiently powerful
to the extent of identifying the resonant frequencies and "mode shapes" of most practical
structures. However, only limited success has been achieved in predicting unmeasured
mobilities or vibration levels. In applications such as analytical testing [3], systems
identification [4] or force determination [5], to name .a few, where these mobilities are
the starting point for further analyses, there arises a need for more accurate damping
models. Poor or inconsistent damping estimates result in significant errors in the predicted
values of structural mobilities and response at locations on the structure where direct
measurements were not made.
In current modal testing and analysis practice, two types of damping model are popular,
based on viscous or hysteretic damping assumptions. They both lead to systems of constant
coefficient linear differential equations of motion, from which the derivation ofthe mobility
functions is straightforward [6].
This paper is intended to contribute in the quest for more comprehensive damping
models by presenting a re-examination of the way in which damping considerations enter
the equations of motion for steady vibrations. For single degree of freedom systems,
Jacobsen [7] approximated a general velocity power damping law by a coefficient multiply-
ing the first power of velocity, with the appropriate sign to ensure energy dissipation.
181
0022-460X/85/140181 +12 $03.00/0 1985 Academic Press Inc. (London) Limited
182 J. A. FABUNMI
This coefficient turned out to depend on both frequency and response level, and was
determined by matching the work dissipated per cycle of oscillation at any given frequency
of excitation. The effectiveness of this approximation has since been established by exact
analysis and experiment for zeroth (Coulomb) and first power velocity (viscous) damping
laws [8].
An extension of this idea to a simple 3-degree of freedom system results in a frequency
domain system of equations, with a damping matrix which depends on both frequency
and response levels. These equations are investigated numerically to study how the
departures from linear damping models affect the shape of the mobility functions,
calculated as the ratio of response to excitation over a selected frequency band.
In mobility testing practice, a structure is said to behave "linearly" when the measured
mobilities are independent of the excitation level. For such structures, it is possible to
leave out the dependence of the damping matrix on the response levels. In the resulting
equations, the damping matrix can have a general functional dependence on frequency,
usually consisting of linear combinations ofvarious frequency powers. By suitably defining
a set of complex valued vectors, termed "damped modes", it is shown that the mobility
function can be expressed in the usual modal series form, suitable for modal analysis.
The difference now is that the modal functions now have a more general dependence on
frequency than the usual formulations. This permits the "tailoring" of the assumed
damping laws to the actual behavior of a particular structure or class of structures. It
then becomes possible to identify modal parameters which are more consistent with the
measured data.
2. SPRING-MASS SYSTEM WITH GENERAL DAMPING
The extension of Jacobsen's approximation to multiple degree of freedom systems is
developed by considering a simple arrangement of masses, springs and dampers shown
in Figure 1. Three lumped masses Mil M
2
and M
3
are connected by linear springs Kl e
O ~ - - - D f - - - - - - < O
I'
I
/'
Figure 1. 3 DOF mass-spring-damper system with non-linear damping. The damping law of the ith damper
is fd = 'FCc(dx/dt)"'.
K
2
, K
3
and non-linear dampers (C}, n1), (C
2
, "2) and (C
3
, "3); the damping force of the
jth damper is
h=-Cjldx/dtl"j sgn (dx/dt), (1)
where Idx/dtl is the magnitude of the relative velocity across the damper (see Figure 1)
and sgn (dx/dt) is its sign. The approximation consists of replacing equation (1) by
h=-Cjdx/dt (2)
DAMPING MODELS FOR VIBRATION ANALYSIS 183
(3)
for harmonic motions. In Appendix I, it is shown that during such motions, i.e., with
x(t) =X sin wt, the damping force in equation (2) will dissipate the same amount of
energy per cycle of oscillation if
c; = r(n
j
;2)/ r( n
j
;3))X"j-1W"j-\
where I'( ) is the gamma function of the argument shown and w is the frequency. In
reference [7] it has been shown that the results obtained for a single degree of freedom
system agreed very well with exact analysis in reference [8] for Coulomb damping (n = 0)
and viscous damping (n = 1) laws.
