ME22457 Chapter5 012603 MACL

Mechanical Vibrations
Chapter 5
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
22.457 Mechanical Vibrations - Chapter 5
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Multiple Degree of Freedom Systems

Systems with more than one DOF:
Referred to as a Multiple Degree of Freedom
An NDOF system has N independent degrees of
freedom to describe the system
There is one natural frequency for every DOF in
the system description
Dr. Peter Avitabile


Properties of a MDOF system:
Each natural frequency has a displacement
configuration referred to as a normal mode
Mathematical quantities referred to as
eigenvalues and eigenvectors are used to

describe the system characteristics
While the resulting motion appears more
complicated, the system set of equations can

always be decomposed into a set of equivalent
SDOF systems for each mode of the system.
Dr. Peter Avitabile


Assumptions
f2
lumped mass
m2
stiffness proportional
k2
to displacement
damping proportional to
velocity
linear time invariant
f1
c2
x1
m1
k1
2nd order differential
x2
c1
equations
Dr. Peter Avitabile


Free body diagram
f2
k 2 ( x2 - x1 )
f1
c 2 ( x2 - x1 )
x1
m1
k 1x 1
x2
m2
c 1x 1
5
Dr. Peter Avitabile


Newtons Second Law
m1&x&1=f1 (t ) c1x& 1+c 2 (x& 2 x& 1 ) k1x1+k 2 (x 2 x1 )
m 2 &x& 2 =f 2 (t )c 2 (x& 2 x& 1 )k 2 (x 2 x1 )
Rearrange terms
m1&x&1+(c1 + c 2 )x& 1c 2 x& 2 +(k1 + k 2 )x1k 2 x 2 =f1 (t )
m 2 &x& 2 c 2 x& 1+c 2 x& 2 k 2 x1 +k 2 x 2 =f 2 (t )
f
2
k 2 ( x2 - x1 )
f1
c 2 ( x2 - x1 )
x1
m1
k 1x 1
x2
m2
c 1x 1
Dr. Peter Avitabile


Matrix Formulation
&x&1

m 2 &x& 2
(c1 + c 2 ) c 2 x& 1
+
x&
c
c
2
2 2
m1
Matrices and
Linear Algebra
are important !!!
(k1 + k 2 ) k 2 x1 f1 ( t )
+
k 2 x 2 f 2 ( t )
k2
Dr. Peter Avitabile

MDOF - Frequencies and Mode Shapes

Example 5.1.1
m&x&1 = kx1 + k (x 2 x1 )
2m&x& 2 = k (x 2 x1 ) kx 2
Dr. Peter Avitabile

(5.1.1)

For normal mode type of oscillation, we can write
x1 = A1 sin t or A1eit
x 2 = A 2 sin t or A 2eit
(5.1.2)
substituting into the differential equation yields
(2k 2m)A1 kA 2 = 0
kA1 + (2k 22 m )A 2 = 0
Dr. Peter Avitabile

(5.1.3)

In matrix form this is
2 k 2 m
A1 0
k
=
2 A 0
2 k 2 m 2
(5.1.4)
and the determinant of the matrix is
(2k 2m)
k
k
=0
2
2 k 2 m
(5.1.5)
whose solution yields the eigenvalues

2
3 k
4 3k 2 3 k
2 3k
+ = + =0
m
2m
m
2m
10
Dr. Peter Avitabile

(5.1.6)

The frequencies of the system are
k
k
1 = 0.634
1 = 0.634
m
m
k
k
2 = 2.366
2 = 2.366
m
m
and the general ratio of response is
A1
k
2 k 2 2 m
=
=
2
A 2 2k m
k
11
Dr. Peter Avitabile

(5.1.7)
(5.1.8)

The ratio for the first frequency , 1, is
A1
A2
(1)
k
=
= 0.731
2
2k m
(5.1.8a)
The ratio for the second frequency, 2, is

A1
A2
( 2)
k
= 2.73
2
2k m
12
Dr. Peter Avitabile

(5.1.8b)

The mode shape for the two different modes is
0.731
2.73
1 ( x ) =
; 2 ( x ) =
1
1
(5.1.8)
Each mode oscillates according to

x1

x 2
x1

x 2
(1)
( 2)
0.731
= A1
sin (1t + 1 )
1
2.73
= A1
sin (2 t + 2 )
1
13
Dr. Peter Avitabile

