Resonance

We have seen that when a one-dimensional dynamical system is slightly perturbed from a stable equilibrium point (and then left alone), it eventually returns to this point at a rate controlled by the amount of damping in the system. Let us now suppose that the same system is subject to continuous, oscillatory, constant amplitude, external forcing at some fixed frequency, $\omega$. In this case, we would expect the system to eventually settle down to some steady oscillatory pattern of motion with the same frequency as the external forcing. Let us investigate the properties of this type of driven oscillation.

Suppose that our system is subject to an external force of the form

$$f_{ext}(t) = m\,\omega_0^{\,2}\,X_1\,\cos(\omega\,t).$$ (182)

Here, $X_1$ measures the typical ratio of the amplitude of the external force to that of the restoring force, (165). Incorporating the above force into our perturbed equation of motion, (172), we obtain

$$\frac{d^2 x}{dt^2} + 2\,\nu\,\frac{dx}{dt} + \omega_0^{\,2}\,x = \omega_0^{\,2}\,X_1\,\cos(\omega\,t).$$ (183)

Let us search for a solution of the form (173), and represent the right-hand side of the above equation as $\omega_0^{\,2}\,X_1\,\exp(-{\rm i}\,\omega\,t)$. It is again understood that the physical terms are the real parts of these expressions. Note that $\omega$ is now a real parameter. We obtain

$$a\left[-\omega^2-{\rm i}\,2\,\nu\,\omega + \omega_0^{\,2}\ri... ...mega\,t} = \omega_0^{\,2}\,X_1\,{\rm e}^{-{\rm i}\,\omega\,t}.$$ (184)

Hence,

$$a = \frac{\omega_0^{\,2}\,X_1}{\omega_0^{\,2}-\omega^2 - {\rm i}\,2\,\nu\,\omega}.$$ (185)

In general, $a$ is a complex quantity. Thus, we can write

$$a = x_1\,{\rm e}^{\,{\rm i}\,\phi_1},$$ (186)

where $x_1$ and $\phi_1$ are both real. It follows from Eqs. (173), (185), and (186) that the physical solution takes the form

$$x(t) = x_1\,\cos(\omega\,t-\phi_1),$$ (187)

where

$$x_1 = \frac{\omega_0^{\,2}\,X_1}{\left[(\omega_0^{\,2}-\omega^2)^2 + 4\,\nu^2\,\omega^2\right]^{1/2}},$$ (188)

and

$$\phi_1 = \tan^{-1}\left(\frac{2\,\nu\,\omega}{\omega_0^{\,2}-\omega^2}\right).$$ (189)

We conclude that, in response to the applied sinusoidal force, (182), the system executes a sinusoidal pattern of motion at the same frequency, with fixed amplitude $x_1$, and phase-lag $\phi_1$ (with respect to the external force).

Figure 21: Resonance.

Let us investigate the variation of $x_1$ and $\phi_1$ with the forcing frequency, $\omega$. This is most easily done graphically. Figure 21 shows $x_1$ and $\phi_1$ as functions of $\omega$ for various values of $\nu/\omega_0$. Here, $\nu/\omega_0 = 1$, $1/2$, $1/4$, $1/8$, and $1/16$ correspond to the solid, dotted, short-dashed, long-dashed, and dot-dashed curves, respectively. It can be seen that as the amount of damping in the system is decreased, the amplitude of the response becomes progressively more peaked at the natural frequency of oscillation of the system, $\omega_0$. This effect is known as resonance, and $\omega_0$ is termed the resonant frequency. Thus, a lightly damped system (i.e., $\nu\ll \omega_0$) can be driven to large amplitude by the application of a relatively small external force which oscillates at a frequency close to the resonant frequency. Note that the response of the system is in phase (i.e., $\phi_1\simeq 0$) with the external driving force for driving frequencies well below the resonant frequency, is in phase quadrature (i.e., $\phi_1=\pi/2$) at the resonant frequency, and is in anti-phase (i.e., $\phi_1\simeq \pi$) for frequencies well above the resonant frequency. It is easily demonstrated that for lightly damped systems the height of the resonance curve (i.e., the $x_1$ versus $\omega$ curve) is inversely proportional to $\nu$, whereas its width is directly proportional to $\nu$, so that the area under the curve stays approximately constant as $\nu$ decreases.