Implicit in the foregoing approximation is the assumption that only the fundamental
harmonic of the excitation force is present in the response, even though the damping
mechanism is non-linear. This is not unreasonable. In modal testing practice, during
steady state harmonic forcing of most structures, only the responses at the fundamental
frequency of the forcing function are measured. If the coefficients in equation (3) in
conjunction with equation (2) are used to describe the dampers in the system of Figure
1, the following equations are obtained:
(-w
2
( M ]+ [K ]+ i[D(w)]){ji} = {N}. (4)
Here {N} = {N} e
i
"" is the harmonic forcing vector, {y} ={y} e
iwr
is the vector of displace-
ments of the lumped masses from equilibrium, and {ji} and {N} are complex valued
vectors of the amplitudes of response and excitation respectively. The matrices in equation
(4) are defined as follows:
:2
o 0 M) 0 -K
3
K
3
[
Dl(W)+ D2(W) -Diw) 0]
[D(w)]= -D
02
(W) D
2
(w )+ D
3(w)
-D
3
(w) ,
-D
3
(w) D
3
(w)
D ( ) - c"l- - 1"2-
1
2 W = W 2 Y2 - YI ,
D ( ) - c"l- -I" -1
3 w = W 3 Y3 - Y2 3 ,
In equation (3) X was the amplitude of the relative motion across the dampers. The
dependence of the damping coefficients on these amplitudes appears through the quantities
enclosed between the I I notations above; CJ is different from C; for this reason.
If the dampers obey a first power velocity law, equation (4) reduces to the familiar set
of equations governing a viscously damped system. Relative to the [M] and [K] matrices,
the elements of the [D( w)] matrix are small, at most frequencies. However, in the
neighborhood of an undamped natural frequency, when the w
2
[ M ] and [K] matrices
neutralize each other, the role of [D(w)] becomes pronounced. For lightly damped
systems, this region is narrow, and the damping matrix can be replaced by the constant
values assumed at that frequency. The resulting equations now resemble the hysteretic
damping form. Although the physical arguments may be slightly different, the measured
behavior of the structure agrees with these equations. In the study of structures with
moderate levels of damping, both viscous and hysteretic damping models have been used
with comparable success [6,2].
184 J. A. FABUNMI
(5)
2.1. NUMERICAL STUDY
The system considered for numerical investigation of equations (4) consists of three
uniform masses M, springs K and dampers (C, n). Let
K/ M, w/wo= w, {M=(I/
1 r(T)
11=---= --
J-rr r(n;3) M'
[
15
1
(;) )+D
2
( w)
[D(w)] == -
Then, for this uniform system, equation (4) can be written as
[[
2- a? -1 0] ]
-1 2-(;)2 -I
N2
+i[15(w)] {ji}={M.
o -1 l-w
Equation (5) has been solved numerically by a method outlined in Appendix II, for
selected ranges of Wbetween 0 and 2. This range of values can be shown to cover all the
three possible resonances of the system. In order to simulate single point mobility testing,
only one element of {iL} is non-zero. The value assigned to this element is used to specify
the excitation level. The responses computed for each co-ordinate are then ratioed to this
number in order to obtain the displacement mobilities. The parameters varied in this
study are as follows: 1-t3, a measure of the excitation level at co-ordinate 3; YJ, a measure
of the damping ratio (note that when the damping exponent is unity, this quantity is
exactly the ratio of viscous damping coefficient to the critical damping coefficient); n,
the exponent in the assumed damping law.
