Structural Engineering & Statics
where the load goes
Concept

Natural frequency — where it appears

The rate at which a structure oscillates when disturbed and left alone, set by its stiffness and its mass and by nothing else. It contains no load, so it is a property a structure has before anything is applied to it, and it is the number every dynamic load has to be compared against.

Named by 13 essays across 2 fields — each of them below, with the objects they name alongside it.

Rayleigh's method: the frequency read off the deflection that was computed anyway. A simply supported beam of 8 m, sagging 13.08 mm under its own weight, sampled at 21 stations. Rayleigh's quotient over those deflections gives 4.91 Hz against the exact 4.91 Hz — 0.119% high, and high rather than low because an assumed shape is a constraint and a constraint stiffens. The rule of thumb, 18 divided by the square root of the deflection in millimetres, gives 4.98 Hz.

The period nobody chose

Every structure has a natural period, it decides the answer to every question in this field, and no drawing anywhere records it. It is a consequence of a mass picked for one reason and a stiffness picked for another — and it has already been computed, by the serviceability check.

dynamics · Natural period Which floor frequencies a 2 Hz pace punishes. The response factor of a floor of 12 tonnes modal mass and 3.0% damping, against its own natural frequency, under a walker at 2 steps per second. The peaks are at 2, 4, 6, 8 Hz — the harmonics of the pace — and they fall away sharply: four peaks, each smaller than the one below it, because the harmonics of walking get smaller. A floor at 2 Hz reaches R = 31 and one at 8 Hz reaches 6. Between them the floor is quiet.

The floor that is strong and unusable

A floor can satisfy every strength check, deflect less than the limit, and still be rejected by the people who work on it — because somebody walking across it at two steps a second happens to be exciting it at exactly the rate it likes to move.

dynamics · Floor vibration Every reason a building is stiffer than its model, added up. The computed natural frequency of a floor, and the same frequency after each source of stiffness that was deliberately left out is put back. Not one of them is a modelling error. Cladding and partitions are stiffness nobody is allowed to rely on for strength; a nominally pinned connection is never pinned; a slab acts with its beam whether or not shear connectors were provided; and concrete between the cracks is stiffer than a cracked section assumes. Together they multiply the stiffness by 1.83 and the frequency by 1.35, because a frequency is the square root of a stiffness, and every factor is halved on the way through. The asymmetry is the finding: leaving stiffness out makes a deflection conservative and a vibration check unconservative in the direction that matters, since a stiffer floor has a higher frequency and sits further from the footfall range. The model here reads 4.40 Hz against a 5.2 Hz criterion and fails it; the floor reads 5.95 Hz and passes. The correction that would have got it right is exactly the stiffness nobody is willing to count on.

Stiffer than the model said

Measured natural frequencies of finished buildings come out between ten and sixty per cent above the values computed for them, consistently and in one direction only. Nothing on the list of reasons is a modelling error: every one is a real source of stiffness deliberately left out — and leaving stiffness out is conservative for deflection and unconservative for vibration.

deflection · Measured stiffness Damping that is computed rather than measured. Radiation damping of a 2.5 m block on soil with a shear wave speed of 178 m/s, against how heavy the block is made — the horizontal axis is a multiple of the 150 tonne block drawn. At that mass the three modes are at 47, 29 and 13 per cent of critical. None of this is dissipation: the energy leaves as waves travelling away into the half-space, so the quantity is a geometrical coupling and it can be computed from the size of the footing, the density of the soil and its shear modulus. Every curve falls as the block gets heavier, because a heavier block moves less for the same wave field — which is the one counter-intuitive thing here: mass buys frequency and costs damping.

The damping that is radiated

Every response in this field is quoted with a damping assumption attached, because damping is measured rather than designed and the measurement has a factor of two in it. A machine block on the ground is the exception: its damping is not dissipation at all, and it can be computed from three numbers none of which is a material property of anything that dissipates.

dynamics · Vibration isolation Two separate checks, and the block that is neither. Amplification of the steady displacement at a machine 2.0 m above the base of a 150 tonne block 5.0 m across and 2.0 m deep, against forcing frequency. Checked separately, the block sways at 11.2 Hz with 29 per cent of critical damping and rocks at 15.0 Hz with 13 per cent, and the rocking check's peak is 3.99. Because its mass sits above its base the two are one system, with modes at 9.9 Hz and 20.9 Hz — one below both checks and one above — and the block's own peak is 2.49 at 9.7 Hz.

