MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

Lecture 19-2 dof Forced

Response

MEEM 3700

2 DOF Forced Vibration

f1

M1

K1

f2

K2
x1

M2

K3
x2

Given a 22-degree of freedom system with no damping the equations of

motion in matrix form can be generalized as:

m11
0

Lecture 19-2 dof Forced

Response

0 &&
x1 k11
+

m22 &&
x2 k21

MEEM 3700

k12 x1 f1
=
k22 x2 f 2

2 DOF Forced Vibration

f1

K1

M1

f2
M2

K2
x1

K3
x2

Assuming harmonic forcing functions of the form:

f1 F1
= sin (t )
f 2 F2
The solution (motion of x1 and x2) will be of the form:

x1 X 1
= sin (t )
x2 X 2
Lecture 19-2 dof Forced
Response

MEEM 3700

2 DOF Forced Vibration: Solution

Substituting into the equation of motion:

2 m11

0

0 k11
+
m22 k21

k12 X 1
F1
t
sin

=
(
)

sin (t )
k22 X 2
F2

and simplifying

2 m11

0

Lecture 19-2 dof Forced

Response

0 k11
+
m22 k21

k12 X 1 F1
=
k22 X 2 F2

MEEM 3700

2 DOF Forced Vibration: Impedance Matrix

Define:

k12
k
m
Z ( ) = 11
2 11

k 21 k22
0
k 2 m11
Z ( ) = 11
k 21

0
m22

k22 m22
k12

Where Z ( ) is called the system or impedance matrix.

X
Then the response 1 can be solved for as:
X2
1 F1
X1
= Z ( )
X2
F2

Lecture 19-2 dof Forced

Response

adj Z ( )
1
Z ( ) =
det Z ( )

MEEM 3700

Linear Algebra Review: Matrix Operations

Inverse of A

[ A]

adjoint [ A]
det [ A]

adjoint [ A] = transpose of cofactor [ A]

cofactors = minor determinants

a11
[ A] = a21
a
31
Lecture 19-2 dof Forced
Response

a12
a22
a32

a13

a23
a33

+ ( a22 a33 a23 a32 )

...

cof [ A] = ( a12 a33 a13 a32 ) O

...
...

MEEM 3700

2 DOF Forced Vibration: Impedance Matrix

The inverse of the impedance matrix is written as:

k22 2 m22
k12

k11 2 m11
k21
1

Z ( ) =
k11 2 m11 ( k22 m22 ) ( k12 k21 )

X
Then the response 1 can be solved for as:
X2
1 F1
X1
= Z ( )
X2
F2

Lecture 19-2 dof Forced

Response

MEEM 3700

2 DOF Forced Vibration: Impedance Matrix

Therefore each response can be written as:

X1 =

(k

(k

(k

11

Lecture 19-2 dof Forced

Response

2 m22 F1 k12 F2

)(

m11 k22 2 m22 ( k12 k21 )

2

11

X2 =

22

(k

11

2 m11 F2 k21 F1

)(

m11 k22 2 m22 ( k12 k21 )

2

MEEM 3700

2 DOF Forced Vibration: FRF Matrix

H ( ) = Z ( )

Define

as the Frequency Response Function Matrix

X1
F1 h11
= H ( ) =
X2
F2 h21

h12 F1

h22 F2

Therefore each response can be written as:

X 1 = h11 F1 + h12 F2
X 2 = h21 F1 + h22 F2
Lecture 19-2 dof Forced
Response

MEEM 3700

2 DOF Forced Vibration: FRF

The individual FRF
FRFs are defined as:
X1
k22 2 m22
= h11 =
2
F1
k11 m11 k22 2 m22 ( k12 k21 )

)(

X1
k12
= h12 =
F2
k11 2 m11 k22 2 m22 ( k12 k21 )

)(

X2
k21
= h21 =
F1
k11 2 m11 k22 2 m22 ( k12 k21 )

)(

X2
k11 2 m11
= h22 =
2
F2
k11 m11 k22 2 m22 ( k12 k21 )