3. MODAL ANALYSIS
Let a set of "damped" modes of the system be defined by the characteristic equation
([K]+i[D(w)]){} =A(w)[M]{}. (6)
{4>} = {4>R}+i(4)I} is the complex characteristic vector, which is here termed a "damped
mode" in analogy to "flutter modes" in aeroelasticity where similar equations are encoun-
tered (see, for example, reference [9]). For combinations of(Aj(w), {4>Uand (AK(w), {4>L)
which satisfy equation (6), it follows that
{4> i[D(w)]){}j = Aj(w }j,
{4>}!([K]+i[D(w)]){4>h = A
k(w){4>}J[M]{}K'
(7)
where {4>f denotes the transpose of {4>}. By virtue of the symmetry of the [K], [M] and
[D(w)] matrices, equation (7) leads to the following orthogonality relationships:
{4>}J[M]{ cjJ}K =mAk' {}J([K] +i[D(w)]){ }K = (kj +idj(w) )Ojk' (8)
mj == {}![M]{ 4> h k
j
;;; {cjJ }![K]{ 4> b,
dj(w)s{}J[D(w)]{cjJh,
DAMPING MODELS FOR VIBRATION ANALYSIS 185
From equations (6) and (8), it follows that
{ }J([K]- w
2[M]+i[D(w
)]){h = (kj - w
2mj+id
j(w ))8
jk
= (Aj(w) - (
2)mAk'
(9)
It has been shown in reference [3] that the frequency dependent characteristic numbers
are of the form
Aj(w) =n;(1 +igj(w)), (10)
where 12; is a non-negative real number associated with the jth mode, and by considering
the form of the [D( w)] matrix, the function giw) can be expressed as
N
d
gj(w) =: aOj+ L akjw"k,
k=l
(11)
(14)
(15)
where, in general, there may be N
d
different damping exponents in the system, and
aOj, akj, k = 1, 2, ... , N
d
, are damping coefficients associated with each damping power law.
If [] denotes a complex valued modal matrix, such that its jth column is the jth
damped mode, equation (4) can be rewritten as
{y} = []([]T([K] - w
2
[M ]+i[D(w)])[])-l[Y{1V}. (12)
Equations (9) and (10) can then be substituted into equation (12) to yield
{Ji} = [][1/ mjnJ(1 - (w
2
/ nJ) +igAw ))][]T{N}. (13)
The matrix of displacement mobilities [ Y( w)] is defined by the relationship
{y}=: [ Y (w)]{ N}.
Therefore, by comparison of equations (13) and (14),
[Yew)]=: Nf,<X) [ { } " { } ~ J 2 2 1
2
,
" = I m" n"(1 - (w /12") +1g" (W ) )
Equation (15) expresses the mobility functions as series of modal functions, summed
over all the important modes in a given frequency band. The difference between this
equation and existing modal series formulations is that the function g,,(w) admits more
general damping assumptions than just viscous or hysteretic damping.
In the case of general damping, the term g,,(w) in equation (15) (or gj(w) in equation
(13)) is of the form shown in equation (11) with the coefficients akj being somewhat
dependent on the response level (a non-linear effect). In the case of zero exponent nj = 0,
for which equation (1) models the Coulomb damping law, g" (or) will contain terms which
are inversely proportional to the response level. Resonance testing of such structures will
tend to show damping levels which decrease with increasing response amplitude. Distor-
tions of polar plots of frequency response curves from circles into pear-shaped loops due
to Coulomb damping were reported in reference [10]. In order to fit equation (15) to
measured data, some considerations need to be given to the physical nature of the structure
and its environment in assuming the most appropriate form for gn(w). It is probably
easier to assume an exponent for the damping law a priori, rather than attempting to
extract the exponent from a curve fitting algorithm.
4. DISCUSSION OF NUMERICAL RESULTS
The numerical results presented here were obtained by using equation (5) to simulate
the process of single point mobility testing of the structure depicted in Figure 1. Steady
state excitation at co-ordinate # 3 was simulated over selected frequency bands, and
186 J. A. FABUNMI
although the responses at all other co-ordinates were computed, in each case, only typical
mobility plots for one co-ordinate are presented for the purposes of the present discussion.
Figure 2(a) shows the plot of Y31 displacement mobility over the range of w between
00 and 20 with 60 computation points, for different damping ratios 'Y) = 0,02, 0,1 and
O 5 with constant forcing level /-L3 =0,1, and damping exponent n = 12. Y
31
displacement
Real
30942
(0)
Imaginary
~ . \
Real J
\ S . ~ ) t>
'"
j-.\
, \
..... \
......
