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Time Solution for Damped SDOF Systems |
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For an unforced damped SDOF system, the general equation of motion becomes,
with the initial conditions,
This equation of motion is a second order, homogeneous, ordinary differential equation (ODE). If all parameters (mass, spring stiffness, and viscous damping) are constants, the ODE becomes a linear ODE with constant coefficients and can be solved by the Characteristic Equation method. The characteristic equation for this problem is,
which determines the 2 independent roots for the damped vibration
problem. The roots to the characteristic equation fall into one of the
following 3 cases:
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1. |
If < 0, the system is termed underdamped. The roots of the characteristic equation are complex conjugates, corresponding to oscillatory motion with an exponential decay in amplitude. |
2. |
If = 0, the system is termed critically-damped. The roots of the characteristic equation are repeated, corresponding to simple decaying motion with at most one overshoot of the system's resting position. |
3. |
If > 0, the system is termed overdamped. The roots of the characteristic equation are purely real and distinct, corresponding to simple exponentially decaying motion. |
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To simplify the solutions coming up, we define the critical damping cc, the damping ratio z, and the damped vibration frequency wd as,
where the natural frequency of the system wn is given by,
Note that wd will equal wn when the damping of the system is zero (i.e. undamped). The time solutions for the free SDOF system is presented below for each of the three case scenarios.
To obtain the time solution of any free SDOF system (damped or not), use the SDOF Calculator.
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