MDOF Systems

Chapter 7

Three DOF SMD

k1

q1

q2

k2

m1
c1

k3

m2
c2

k2 (q2 q1 )
c2 (q2 q1 )

q3
m3

c3

m2

k3 (q2 q3 )
Q2 (t)
c3 (q2 q3 )

m2 q2 =Q2 (t) k2 (q2 q1 ) c2 (q2 q1 )

k3 (q2 q3 ) c3 (q2 q3 )

m2 q2 + (c2 + c3 )q2 c2 q1 c3 q3
+ (k2 + k3 )q2 k2 q1 k3 q3 = Q2 (t)
m1 q1 + (c1 + c2 )q1 c2 q2
+ (k1 + k2 )q1 k2 q2 = Q1 (t)
m3 q3 + c3 q3 c3 q2
+ k3 q3 k3 q2 = Q3 (t)


m1 0
0 m2
0
0

c1 + c2
+ c2
0

k1 + k2
+ k2
0

0 q1
0 q2

q3
m3
c2
c2 + c3
c3

k2
k2 + k3
k3

0 q1
c3 q2

c3
q3

0 q1 Q1 (t)
k3 q2 = Q2 (t)

k3
q3
Q3 (t)

+ C q + Kq = Q
Mq

Linear Systems
x = Ax + Bu
y = Cx + Du

State-space
First-order
x is the state vector
u is the input vector
y is the output vector
A, B, C, D define the input-output
characteristics of the linear system (D is
usually zero)

State-space form
+ C q + Kq = Q
Mq
Let q = v
M v + Cv + Kq = Q
v = M 1 Cv M 1 Kq + M 1 Q

q
0
=
v
M 1 K

q
0
1
Q
+
1
1
M C
v
M

State-space form
If interested in observing
q3 then


q
+ [0 0 0] Q
q3 = [0 0 1 0 0 0]
v

For all three velocities:

v = 033 I33
+ 033 Q
v

Kinetic Energy
1
1
1
2
2
T = m1 q1 + m2 q2 + m3 q32
2
2
2
T

0 q1
q1 m1 0

1
0 m2 0 q2
q2
=

2
0
0 m3
q3
q3
1 T
= q M q
2

Potential Energy
1
1
1
2
2
2
V = k1 q1 + k2 (q2 q1 ) + k3 (q3 q2 )
2
2
2
T

q1 k1 + k2
k2
0 q1

1
k2
q2
k2 + k3 k3 q2
=

2
q3
0
k3
k3
q3
1 T
= q Kq
2

Raleigh Dissipation Function

1
1
1
2
2
F = c1 q1 + c2 (q2 q1 ) + c3 (q3 q2 )2
2
2
2
T

c2
q1 c1 + c2
0 q1

1
c2
q2
c2 + c3 c3 q2
=

2
q3
0
c3
c3
q3
1 T
= q C q
2
Qi visc

F
=
qk

Coupling
Coupling = Interaction
Forces
Energy Transfer

Solution of one ONLY from solution of

whole
k1

q1

k2

m1
c1

q2

k3

m2
c2

q3
m3 m3

c3

Response to Initial Conditions

To: Out(1)

1
0.5
0
-0.5

To: Out(2)

0.5
0
-0.5
-1
-1.5
1

To: Out(3)

Amplitude

0.5
0
-0.5
-1

10

20

30

40

50

Time (sec)

60

70

80

90

100

Response to Initial Conditions (Damped)

To: Out(2)

0
-0.5

0.5
0
-0.5
1

To: Out(3)

Amplitude

To: Out(1)

0.5

0.5
0
-0.5
0

10

20

30

40

50

Time (sec)

60

70

80

90

100

Linear Simulation Results (Forced)

To: Out(1)

1
0.5
0
-0.5

To: Out(2)

0.5
0
-0.5
-1
1

To: Out(3)

Amplitude

-1
1

0.5
0
-0.5
-1

10

20

30

40

50

Time (sec)

60

70

80

90

100

Bode Diagram
To: Out(3) To: Out(3) To: Out(2) To: Out(2) To: Out(1) To: Out(1)

Magnitude (dB) ; Phase (deg)

From: In(1)
50
0
-50
-100
0
-180
-360
-540
50
0
-50
-100
0
-90
-180
-270
-360
50
0
-50
-100
0
-180
-360
-540
10

From: In(2)

10

10

From: In(3)

10

Frequency (rad/sec)

10

10

mm = rand(3,1);
kk = rand(3,1)*4;
cc = rand(3,1)*0.1;
M = [mm(1) 0 0; 0 mm(2) 0; 0 0 mm(3)];
K = [kk(1)+kk(2) -kk(2) 0; -kk(2) kk(2)+kk(3) -kk(3);
0 -kk(3) kk(3)];
C = [cc(1)+cc(2) -cc(2) 0; -cc(2) cc(2)+cc(3) -cc(3);
0 -cc(3) cc(3)];
t = 0:0.1:100;
msmd = ss([zeros(3) eye(3); -inv(M)*K -inv(M)*C],
[zeros(3); eye(3)], [eye(3) zeros(3)], zeros(3));
initial(msmd,[0;0;1;0;0;0],t)
u = [zeros(size(t)); zeros(size(t)); sin(2*t)];
lsim(msmd,u,t)
bode(msmd)