,\
. ~
!
1\
il
'I
'I
I
I
I.
ill
f
o o o o ~ 1
r
-9029 e......--_.......... --.J
5545
-A
0000
1
Iv
l
Imaginary
Ii
II
'I
~
31'829
r
0000 Frequencyradio 2-000
(b)
Imaginary
/ ....
I
<,
'\
\
I
1\ /
\ /"''' /
<, L..- 1/ Real
!\
1\
I \
i .
. \
, .
- \
I .
. \
A - ~
-' / '",
-< <' ..... - .....
. -,> -....-.
4.50 ,-------------",----------,
228
-2-56 '--- -..:.."--- ----1
Real
Imaginary
Frequency rat /0 1-490
Figure 2. (a) Broad band plot of Y,l mobility, for different damping ratios; (b) narrow band plot of Y'1
mobility near the second mode for different damping ratios. n=1'2, ""3 =0'100. - . -, ." == 002; - -, ." =' 0'10;
-, .,,=0'50.
DAMPING MODELS FOR VIBRATION ANALYSIS 187
mobility means the displacement response of co-ordinate # 1 per unit forcing at co-
ordinate # 3. Due to the symmetry of the mass, stiffness and damping matrices, both Y31
and Y13 will yield the same results. As expected, increasing the damping ratio reduces
the peak responses at resonance and broadens the band of influence of a given mode. A
better definition of the behavior of the response around a given mode is achieved by
!
5.30 ,-----.--------------,
Real
000
-5-45 L-__-!- -'
100 000 I-
( al
Imaginary
I maginory
200 Frequency ratio
-102'-- --'
000
Real
(bl
1-490 Frequency ratio
Real
o 721

-1040'-- _'
1151 ,.---------.,.....---------,
00544 oc- --'
0820
Imaginary
Figure 3_ (a) Broad band plot of Y31 mobility for different force levels; n '" 1,2, 1'/ :0 0'10; - --, 1J-3 = 1-0;
-- --, 1J-
3
:O 2-0; --, 1J-3 = 10-0; (b) narrow band plot of Y
3 1
mobility near the second mode for different
force levels; n'" 1-2, 1]:0 0-10; --, 1J-
3
:O 0-1; -1:>-, 1-'3 = 0-5; --, J1-
3
:O 1'0; --0-, 11-3:0 2-0; - --, 1J-3 = 100.
188 J. A. FABUNMI
increasing the number of computation points per frequency spacing. Thus, Figure 2(b)
shows a narrower range of to between 082 and 149 centered near the second resonant
mode with 100 computation points, for the same Y31 mobility. Here it is seen that the
damping ratio, for the exponent of the damping law being considered, affects not only
the level of response at resonance but also the shape of the modal loop.
In Figures 3(a) and 3(b), the effect of different forcing levels is shown: J.L3=01, 0,5,
1,0, 2-0 and 10'0, while the damping ratio TJ = 01 and damping exponent n =1-2 were
held fixed. On the broad band plot, slight decreases in the peak mobility values with
increasing force level are observed in regions close to the resonant modes. In mobility
testing practice, considerable judgement about the linearity of the structure is based on
comparisons of the measured mobilities at different force levels. If this is done with broad
band data, among other things, the differences in the mobilities for different force levels
may escape detection due to poor frequency resolution. However, Figure 3(b) shows that
a narrow band plot, around a selected mode (here, mode # 2), reveals that the forcing
level affects not only the response level, but also the shapes of the curves at resonance.
It is interesting to note that the decreasing mobility peaks with increasing force level have
been reported during actual testing of helicopter-like structures [11]. When these calcula-
tions were repeated with an exponent of unity in the damping law, no differences in
mobilities were observed at different force levels.
In Figures 4(a)-(c), the effect of different damping exponents on the displacement
mobility Y
33
are presented. The exponents considered were n=1'2, 1,5,2,0, and 3,0,
while the damping ratio 'T/ = 01 and force level /-L3 =05 were kept the same. Again it is
seen that the broad band plot does not reveal much about the differences in the mobilities.
