2.

003SC Recitation 12 Notes: Modal Analysis

Modal Analysis of Double Pendulum System - Problem Statement Consider a double pendulum consisting of two masses and one spring as shown in the gure below. Note that 1 and 2 are small-angle displacements.

The systems equations of motion are,

m1 l1 2 0 0 m2 l2 2 or

1 2

c1 l1 2 0 0 c2 l2 2

1 2

m1 gl1 + kl1 2 kl1 l2 kl1 l2 m2 gl2 + kl2 2

1 2

F1 l1 F2 l2

Mx + Cx + Kx = F For m1 = m2 = 0.5 kg, l1 = 1.1m, l2 = 1.0 m, k = 0.5 N/m, the M and K matrices above are M= 0.605 0 0 0.5000 K= 6.005 0.5500 0.5500 5.4050

and the natural frequencies and natural modes are, 1 2 = 3.0445 3.3851 rad/sec U= 1 1 0.7139 1.6949

Assume that the system damping matrix is of the form C = M Assume that the external forces are F1 l1 F2 l2 = 0.2cos(1 t) 0 [N m]
1

 Find U T M U , U T KU and U T F (the modal forces in terms of F1 l1 .) Check the natural frequencies Find such that the damping ratio for mode 2 is 0.04 . Find the steady-state response in terms of the generalized coordinates 1 and 2 , due to the contribution of the rst mode only.

Modal Analysis of Double Pendulum System - Solution We seek uncoupled equations, q + U T CU q + U T KU q = U T F = Q UT MU U T M U , U T KU and U T F UT MU = 0.8598 0 0 2.0414 7.9699 0 0 23.3918 1 0.7139 1 1.6949 F1 l1 0 = M1 0 0 M2 K1 0 0 K2 = F1 l1 F1 l1

U T KU =

UT F = Damping

When the system damping matrix is of the form C = M U T CU will be a diagonal matrix. U T CU = M1 0 0 M2 = C1 0 0 C2

We have two independent SDOF equations of motion M1 q 1 + C1 q 1 + K1 q1 = Q1 = F1 l1 M2 q 2 + C2 q 2 + K2 q2 = Q2 = F1 l1 So 1 = C1 = 21 M1 21

2 = So

C2 = = 0.04 22 M2 22

= 0.04(22 ) = 0.271
3

1 = Last bit So, 1 2

0.271 = = 0.0445 2(3.0445) 21

= U q = [u](1) q1 (t) + [u](2) q2 (t) q1 (t) = |q1 |cos(1 t 1 ) |q1 | = |Q1 ||Hq1 /Q1 ( )|
1 K1

|q1 | = |Q1 |

[(1

2 2 2) 1

2 2 + (21 )] 1

|q1 | =

Q1 1 F1 l1 1 = K1 21 K1 21

|q1 | =

0.22 1 1 = 0.345 7.9699 2 0.04 1 = 2 ) 2

q1 (t) = 0.345cos(1 t The contribution of the rst mode only is 1 2 1 2 The contribution of the second mode is 1 2 = 1 1.6949 = 1 0.7139 =

0.345cos(1 t ) 2

) 2

0.345 0.2463

cos(1 t

q2 (t)

MIT OpenCourseWare http://ocw.mit.edu

2.003SC / 1.053J Engineering Dynamics

Fall 2011

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