(5.1.8b
MDOF - Initial Conditions

The general description of the system
(for the example considered) is
0.731
k
1 = 0.634
; 1 ( x ) =
m
1
2.73
k
; 2 ( x ) =
2 = 2.366
m
1
and the initial conditions are specified as

x1

x 2
(i )
= ci i sin (i t + i )
14
i = 1,2
Dr. Peter Avitabile

(5.2.1)

The displacement is written as
x1
0.731
= c1
sin (1t + 1 )
1
x 2
2.732
+ c2
sin (2 t + 2 )
1
(5.2.2)
The velocity is written as
x& 1
0.731
= 1c1
cos(1t + 1 )
1
x& 2
2.732
+ 2 c 2
cos(2 t + 2 )
1
15
Dr. Peter Avitabile

(5.2.3)

Example 5.2.1 - Initial conditions are:
x 1 ( 0 ) 2 .0
x& 1 (0) 0.0
= ;
=
x 2 ( 0 ) 4 .0
x& 2 (0) 0.0
which correspond to
2
0.731
2.732
= c1
sin (1 ) + c 2
sin ( 2 )
4
1
1
(5.2.2a)
0
0.731
2.732
= 1c1
cos(1 ) + 2c 2
cos( 2 ) (5.2.3a)
0
1
1
16
Dr. Peter Avitabile


Example 5.2.1 - upon solving these equations for
the response due to the specified initial conditions
yields:
x1
0.731
2.732
= 3.732
cos(1t ) + 0.268
cos(2 t )
1
1
x 2
17
Dr. Peter Avitabile

MDOF - Coordinate Coupling

Coordinate coupling exists in many problems.
Either static coupling, dynamic coupling or both
static and dynamic coupling can exist.
The equations of motion are:
m11&x&1 + m12 &x& 2 + k11x1 + k12 x 2 = 0
m 21&x&1 + m 22 &x& 2 + k 21x1 + k 22 x 2 = 0
(5.3.1)
and can be cast in matrix form as:

m11 m12 &x&1 k11 k12 x1 0
+
=
m
21 m 22 &x& 2 k 21 k 22 x 2 0
18
Dr. Peter Avitabile

(5.3.2)

Coordinate coupling can be eliminated through a
transformation to a different coordinate system
wherein the independent variables are not coupling
either statically or dynamically.
These coordinates are referred to as
principal coordinates
or
normal coordinates
19
Dr. Peter Avitabile


For systems with general damping, this is not
easily possible unless the damping is of a special
form or the system is first converted to the state
space formulation of the system equations
0 &x&1
m11
0 m &x&
22 2
c11 c12 x& 1
+
x&
c
c
21 22 2
(5.3.3)
k11 0 x1 0
+
=
0 k 22 x 2 0
20
Dr. Peter Avitabile


Example 5.3.1 Static Coupling
m 0 &x& (k1 + k 2 )
0 J && + (k l k l )
2 2 1 1
21
(k 2l 2 k1l1 ) x 0
k1l12
+ k 2l 22
= 0

Dr. Peter Avitabile


Example 5.3.1 Dynamic Coupling
m me &x& c (k1 + k 2 )
me J && +
0
22
0
k1l32 + k 2l 24
x c 0
= 0

Dr. Peter Avitabile


Example 5.3.1 Static & Dynamic Coupling
m ml1 &x&1 (k1 + k 2 ) k 2l x1 0

&& +
2 =
ml
k 2l 0
1 J k 2l
23
Dr. Peter Avitabile

MDOF - Forced Harmonic Vibration

Consider a system excited by a harmonic force
m11
&x&1 k11 k12 x1 F1
+
= sin t
m 22 &x& 2 k 21 k 22 x 2 0
(5.4.1)
which has a solution assumed to be

x1 X1
= sin t
x 2 X 2
24
Dr. Peter Avitabile


Substituting into the differential equation yields
k11 m112
k 21
k12
k 22 m 222
X1 F1
=
X 2 0
(5.4.2)
which is generally written in terms of the

impedance matrix as
X1 F1
[Z()] =
X 2 0
25
Dr. Peter Avitabile


Solving this yields
X1
1F1 Adj[Z()] F1
=[Z()] =

0 det Z() 0
X 2
(5.4.3)
where the adjoint matrix and determinant are
k 22 m 222
Adj[Z()] =
k 21
k12
2
k11 m11
)(
det Z() = m1m 2 12 2 22 2
26
Dr. Peter Avitabile