Figures 4(b) and (c), however, show that the different exponents result in different shapes
134,..------,-------------,
Imoginary
(a)
-
Reel
000 t-----jr------=::::::::'--=====--I
-113'--__....... ---'
0-00
Imaginary
200 Frequency ratio
-221'--__-"--- -'
0-00
Figure 4. (a) Broad band plot of Y33 mobility for different damping exponents; 'TJ =010, J.L3 = 050; -,
n '" 15; - -, n = 2'0; _. -, n = 30; (b) narrow band plot of Y
33
mobility near the first mode for different
damping exponents; 7/=010, J.L3",050; --, n=1'2; -, /1=1'5; --. n=2'0; ---, n=30; (c) narrow
band plot Of Y33 mobility near the second mode for different damping exponents; 'TJ =10,_ JL3=050; - .. -,
n = 30; --, n =20; - . -, /1 = 15; - _., n = 12.
DAMPING MODELS FOR VIBRATION ANALYSIS 189
0640 Frequency ratio
151
Real (b)
000
,
-
-129
00
- 26 31::-:-:-:---::-------,--"------:--:--::-'
0170
Imaginary
0295 ,--------;r-<..___--------,
Imaginary
(c)
1490 Frequency ratio
Real
0000 r------,-ry4'7"--....:...:,r------I
-0937'-- --'--::..._.-J
-0-023 , - ~ = - - - - - - - - - - - - - - ,
Imaginary
Figure 4 (cont.).
of the mobility functions around the resonant modes. The modal loop departs from its
circular form as the damping exponent is increased. In fact the "flattening" of the circle
resembles a behavior that has often been blamed on signal processing errors. Although
there is no doubt that signal processing errors can be very significant it is nevertheless
important to recognize that, in some cases, the structure can be revealing more of its own
nature than the model being used to analyze its responses.
190 J . A. FABUNMI
5. CONCLUSIONS
A simple 3 degree of freedom spring-mass-damper system has been used to investigate
the response of structural systems when the damping mechanisms are more general than
viscous or hysteretic damping. A formulation of the modal series expression for the
mobilities for such generally damped structures was also presented. This formulation
allows the modelling of general damping behavior by means of a frequency dependent
function, the form of which is indicative of the velocity power laws prevailing in the
damping mechanism.
A numerical simulation of mobility testing of this simple structural model revealed
trends in the mobility functions which are similar to those reported in the testing practice
of damped complicated structures such as helicopters and the like. It was found that
departures of the modal loops from pure circles may be due to the existence of non-linear
damping mechanisms within the system. Linearity checks of broad band mobility data
may not be sufficient to establish the degree to which a structure is exhibiting non-linear
damping behavior. When the exponent of the velocity power law prevailing in the damping
behavior of a structure is larger than unity it was found that the peak mobilities at
resonance decrease with increasing excitation level.
Further research is needed to validate new modal analysis techniques for handling
structures with damping behavior which departs significantly from viscous or hysteretic
damping models.
ACKNOWLEDGMENTS
This work is part of ongoing research funded by the United States Army Research
Office, through the Center for Rotorcraft Education and Research at the University of
Maryland. The author also wishes to acknowledge the computational facilities provided
by the Computer Science Center of the same University.
REFERENCES
1. S. H. CRANDALL 1970 Journal oj Sound and Vibration 11, 3-18. The role of damping in
vibration theory.
2. VARIOUS AUTHORS 1982 Proceedings oj the First International Modal Analysis Conference.
Orlando, Florida.
3. W. G. FLANNELLY, J. A. FABUNMI and E. J. NAGY1981 NASA CR 3429. Analytical testing.
4. N. GIANSANTE, A. BERMAN, W. G. FLANNELLY, E. J. NAGY and J. A. FABUNMI 1981
Kaman Aerospace Corporation Report No. R-1631. Structural systems identification technology
verification.
