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1 = 0, 2 =
1
zn =
k
3k
, 3 =
m
m
1
3
1
1
2
0
3
1
6
2
6
1
(9.1)
(9.2)
z1
m1
F1
k1
z2
F2
m2
k2
z3
F3
m3
Mass 1
Mass 2
z o1 = 0
z& o1 = 1
z o2 = 1
z& o2 = 2
Mass 3
z o3 = 1
z& o3 = 2
1 0 0
m p = 0 1 0 ,
0 0 1
0 0 0
k
k p = 0 1 0
m
0 0 3
(9.3)
z& po = z n1z& o
z po = z n1z o
The inverse of z n , found using a symbolic algebra program:
(9.4)
z n1 = m
3
3
2
2
6
6
3
3
2
2
6
6
3
3
2
2
6
6
z po = z n1z o =
z& po = z n1z& o =
3
3
0
6
3
3
3
0
6
3
3
3
0
6
3
3
2
2
6
(9.5)
3
2
2
6
0
1 = m 2
2
1
6
2
3
2
2
6
2 = m 2 (9.7)
2
7 6
(9.6)
1
T
Fp = z n F =
1
3
1
1
3
0
2
1
3
1
2
1
1
0 = 1 3 2
m 2
2
6
(9.8)
z p1
1 0 0 &&
k
0 1 0 &&
z p2 + m
0 0 1 &&
z p3
0 0 0
0 1 0
0 0 3
3
z p1
3 2 1
z p2 = 2
m
z p3
6
(9.9)
z po
0
3
2
2 &
= m
, z po = m
2
2
7 6
6
2
6
(9.10)
Equations of Motion,
Principal Coordinates
&&
z p1 =
Displacement Initial
Conditions: Principal
Coordinates
z p1o = 0
3 m
3 2
k
&&
z p2 + z p 2 =
m
2 m
z p2o =
2m
2
6
3k
&&z p3 + z p3 =
6 m
m
z p3o =
6m
2
Velocity Initial
Conditions: Principal
Coordinates
3m
3
z& p1o =
z& p 2o =
z& p3o =
2m
2
7 6m
6
(9.11)
(9.12)
&&z p1 =
(9.13)
3 m
3
s3 m
3m 3
s 2 z p1 (s) s(0)
=
3 s3 m
s 2 z p1 (s) =
z p1 (s) =
3
s3 m
3
3
s 3 m
1
s
3m
3
3m
1
s3 3m
3m
3s 2
3m
3s 2
3m
3s 2
(9.14)
(9.15)
(9.16)
(9.17)
tn
z p1 (t) =
n!
2!
or t 2 = ( 2 +1)
n +1
s
s
t 2
Forced Re sponse
2 3m
+0
(9.18)
Initial Displacement
3m
t
3
(9.19)
Substituting m = 1, k = 1:
z p1 =
t 2
2 3
3t
3
(9.20)
3 2
k
&&z p2 + z p 2 =
2 m
m
(9.21)
3 2
k
s 2 z p2 (s) sz p2 (0) z& p2 (0) + z p2 (s) =
2 ms
m
(9.22)
2m
2m k
3 2
s 2 z p2 (s) s
+ z p2 (s) =
2
2
2 ms
m
(9.23)
2m
3 2
2m
k 3 2 s 2m
z p2 (s) s 2 + =
+
=
+
( s + 1)
2
2
2
s2 m
m s2 m
(9.24)
2m
3 2
2m
s
2
+ 2
z p2 (s) = 2 m
,
k
k
2 k
2
s +
s2 +
ss +
m
m
m
2
3,4
=
k
m
(9.25)
z p2 (t) =
3 2 1
2m 2
o
sin ( 2 t + 90 )
2 (1 cos 2 t )
14
4
244
3
2
2 m 2
2
cos(2 t)
(9.26)
2m 1
+
sin ( 2 t )
2 2
Substituting m = k = 1, 2 =1:
z p2 (t) =
3 2
3 2
2
2
cos(t)
cos(t) +
sin(t)
2
2
2
2
(9.27)
&&
z p3 + 32 z p3 =
(9.28)
6 m
6
6s m
6m 7 6m
6
s 2 z p3 (s) + 32 z p3 (s) s
=
2
6 6s m
z p3 (s) ( s 2 + 32 ) =
z p3 (s) =
6
6s m
s 6m 7 6m
2
6
6
1
6m
s
7 6m
2
+
2
2
2
2 ( s + 3 )
6 m s ( s + 3 )
6 ( s 2 + 32 )
(9.29)
(9.30)
(9.31)
(9.32)
6 1
2 (1 cos 3 t )
6 m 3
6m 3
7 6m 1
o
sin 3 t
+
sin ( 3 t + 90 )
3
2 3 144244
6 3
cos (3 t)
