Lecture Notes: Introduction to Finite Element Method

Chapter 7. Structural Vibration and Dynamics

Chapter 7. Structural Vibration and Dynamics

Natural frequencies and modes

F(t)

Frequency response (F(t)=Fo sint)

Transient response (F(t) arbitrary)

I. Basic Equations
A. Single DOF System
k
m

f=f(t)

m - mass
k - stiffness

c - damping
f (t ) - force

ku
c u&

f(t)
x, u

From Newtons law of motion (ma = F), we have

mu&& = f(t)k u cu& ,

i.e.

mu&&+cu& +ku = f(t) ,

(1)

where u is the displacement, u& = du / dt and u&& = d 2u / dt2 .

1999 Yijun Liu, University of Cincinnati

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Lecture Notes: Introduction to Finite Element Method

Free Vibration:

Chapter 7. Structural Vibration and Dynamics

f(t) = 0 and no damping (c = 0)

Eq. (1) becomes

mu&&+k u =0 .

(2)

(meaning: inertia force + stiffness force = 0)

Assume:
u(t) = U sin ( t) ,

where is the frequency of oscillation, U the amplitude.

Eq. (2) yields
U 2 m sin( t)+kU sin( t)= 0

i.e.,

m+k U = 0.

For nontrivial solutions for U, we must have

m+k = 0,

which yields
=

k
.
m

(3)

This is the circular natural frequency of the single DOF

system (rad/s). The cyclic frequency (1/s = Hz) is
f=

1999 Yijun Liu, University of Cincinnati

(4)

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Lecture Notes: Introduction to Finite Element Method

Chapter 7. Structural Vibration and Dynamics

u = U s in w t
U
t

U
T=1/f
Undamped Free Vibration

With non-zero damping c, where

0 < c < c c = 2 m = 2 k m

(cc = critical damping)

(5)

we have the damped natural frequency:

d = 1 2 ,
where =

(6)

c
(damping ratio).
cc

For structural damping: 0 < 0.15 (usually 1~5%)

d .

(7)

Thus, we can ignore damping in normal mode analysis.

u

Damped Free Vibration

1999 Yijun Liu, University of Cincinnati

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Lecture Notes: Introduction to Finite Element Method

Chapter 7. Structural Vibration and Dynamics

B. Multiple DOF System

Equation of Motion
Equation of motion for the whole structure is
&& + C u& + Ku = f ( t ) ,
Mu

(8)

u nodal displacement vector,

M mass matrix,
C damping matrix,
K stiffness matrix,
f forcing vector.

in which:

Physical meaning of Eq. (8):

Inertia forces + Damping forces + Elastic forces
= Applied forces
Mass Matrices
Lumped mass matrix (1-D bar element):
AL 1
m1 =
2

,A,L

u1

2 m = AL
2
u2

Element mass matrix is found to be

AL

m= 2
AL
0

1442424
3
diagonal matrix

1999 Yijun Liu, University of Cincinnati

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Lecture Notes: Introduction to Finite Element Method

Chapter 7. Structural Vibration and Dynamics

In general, we have the consistent mass matrix given by

m=

N T NdV

(9)

where N is the same shape function matrix as used for the

displacement field.
This is obtained by considering the kinetic energy:

1 T
1
u& m u&
(cf. mv 2 )
2
2
1
1
T
= u& 2 dV = (u& ) u& dV
2 V
2 V
1
T
= (N u& ) (N u& )dV
2 V
1
= u& T N T N dV u&
V 42 43
2
1

Bar Element (linear shape function):

1
m =
[1 ]ALd

V

1 / 3 1 / 6 u&&1
= AL

1 / 6 1 / 3 u&&2

1999 Yijun Liu, University of Cincinnati

(10)

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Lecture Notes: Introduction to Finite Element Method

Chapter 7. Structural Vibration and Dynamics

Element mass matrices:

local coordinates to global coordinates
assembly of the global structure mass matrix M.

Simple Beam Element:

v2

v1
1

, A, L

m = NT NdV
V

22 L
54
13L v&&1
156

4 L2
13L
3L2 &&1
AL 22 L

=
13L
156 22 L v&&2
420 54

2
2 &&
13L 3L 22 L 4 L 2

(11)

Units in dynamic analysis (make sure they are consistent):

t (time)
L (length)
m (mass)
a (accel.)
f (force)
(density)

1999 Yijun Liu, University of Cincinnati

Choice I
s
m
kg
m/s2
N
kg/m3

Choice II
s
mm
Mg
mm/s2
N
Mg/mm3

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