5. R. JONES, W. G. FLANNELLY, E. J. NAGY and J. A. FABUNMI 1981 Kaman Aerospace
Corporation Report No. R-1625 . Experimental Verification of Force Determination and Ground
Flying on a full scale helicopter.
6. D. J. EWI NS 1979 (September) Journal oj the Society of Environmental Engineers, 1-13. Whys
and wherefores of modal testing.
7. L. S. JACOBSEN 1930 Transact ions oJthe American Society oj Mechanical Engineers 52,169-181.
Steady forced vibration as influenced by damping.
8. J. P. DEN HARTOG 1931 Transactions oj the American Society oj Mechanical Engineers 53,
107-115. Forced vibrations with combined Coulomb and viscous friction.
9. A. V. SRINIVASAN and J. A. FABUNMI 1984 Journal oj Engineering for Gas Turbines and
Power, Transactions of the American Society of Mechanical Engineers 106,35-43. Cascade flutter
analysis of cantilevered clades.
10. G. R. TOMLINSON 1980 Journal of Sound and Vibration 71, 443-451. An analysis of the
distortion effects of Coulomb damping on the vector plots of lightly damped system.
11. D. J. EWINS 1983 Vertica 7, 1-8. The effects of slight nonlinearities or of modal testing
of helicopter-like structures.
DAMPING MODELS FOR VIBRATION ANALYSIS 191
APPENDIX I
The energy dissipated per cycle of oscillation by the damping force given in equation
(l) is
_ 1
2
.../
W
(dX) .+1
W
n
- Cn d dr,
o t
For harmonic motions, given by x = X sin (wt),
f
7T/2w
w, =4Cnxn+lwn+1 0 [cos (wt)]"+1 dr,
It can be shown that
1
'TT 12
o [cos (O)]2m+1 dO= (.J:;/2){f(m +I)/f( m +3/2)}.
Hence, for n =2m,
(Al)
(Al)
(A3)
(A4)
When n = 1, WI = 7rC
1X
2
W . Therefore the required coefficient of a first power velocity
damping law that will make the dissipated energy equal that of a general power velocity
damping law is
(A5)
APPENDIX II
. Let the response of coordinate j at a selected frequency ratio be Yj= yjR +iyJ, and the
jth element of the forcing vector be IJ-j = IJ-jR +iIJ-f The solution to equation (5) can be
sought as roots of the following non-linear system of equations:
(
-):: [[E(W)] -[D(w, x)]]{_}_{ '}=O
z x, W -[D(w, x)] [E(w)] x f.L ,
(A6)
{X}T== [yf, yf, yf, y[, yj],
[2
-2
-w
[E(w)]=
{
'}T _ [R R R I I 1].
IJ- = J.LI,J.L2,f.L3,!-I-1>!-I-2,IJ-3,
-1 0]
2-w
2
-1 .
-1 l-w
2
[D(w, x)] here is the same as [D(w)] defined earlier, with the elements of the {x} vector
placed appropriately.
Let a perturbed function be defined as
{z(J, x, w)} == {z(O, x, w)} +({z(x, w)} - {z(O, x, w)})J/ N,
_ _ [[E(W)] -[Do(w)]] _ _,
{z(O,x,w)}= -[Do(w)] [E(w)] {x}-{J.L},
[
2-I 0]
-1 2 -1.
-1 1
(A7)
(A8)
192 J. A. FABUNMI
N is some selected integer, and J is also an integer which varies from 1 to N. It is
apparent that {zeN, X, lin ={z(x, wH. The root of {z(J -1, X, w)} = 0, {i}l-I, is a suitable
starting vector for seeking the root of {z(J, i, w)} =0, by using the well known second
order convergent Newton-Raphson scheme, whereby
{ik+I}J ={ik}J -[a{z}k/ a{x}]:fl{z(J, x
k
, Wn. (A9)
The matrix [a{z}k/ c3{x}] is the Jacobian of the {z} vector with respect to the {x] vector,
evaluated with the {ik}J values .
With {.i0}J = {.i}l-I> equation (A9) is iterated until suitable convergence is achieved.
The final solution, for J = N, is the desired root of equation (A6).