(9.33)
Substituting m = k = 1, 32 =
z p3 (t) =
Note:
3k
:
m
6
6
7
6
cos( 3t) +
cos( 3t)
+
18
18
2
6
6
3
sin( 3t)
6 1 1
7
sin( 3t)
+ cos( 3t) + 3cos( 3t)
6 3 3
3
26
6
2 3 2 3 2
3 2
= 2 3
and
6
3
(9.34)
2 3
3
= 2
Now that the displacements in principal coordinates are available, they can be
plotted to see the motions of each individual mode of vibration.
Displacements in principal coordinates can be back-transformed to physical
coordinates:
z = zn zp
3t
t 2
3
2 3
z p1
3 2 3 2
2
2
z p = z p2 =
cos t
cos t +
sin t
2
2
2
2
z p3
6
6
6
7
+
cos 3t +
cos 3t
sin 3t
2
18 18
z = zn zp =
1
3
1
1
2
0
3
1
(9.35)
(9.36)
3t
t 2
1
3
2 3
6
2
3 2 3 2
2
2
+
cos
t
cos
t
sin
t
2
2
2
2
1 6
6
6
7
+
+
cos
3t
cos
3t
sin
3t
6 18 18
3
(9.37)
z1 z n11
z = z 2 = z n 21
z 3 z n31
z n12
z n 22
z n32
z n13
z n 23
z n33
z p1
zp 2
z p3
(9.38)
z 2 = z n 21z p1 + z n 22 z p2 + z n 23 z p3
123 123 123
1st mod e
1st mod e
1st mod e
2nd mod e
2nd mod e
2nd mod e
3rd mod e
3rd mod e
3rd mod e
(9.39a,b,c)
Because the first mode motion for each degree of freedom is rigid body, and
its displacement eventually goes to infinity, it masks the vibration motion of
the second and third modes for long time period simulations. If the first mode
(rigid body) motion is subtracted from the total motion of z1, z2, and z3, the
motion due to the vibration can be seen, as shown in Figure 9.8.
9.6 MATLAB code tdof_modal_time.m Time Domain Displacements in
Physical/Principal Coordinates
9.6.1 Code Description
The MATLAB code tdof_modal_time.m is used to plot the displacements
versus time in principal coordinates using (9.19), (9.27) and (9.34) with
m = k =1.
Displacements in physical coordinates are obtained by
premultiplying principal displacements by the modal matrix.
Displacements
-5
-10
-15
-20
-25
zp1
zp2
zp3
-30
-35
5
Time, sec
10
Figure 9.2: Displacements in principal coordinates, motion of the three modes of vibration.
The initial conditions in principal coordinates were 0, 0.707 and 1.225 for
z p1 , z p 2 and z p3 , respectively, which match the results shown in Figure 9.3.
Displacements in Principal Coordinate System
2
1.5
Displacements
1
0.5
0
-0.5
-1
zp1
zp2
zp3
-1.5
-2
0.1
0.2
0.3
0.4
0.5
0.6
Time, sec
0.7
0.8
0.9
Figure 9.3: Displacements in principal coordinates, expanded vertical scale to check initial
conditions.