The frequency below both checks

A machine block is checked for sway and for rocking as if they were two oscillators, each with its own spring, its own radiation damping and its own natural frequency. A block whose mass sits above its base is one oscillator with two modes, and neither of them is a sway or a rocking — one sits below both checks, one above both, and the lower one is where the machine resonates.

dynamics · Vibration isolation However stiff the ties, a free line stops short. The first three frequencies of stays 180, 150 and 120 m long joined by cross-ties, against the stiffness of each tie from 1.0 kN/m to 1000 MN/m, with the line free at its ends and, dashed, anchored to the deck at both ends with the same stiffness. With the line free the first frequency rises from 0.73 Hz and levels off at 0.82 Hz, however stiff the ties are made — short of the 1.01 Hz of the 120 m stay, which a free line cannot pass. Anchored, the first frequency reaches 1.09 Hz. At the 6.0 MN/m marked, the free line gives 0.82 Hz and the anchored line 1.09 Hz.

The line of ties that stops short

Cross-ties are the one intervention on a stay cable that changes its frequencies rather than damping them, and the usual account says they lift the stays out of the range that excites them. A line of ties that is not anchored to anything cannot lift the first frequency above the shortest stay's own, however stiff the ties are made. What lifts it is carrying the line to the deck.

dynamics · Cable dynamics The rates a seated crowd makes worse. The stand's steady rms acceleration under 40 people jumping, against the rate they jump at, for a stand of 30 t modal mass at 6 Hz with 2 per cent damping, empty and with 15 t of spectators sitting on it. Empty, the worst rate is 3.00 Hz, where the second harmonic of the jump lands on the stand's own frequency, and the stand reaches 2.54 m/s², 25.9 per cent of gravity. Occupied, the worst anywhere from 1.5 to 3.5 Hz is 0.49 m/s² at 3.50 Hz. But from 1.64 to 2.32 Hz, shaded, the occupied stand responds more than the empty one — 1.6 times as much at 2.00 Hz.

The crowd that is also the structure

A crowd jumping to music loads a grandstand with harmonics several times those of walking, and nothing about their size is measured: they follow from a pulse that has to average one body weight. But the people who jump arrive with the people who sit, and the seated crowd is mass, stiffness and damping bolted to the stand. It lowers the worst case by a factor of five and makes the most common jumping rates worse.

dynamics · Floor vibration The frequencies at which a moving deck makes a stay grow. Stability of the first mode of a 120 m stay at 3,500 kN inclined at 25°, whose own frequency is 1.01 Hz, when the deck at its anchorage moves at a frequency Ω against the stay's ω, plotted against the swing in tension the movement produces. Inside each shaded region a small disturbance grows. Each region's tip is at a swing of four times the damping ratio — 0.40%, 2.0% and 4.0% for damping of 0.10%, 0.50% and 1.0% — and it widens as the swing grows, to a deck between 1.970 and 2.030 times the stay's frequency at a 6.0% swing with 0.10% damping. With no damping, dashed, the region reaches down to no swing at all. A deck moving ±5, ±10 and ±20 mm vertically swings the tension by 0.70%, 1.4% and 2.8%. At ±10 mm and exactly twice the stay's frequency, marked, the stay grows with damping of 0.10% and settles with 0.50% and 1.0%.

The stay shaken along its own length

A deck that moves at a stay's anchorage pushes nothing across the stay. It stretches the stay along its own line and lets it go again, so the tension swings, and at twice the stay's frequency that swing drives the stay with no sideways force at all. Whether the swing grows is one comparison — a quarter of the tension swing against the damping ratio — and it is a comparison the capped damper wins.

dynamics · Cable dynamics Set into the ground, the block is quieter only while its sides radiate. Displacement at the top per kilonewton of machine force for a 150 tonne block 3.2 m across and 3.2 m deep, on a logarithmic scale: on the surface, dashed, and with 1.60 m of it set into the ground, first with the side soil radiating as the side-layer model gives it and then with no radiation from the sides at all, dashed. On the surface it peaks at 191.8 µm per kN at 5.5 Hz. Embedded and radiating, it peaks at 11.0 µm per kN at 8.2 Hz. With the same embedment and silent sides the resonance moves up to 8.4 Hz and peaks at 168.7 µm per kN, because the lower mode's damping falls from 3.2 per cent to 1.6 per cent. At 5.5 Hz the three give 191.1, 8.0 and 9.5 µm per kN.

The damping that comes through the sides

A machine block set into the ground is held at its sides as well as its base, and the side soil does two things at once. It lifts the height at which the ground's resistance acts toward the block's centre of mass, which weakens the coupling between sway and rocking without ever removing it. And it radiates, which is what actually flattens the resonance — so the quiet an embedded block promises rests on the stiffness of backfill nobody measured.

dynamics · Vibration isolation The vertical response on layers of different depth. The vertical amplitude of a 150 tonne block 5.0 m across on soil with a shear wave speed of 178 m/s, under a harmonic force of fixed size, as a multiple of its static deflection on a half-space, against frequency. On a half-space the mode is at 12.5 Hz and the peak is 1.10. On 10.0 m the mode is at 14.3 Hz against a cut-off of 7.4 and the peak is 1.03. On 6.0 m the mode is at 15.5 Hz against a cut-off of 12.3 and the peak is 1.74. On 4.5 m the mode is at 16.3 Hz against a cut-off of 16.4 and the peak is 5.84. The layer stiffens the footing and lifts the frequency a little; what changes the picture is the cut-off, which rises as the layer thins and, once it passes the mode, takes the radiation damping away and leaves only the soil's own 5 per cent. Radiation below the cut-off is taken as nothing and its rise above it as linear, which is the usual idealisation of the exact layered solution.