The general equation becomes
k 22 m 222
k12
k11 m112
k 21
X1
=
m1m 2 12 2 22 2
X 2
)(
F1

0
(5.4.3)
and the amplitudes of response are
(
k 22 m 222 )F1
X1 =
m1m 2 (12 2 )(22 2 )
k 21F1
X2 =
m1m 2 12 2 22 2
)(
(5.4.6)
Example 5.4.1 and 5.4.2 are good examples

27
Dr. Peter Avitabile

MDOF - Vibration Absorber

A very common, practical application of a 2 DOF
system is that of the tuned absorber. This is
commonly used to minimize objectionable resonance
Recall
12 =
k1
k
; 22 = 2
m1
m2
(5.6.1)
The amplitude of response for X1 is

2
1
2
X1k1
=
F0
k 2 2 k
1 + 2 1 2
k1 1 2 k1
28
Dr. Peter Avitabile

(5.3.2)
MDOF - Tuned Absorber

2
1
2
X1k1
=
F0
k 2 2 k
1 + 2 1 2
k1 1 2 k1
29
Dr. Peter Avitabile

MDOF - Tuned Absorber
2
1
2
X1k1
=
F0
k 2 2 k
1 + 2 1 2
k1 1 2 k1
30
Dr. Peter Avitabile

MATLAB Examples - VTB4_2

VIBRATION TOOLBOX EXAMPLE 4_2
>> clear
>> m=[1 0;0 1];k=[2 -1;-1 1];x0=[1;0];v0=[0;0];tf=5;plotpar=1;
>> [x,v,t]=VTB4_2(m,k,x0,v0,tf,plotpar);
P res s any key to continue
1
0.8
0.6
P res s any key to continue
Dis placement of X1
0.4
0.8
0.2
0.6
0
0.4
Dis placement of X2
-0.2
-0.4
-0.6
-0.8
0.5
1.5
2.5
time (s ec)
3.5
0.2
-0.2
4.5
5
-0.4
-0.6
-0.8
31
0.5
1.5
2.5
time (s ec)
3.5
4.5
Dr. Peter Avitabile


>> clear
>> m=1; c=.1; k=2;
>> VTB5_1(m,c,k)
>>
Trans mis s ibility plot for = 0.035355 = 1.4142 rad/s
15
Trans mis s ibility Ratio
10
0.2
0.4
0.6
32
0.8
1
1.2
Dimens ionles s Frequency
1.4
1.6
1.8
Dr. Peter Avitabile


>> beta=1
beta =
Mas s ratio vers us s ys tem natural frequency for = 1
0.9
>> VTB5_4(beta)
>>
0.8
0.7
mas s ratio -
0.6
0.5
0.4
0.3
0.2
0.1
0
0.6
0.8
33
1.2
1.4
normalized frequency /a
1.6
1.8
Dr. Peter Avitabile


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Mechanical Vibrations

Dr. Peter Avitabile

Multiple Degree of Freedom Systems

freedom to describe the system

There is one natural frequency for every DOF in

the system description

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

Multiple Degree of Freedom Systems

configuration referred to as a normal mode

Mathematical quantities referred to as

eigenvalues and eigenvectors are used to

While the resulting motion appears more

complicated, the system set of equations can

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

Multiple Degree of Freedom Systems

linear time invariant

2nd order differential

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

Multiple Degree of Freedom Systems

Dr. Peter Avitabile

Multiple Degree of Freedom Systems

Dr. Peter Avitabile

Multiple Degree of Freedom Systems

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

MDOF - Frequencies and Mode Shapes

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

MDOF - Frequencies and Mode Shapes

substituting into the differential equation yields

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

MDOF - Frequencies and Mode Shapes

and the determinant of the matrix is

whose solution yields the eigenvalues

Dr. Peter Avitabile

MDOF - Frequencies and Mode Shapes

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

MDOF - Frequencies and Mode Shapes

The ratio for the second frequency, 2, is

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

MDOF - Frequencies and Mode Shapes

Each mode oscillates according to

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

MDOF - Initial Conditions

and the initial conditions are specified as

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

MDOF - Initial Conditions

The velocity is written as

Dr. Peter Avitabile

MDOF - Initial Conditions

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile

MDOF - Initial Conditions

22.457 Mechanical Vibrations - Chapter 5

Dr. Peter Avitabile