Displacements
-5
-10
-15
-20
-25
z1
z2
z3
0
5
Time, sec
10
10
Displacements
-5
-10
-15
-20
-25
Mode 1
Mode 2
Mode 3
0
5
Time, sec
Displacements
-5
-10
-15
-20
-25
Mode 1
Mode 2
Mode 3
0
5
Time, sec
10
Displacements
-5
-10
-15
-20
-25
Mode 1
Mode 2
Mode 3
0
5
Time, sec
10
Vibration Displacements
3
2
1
0
-1
-2
-3
dof 1
dof 2
dof 3
-4
-5
5
Time, sec
10
Figure 9.8: Displacements in physical coordinates, with the rigid body motion removed to
show more clearly the oscillatory motion of the three masses.
tdof_modal_time.m
clf;
clear all;
%
axis([0 1 -2 2])
disp('execution paused to display figure, "enter" to continue'); pause
%
%
%
%
%
define the motion of each each dof for each mode, zij below refers to the
motion of dof "i" due to mode "j"
z11 = zn(1,1)*zp1;
z12 = zn(1,2)*zp2;
z13 = zn(1,3)*zp3;
z21 = zn(2,1)*zp1;
z22 = zn(2,2)*zp2;
z23 = zn(2,3)*zp3;
z31 = zn(3,1)*zp1;
z32 = zn(3,2)*zp2;
z33 = zn(3,3)*zp3;
plot(t,z11,'k+-',t,z12,'kx-',t,z13,'k-')
title('Displacement of dof 1 for Modes 1, 2 and 3')
xlabel('Time, sec')
ylabel('Displacements')
legend('Mode 1','Mode 2','Mode 3',3)
grid
disp('execution paused to display figure, "enter" to continue'); pause
plot(t,z21,'k+-',t,z22,'kx-',t,z23,'k-')
title('Displacement of dof 2 for Modes 1, 2 and 3')
xlabel('Time, sec')
ylabel('Displacements')
legend('Mode 1','Mode 2','Mode 3',3)
grid
disp('execution paused to display figure, "enter" to continue'); pause
plot(t,z31,'k+-',t,z32,'kx-',t,z33,'k-')
title('Displacement of dof 3 for Modes 1, 2 and 3')
xlabel('Time, sec')
ylabel('Displacements')
legend('Mode 1','Mode 2','Mode 3',3)
grid
disp('execution paused to display figure, "enter" to continue'); pause
%
%
define the motion of each each dof with the rigid body motion for that
mode subtracted
z1vib = z1 - z11;
z2vib = z2 - z21;
z3vib = z3 - z31;
plot(t,z1vib,'k+-',t,z2vib,'kx-',t,z3vib,'k-')
title('Displacements of dof 1, 2 and 3 with Rigid Body Removed')
xlabel('Time, sec')
ylabel('Vibration Displacements')
legend('dof 1','dof 2','dof 3',3)
grid
disp('execution paused to display figure, "enter" to continue'); pause
tplot = t;
plot(tplot,z1,'k+-',t,z2,'kx-',t,z3,'k-')
title('Displacements of dof 1, 2 and 3')
xlabel('Time, sec')
ylabel('Vibration Displacements')
legend('dof 1','dof 2','dof 3',3)
grid
disp('execution paused to display figure, "enter" to continue'); pause
save tdof_modal_time_z1z2z3 tplot z1 z2 z3
Problems
Note: All the problems refer to the two dof system shown in Figure P2.2.
P9.1 Using the equations, initial conditions and forcing functions from P7.4,
solve for the closed form time domain response in principal coordinates using
Laplace transforms. Back transform to physical coordinates and identify the
components of the response associated with each mode.
P9.2 (MATLAB) Modify the tdof_modal_time.m code for the two dof
system and solve for the time domain responses in both principal and physical
coordinates using the equations, initial conditions and forcing functions from
P7.4.