The rock that sends the waves back

A machine block on the ground is damped by the waves it launches, and a half-space lets them all escape. Put rock four and a half metres down and none of them can: below the soil layer's own lowest frequency there is no wave that travels, and a vertical mode damped at 47 per cent of critical keeps the soil's own 5. Its resonance grows fivefold, and the heavy block the textbook rule recommends is the one that loses its damping on the deepest ground.

dynamics · Vibration isolation Two blows on three foundations. The movement of a 150 tonne block struck by a hammer delivering 18 kN·s, twice, 0.75 s apart. On soil at 12.5 Hz with the 47 per cent of damping a half-space radiates, the block moves 0.86 mm and is still before the second blow. On the same soil over shallow rock, with 5 per cent, it moves 1.42 mm and rings for the whole interval. On springs at 4.0 Hz it moves 4.42 mm, and its ringing has not died when the second blow arrives. The peak force passed to the ground is 1.34, 1.32 and 0.42 MN: the heavily damped block and the lightly damped one pass almost the same force.

The blow that has no frequency

A forge hammer does not shake its foundation; it strikes it. The transmissibility curve every isolation design is drawn on has nothing to say about a blow, and the rules it teaches mislead. The force a struck block passes to the ground is least at a quarter of critical damping, not the most; five per cent and forty-seven pass almost the same; and the springs that soften every blow can bring the block down to the hammer's own rate and make a train of blows ring four times as high as one.

dynamics · Vibration isolation The same blow, three seats under the anvil. The movement of the block — the part of a 150 t hammer foundation, 30 t of it the anvil, that lies below the pad — after one blow of 18 kN·s on the anvil, over three periods of the whole foundation on soil (12.5 Hz, damping 0.47). Rigid seat: largest movement 0.86 mm at 16 ms; pad at 4.0 times: largest movement 1.14 mm at 13 ms; pad tuned to the foundation: largest movement 1.18 mm at 35 ms. On the pad at 4.0 times the block rides the anvil's ringing: a ripple at the anvil's own frequency on top of the foundation's swing, whose first crest lands near the swing's peak. On the tuned pad the block receives the blow as one slow push, peaks later and higher, and then goes on ringing long after the rigid seat has settled, because the mode in which anvil and block swing against each other is damped by the pad and hardly at all by the ground.

The pad that makes the blow worse

A forge hammer's anvil sits on a pad on its foundation block, and the pad looks like isolation: a spring between the blow and everything below it. For the block it is the opposite. Every pad an anvil can sit on makes the block move more than a rigid seat would, by half again when the pad is tuned near the foundation, and what the pad buys instead is a smaller force under the anvil. The hope that a tuned pad could act as a tuned mass works only against a train of blows, and only at a softness the anvil cannot live with.

dynamics · Vibration isolation One actuator, a tower and a floor. The peak amplification of a mode with 1 per cent damping under velocity feedback of gain 0.10, against the mode's frequency on a logarithmic scale, for control loops whose delay is 10, 25, 50 milliseconds. The dotted line is the mode without control, 50. With 10 ms: 4.6 at 0.2 Hz, 4.5 at 2 Hz and 5.0 at 8 Hz; with 25 ms: 4.6 at 0.2 Hz, 4.6 at 2 Hz and 19.0 at 8 Hz, unstable from 9.8 Hz; with 50 ms: 4.5 at 0.2 Hz, 5.3 at 2 Hz and unstable at 8 Hz, unstable from 4.9 Hz. A delay is a fixed time and a period is not, so the same loop that damps a tall building's sway is too late for a floor.

The actuator that arrives late

A tuned mass damps a structure because its force arrives a quarter of a cycle behind the motion. Replace the mass with an actuator told to push against the structure's velocity, and the same quarter-cycle is fatal: the push that was damping becomes stiffness, the stiffness becomes a source of energy, and a gain that would have cut the response tenfold makes the structure vibrate by itself. The delay is a few hundredths of a second, which is nothing to a tower and everything to a floor.

dynamics · Tuned mass damper

Named alongside it

The objects these essays reach for when they reach for this one.

DampingResonanceVibration isolationDamping ratioModal massMode shapeRadiation dampingServiceabilityDynamic amplificationFloor vibrationMachine foundationRocking

All concepts