Lecture 19-2 dof Forced

Response

)(

MEEM 3700

10

20

20

15

10

10

5
X1/F2

X1/F1

X1/F1
15

0
-5

-5

Arrows indicate that

function goes to infinity

-10

-10
-15

-15
-20

X1/F2

-20

0.5

1.5

2
2.5
Frequency Hz

3.5

0.5

1.5

2
2.5
Frequency Hz

3.5

3.5

20

20

X2/F2

X2/F1

15

10

10

5
X2/F2

X2/F1

15

-5

-5

-10

-10

-15

-15

-20

-20

0.5

1.5

2
2.5
Frequency Hz

Lecture 19-2 dof Forced

Response

3.5

0.5

1.5

2
2.5
Frequency Hz

MEEM 3700

11

2 DOF Forced Vibration: Damping

If damping is considered the equations of motion become:

m11
0

0 &&
x1 c11 c12 x&1 k11
+
+

m22 &&
x2 c21 c22 x&2 k21

k12 x1 f1
=
k22 x2 f 2

And if the forcing functions are harmonic functions (as before) the solution is:

2 m11

0

Lecture 19-2 dof Forced

Response

0
c k
c
+ j 11 12 + 11

m22
c21 c22 k21

MEEM 3700

k12 X 1 F1
=
k22 X 2 F2

12

2 DOF Forced Vibration: FRF w/ Damping

Define:

k12
k
m
Z ( ) = 11
2 11

k 21 k22
0

0
c
c
+ j 11 12

m22
c 21 c22

Where Z ( ) is called the system or impedance matrix.

X
Then the response 1 can be solved for as:
X2
1 F1
X1
= Z ( )
X2
F2

Where Z ( ) = H ( ) is the Frequency Response Function Matrix

X1
F1
= H ( )
X2
F2
Lecture 19-2 dof Forced
Response

MEEM 3700

13

2 DOF Forced Vibration: FRF w/ Damping

The FRF matrix can be written as:

adj Z ( )
H ( ) =
det Z ( )

This is expanded to:

k22 2 m22 + j c22

( j c12 + k12 )

+
j

c
k
k
( 21 21 )
11 m11 + j c11

H ( ) =
k11 2 m11 + j c11 ( k22 m22 + j c22 ) ( j c12 + k12 )( j c21 + k21 )

Therefore each response can be written as:

X 1 = h11 F1 + h12 F2
X 2 = h21 F1 + h22 F2
Lecture 19-2 dof Forced
Response

MEEM 3700

14

2 DOF Forced Vibration: FRF w/ Damping

The individual FRF
FRFs are defined as:

( k22 2m22 ) + jc22

X1
= h11 =
F1
( k11 2m11 )( k22 2m22 ) ( jc12 + k12 )( jc21 + k21 )
( k12 + j c12 )
X1
= h12 =
2
F2
k11 m11 k22 2 m22 ( jc12 + k12 )( j c21 + k21 )

)(

( k21 + jc21 )
X2
= h21 =
2
F1
k11 m11 k22 2 m22 ( j c12 + k12 )( jc21 + k21 )

)(

k11 2 m11 + j c11

X2
= h22 =
F2
k11 2 m11 k22 2 m22 ( j c12 + k12 )( j c21 + k21 )

)(

Lecture 19-2 dof Forced

Response

MEEM 3700

15

Frequency Response Function

Frequency Response Function

4.5

X1/F2
3.5

X1/F1

6
5
Magnitude

magnitude

3
2.5
2

4
3

1.5

0.5
0

0.5

1.5

2
2.5
Frequency Hz

3.5

0.5

Frequency Response Function

1.5

2
2.5
Frequency Hz

3.5

3.5

Frequency Response Function

4.5
4

7
X2/F1

3.5

magnitude

5
Magnitude

X2/F2

2.5
2

1.5
2

1
1
0

0.5
0

0.5

Lecture 19-2 dof Forced

Response

1.5

2
2.5
Frequency Hz

3.5

MEEM 3700

0.5

1.5

2
2.5
Frequency Hz

16